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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Teleoperated Modular Robots for Lunar Operations

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

Globus, Al↗
DOE OSTI2021

Stabilization of the 81-channel coherent beam combination using machine learning

We develop a rapidly converging algorithm for stabilizing a large channel-count diffractive optical coherent beam combination. An 81-beam combiner is controlled by a novel, machine-learning based, iterative method to correct the optical phases, operating on an experimentally calibrated numerical model. A neural-network is trained to detect phase errors based on interference pattern recognition of uncombined beams adjacent to the combined one. Due to the non-uniqueness of solutions in the full space of possible phases, the network is trained within a limited phase perturbation/error range. This also reduces the number of samples needed for training. Simulations have proven that the network can converge in one step for small phase perturbations. When the trained neural-network is applied to a realistic case of 360 degree full range, an iterative scheme exploits random walking at the beginning, with the accuracy of prediction on phase feedback direction, to allow the neural-network to step into the training range for fast convergence. This neural-network-based iterative method of phase detection works tens of times faster than the commonly used stochastic parallel gradient descent approach (SPGD) using a single-detector and random dither when both are tested with random phase perturbations.

Wang, Dan↗
NASA NTRS1998

STS-91 Post Flight Presentation

Footage of the Crew of STS-91 Discovery Shuttle, Commander Charles J. Precourt, Pilot Dominic L. Pudwill Gorie, Mission Specialists Wendy B. Lawrence, Franklin R. Chang-Diaz, Janet L. Kavandi, and Valery Victorovitch Ryumin, is shown. Scenes include the crew suit up, walk out to the transfer vehicle, and strap-in into the shuttle. Also presented are scenes of the start of the main engine, ignition of the solid rocket boosters, panoramic views of the Earth as the shuttle takes off, and the separation of the solid rocket boosters. The crew of Discovery opens the payload bay doors to the Mir International Space Station, completes SPACEHAB tunnel leak checks, greets crew in Mir Space Station, and transfers materials to Mir. Beautiful panoramic views of the Moon, and Mir above Cape Canaveral are seen. Scenes also include the crew of Discovery sharing meals, and exercising. The film ends with the reentry of the Discovery Space Shuttle into the Earth's atmosphere.

Source record↗
NASA NTRS1993

The first lunar outpost: The design reference mission and a new era in lunar science

The content of the First Lunar Outpost (FLO) Design Reference Mission has been formulated and a 'strawman' science program has been established. The mission consists of two independent launches using heavy lift vehicles that land directly on the lunar surface. A habitat module and support systems are flown to the Moon first. After confirmation of a successful deployment of the habitat systems, the crewed lunar lander is launched and piloted to within easy walking distance (2 km) of the habitat. By eliminating the Apollo style lunar orbit rendezvous, landing sites at very high latitudes can be considered. A surface rover and the science experiments will accompany the crew. The planned stay time is 45 days, two lunar days and one night. A payload of 3.3 metric tons will support a series of geophysics, geology, astronomy, space physics, resource utilization, and life science experiments. Sample return is 150 to 200 kg. The rover is unpressurized and can carry four astronauts or two astronauts and 500 kg of payload. The rover can also operate in robotic mode with the addition of a robotics package. The science and engineering experiment strategy is built around a representative set of place holder experiments.

Lofgren, Gary E.↗
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
DOE OSTI2020

Probing black hole microstate evolution with networks and random walks

We model black hole microstates and quantum tunneling transitions between them with networks and simulate their time evolution using well-established tools in network theory. In particular, we consider two models based on Bena-Warner three-charge multi-centered microstates and one model based on the D1-D5 system; we use network theory methods to determine how many centers (or D1-D5 string strands) we expect to see in a typical late-time state. We find three distinct possible phases in parameter space for the late-time behaviour of these networks, which we call ergodic, trapped, and amplified, depending on the relative importance and connectedness of microstates. We analyze in detail how these different phases of late-time behavior are related to the underlying physics of the black hole microstates. Our results indicate that the expected properties of microstates at late times cannot always be determined simply by entropic arguments; typicality is instead a highly non-trivial, emergent property of the full Hilbert space of microstates.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS2001

Extrapolation of the dna fragment-size distribution after high-dose irradiation to predict effects at low doses

The patterns of DSBs induced in the genome are different for sparsely and densely ionizing radiations: In the former case, the patterns are well described by a random-breakage model; in the latter, a more sophisticated tool is needed. We used a Monte Carlo algorithm with a random-walk geometry of chromatin, and a track structure defined by the radial distribution of energy deposition from an incident ion, to fit the PFGE data for fragment-size distribution after high-dose irradiation. These fits determined the unknown parameters of the model, enabling the extrapolation of data for high-dose irradiation to the low doses that are relevant for NASA space radiation research. The randomly-located-clusters formalism was used to speed the simulations. It was shown that only one adjustable parameter, Q, the track efficiency parameter, was necessary to predict DNA fragment sizes for wide ranges of doses. This parameter was determined for a variety of radiations and LETs and was used to predict the DSB patterns at the HPRT locus of the human X chromosome after low-dose irradiation. It was found that high-LET radiation would be more likely than low-LET radiation to induce additional DSBs within the HPRT gene if this gene already contained one DSB.

NASA Discipline Radiation Health↗
NASA NTRS2005

STS-114: Discovery Crew Arrival

George Diller of NASA Public Affairs narrates the STS-114 Crew arrival at Kennedy Space Center aboard a Gulf Stream aircraft. They were greeted by Center Director Jim Kennedy. Commander Eileen Collins introduced each of her crew members and gave a brief description of their roles in the mission. Mission Specialist 3, Andrew Thomas will be the lead crew member on the inspection on flight day 2; he is the intravehicular (IV) crew member that will help and guide Mission Specialists Souichi Noguchi and Stephen Robinson during their spacewalks. Pilot James Kelly will be operating the shuttle systems in flying the Shuttle; he will be flying the space station robotic arm during the second extravehicular activity and he will be assisting Mission Specialist Wendy Lawrence during the other two extravehicular activities; he will be assisting on the rendezvous on flight day three, and landing of the shuttle. Commander Collins also mentioned Pilot Kelly's recent promotion to Colonel by the United States Air Force. Mission Specialist 1, Souichi Noguchi from JAXA (The Japanese Space Agency) will be flying on the flight deck for ascent; he will be doing three spacewalks on day 5, 7, and 9; He will be the photo/TV lead for the different types of cameras on board to document the flight and to send back the information to the ground for both technical and public affairs reasons. Mission Specialist 5, Charles Camada will be doing the inspection on flight day 2 with Mission Specialist Thomas and Pilot Kelly; he will be transferring the logistics off the shuttle and onto the space station and from the space station back to the shuttle; He will help set up eleven lap tops on board. Mission Specialist 4, Wendy Lawrence will lead the transfer of logistics to the space station; she is the space station arm operator during extravehicular activities 1 and 3; she will be carrying the 6,000 pounds of external storage platform from the shuttle payload bay over to the space station; she is also in charge of the shuttle storage. Mission Specialist 2, Stephen Robinson is the flight engineer of the shuttle; he will be doing spacewalks with Mission Specialist Noguchi; he will set up the 11 lap top computers on board. Each crew member gave a brief message to the press. Commander Eileen later gave her final message and the crew walked back to the Astronaut Corps.

Source record↗
NASA NTRS2004

A Dual Track Treadmill in a Virtual Reality Environment as a Countermeasure for Neurovestibular Adaptations in Microgravity

While the neurovestibular system is capable of adapting to altered environments such as microgravity, the adaptive state achieved in space in inadequate for 1G. This leads to giant and postural instabilities when returning to a gravity environment and may create serious problems in future mission to Mars. New methods are needed to improve the understanding of the adaptive capabilities of the human neurovestibular system and to develop more effective countermeasures. The concept behind the current study is that by challenging the neurovestibular system while walking or running a treadmill can help to read just the relationship between the visual, vestibular and proprioceptive signals that are altered in a microgravity environment. As a countermeasure, this device could also benefit the musculoskeletal and cardiovascular systems and at the same time decrease the overall time spent exercising. The overall goal of this research is to design, develop, build and test a dual track treadmill, which utilizes virtual reality, VR, displays.

DAndrea, Susan E.↗
NASA NTRS2004

A Dual Track Treadmill in a Virtual Reality Environment as a Countermeasure for Neurovestibular Adaptations in Microgravity

While the neurovestibular system is capable of adapting to altered environments such as microgravity, the adaptive state achieved in space in inadequate for 1G. This leads to gait and postural instabilities when returning to a gravity environment and may create serious problems in future missions to Mars. New methods are needed to improve the understanding of the adaptive capabilities of the human neurovestibular system and to develop more effective countermeasures. The concept behind the current study is that by challenging the neurovestibular system while walking or running, a treadmill can help to readjust the relationship between the visual, vestibular and proprioceptive signals that are altered in a microgravity environment. As a countermeasure, this device could also benefit the musculoskeletal and cardiovascular systems and at the same time decrease the overall time spent exercising. The overall goal of this research is to design, develop, build and test a dual track treadmill, which utilizes virtual reality,

DAndrea, Susan E.↗
NASA NTRS2016

Thermal Testing and Model Correlation for Advanced Topographic Laser Altimeter Instrument (ATLAS)

The Advanced Topographic Laser Altimeter System (ATLAS) part of the Ice Cloud and Land Elevation Satellite 2 (ICESat-2) is an upcoming Earth Science mission focusing on the effects of climate change. The flight instrument passed all environmental testing at GSFC (Goddard Space Flight Center) and is now ready to be shipped to the spacecraft vendor for integration and testing. This topic covers the analysis leading up to the test setup for ATLAS thermal testing as well as model correlation to flight predictions. Test setup analysis section will include areas where ATLAS could not meet flight like conditions and what were the limitations. Model correlation section will walk through changes that had to be made to the thermal model in order to match test results. The correlated model will then be integrated with spacecraft model for on-orbit predictions.

Thermal↗
DOE OSTI2023

A simple coin for a 2d entangled walk

We analyze the effect of a simple coin operator, built out of Bell pairs, in a 2d Discrete Quantum Random Walk (DQRW) problem. The specific form of the coin enables us to find analytical and closed form solutions to the recursion relations of the DQRW. The coin induces entanglement between the spin and position degrees of freedom, which oscillates with time and reaches a constant value asymptotically. We probe the entangling properties of the coin operator further, by two different measures. First, by integrating over the space of initial tensor product states, we determine the Entangling Power of the coin operator. Secondly, we compute the Generalized Relative Rényi Entropy between the corresponding density matrices for the entangled state and the initial pure unentangled state. Both the Entangling Power and Generalized Relative Rényi Entropy behaves similar to the entanglement with time. Finally, in the continuum limit, the specific coin operator reduces the 2d DQRW into two 1d massive fermions coupled to synthetic gauge fields, where both the mass term and the gauge fields are built out of the coin parameters.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2026

Optimizing Optical Searches for Supermassive Black Hole Binaries in Active Galactic Nuclei Light Curves: Fourier versus Bayesian Periodicity Detection

Simulations predict that supermassive black hole binaries (SMBHBs) will exhibit periodic brightness variations that may exceed the stochastic variability intrinsic to active galactic nuclei (AGN). In this paper, we simulate SMBHBs with damped random walk (DRW) AGN variability and an added sinusoidal signal from the orbital motion, and test three methods—a generalized Lomb–Scargle periodogram (GLSP), a nested Bayesian sampler (NBS), and a weighted wavelet z-transform (or WWZ)—to determine which is best at recovering the periodicity. Our simulated light curves follow the properties of the Catalina Real-Time Transient Survey (or CRTS), Legacy Survey of Space and Time (LSST), and Zwicky Transient Facility (ZTF) to best inform current and future SMBHB searches. We map a broad range of parameter space and identify which DRW-only light curves best mimic periodicity and pass each method’s model selection. The NBS performs best at detecting periodicity and filtering out DRW-only light curves. Combined candidate selection with both the NBS and GLSP significantly reduces false-positive rates (FPRs) with marginal impact on true-positive rates (TPRs). With this joint model selection pipeline, we find the lowest FPRs in ZTF-like simulations and the highest detection rates in LSST-like simulations. Using a modified computation of the false-alarm probability with GLSP, we efficiently triage LSST AGN light curves (∼10 7 light curves in ∼10–30 hr) and achieve TPRs and FPRs of ∼40% and ∼0.5%, respectively.

Banaszak, Sebastian M. [Vanderbilt Univ., Nashvill↗
DOE OSTI2022

Devices and methods for increasing the speed and efficiency at which a computer is capable of modeling a plurality of random walkers using a density method

A method for increasing a speed or energy efficiency at which a computer is capable of modeling a plurality of random walkers. The method includes defining a virtual space in which a plurality of virtual random walkers will move among different locations in the virtual space, wherein the virtual space comprises a plurality of vertices and wherein the different locations are ones of the plurality of vertices. A corresponding set of neurons in a spiking neural network is assigned to a corresponding vertex such that there is a correspondence between sets of neurons and the plurality of vertices, wherein a spiking neural network comprising a plurality of sets of spiking neurons is established. A virtual random walk of the plurality of virtual random walkers is executed using the spiking neural network, wherein executing includes tracking how many virtual random walkers are at each vertex at a given time increment.

Aimone, James Bradley↗
NASA NTRS2005

Robot Swarms

Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

Morring, Frank, Jr.↗
DOE OSTI2025

Universal method for the optimization of HDC coating uniformity on non-planar, non-stationary substrates for inertial confinement fusion targets

The thickness uniformity of chemical vapor deposited (CVD) diamond coatings on non-planar, non-stationary substrates depends on both the intrinsic instantaneous coating thickness distribution (ICTD) of the coating conditions used and, if applicable, on the frequency of substrate reorientation. While important for many CVD diamond applications, the relative impact of the ICTD and substrate reorientation on the coating thickness uniformity has not been studied. In this work, we systematically investigate the effect of these factors for microwave-plasma chemical vapor deposition (MPCVD) of diamond (referred to as high density carbon (HDC) in the inertial confinement fusion (ICF) community) coatings on spherical, rolling substrates. This coating technique is used to fabricate capsules for ICF experiments, which require extreme coating uniformity with <0.3 % thickness variation (so-called Mode 1 or M1) to ensure symmetric compression of imploding targets. To extract the otherwise unobservable reorientation timescale (Δt), Monte Carlo simulations were performed using experimental ICTD data as input. This combined approach confirms scaling relationships between the substrate reorientation timescale as well as coating thickness and coating uniformity, as expected from a 3D random walk. Simulations confirm that M1 is Rayleigh-distributed and scales as (Δt) 1/2 , consistent with the randomization of two angles that determine orientation of a sphere. We also demonstrate that, under the conditions studied, Δt is the dominant factor in determining thickness uniformity while the intrinsic ICTD has minimal impact. Finally, experiments show that Δt can be affected by total batch size under constant agitation conditions due to space constraints that limit the capsule reorientation kinetics. In conclusion, this study highlights the utility of a combined experiment-simulation approach as a general methodology for understanding and improving coating uniformity on non-planar, non-stationary substrates.

Capsule↗
NASA NTRS2007

Evolution of the Space Station Robotic Manipulator

The Space Station Remote Manipulator System (SSRMS), Canadarm2, was launched in 2001 and deployed on the International Space Station (ISS). The Canadarm2 has been instrumental in ISS assembly and maintenance. Canadarm2 shares its heritage with the Space Shuttle Arm (Canadarm). This article explores the evolution from the Shuttle Canadarm to the Space Station Canadarm2 design, which incorporates a 7 degree of freedom design, larger joints, and changeable operating base. This article also addresses phased design, redundancy, life and maintainability requirements. The design of Canadarm2 meets unique ISS requirements, including expanded handling capability and the ability to be maintained on orbit. The size of ISS necessitated a mobile manipulator, resulting in the unique capability of Canadarm2 to relocate by performing a walk off to base points located along the Station, and interchanging the tip and base of the manipulator. This provides the manipulator with reach and access to a large part of the Station, enabling on-orbit assembly of the Station and providing support to Extra-Vehicular Activity (EVA). Canadarm2 is evolving based on on-orbit operational experience and new functionality requirements. SSRMS functionality is being developed in phases to support evolving ISS assembly and operation as modules are added and the Station becomes more complex. Changes to sustaining software, hardware architecture, and operations have significantly enhanced SSRMS capability to support ISS mission requirements. As a result of operational experience, SSRMS changes have been implemented for Degraded Joint Operations, Force Moment Sensor Thermal Protection, Enabling Ground Controlled Operations, and Software Commutation. Planned Canadarm2 design modifications include: Force Moment Accommodation, Smart Safing, Separate Safing, and Hot Backup. In summary, Canadarm2 continues to evolve in support of new ISS requirements and improved operations. It is a tribute to the design that this evolution can be accomplished while conducting critical on-orbit operations with minimal hardware changes.

Razvi, Shakeel↗
NASA NTRS1993

Physiological responses to wearing the space shuttle launch and entry suit and the prototype advanced crew escape suit compared to the unsuited condition

The launch and entry suit (LES) is a life support suit worn during Orbiter ascent and descent. The impact of suit weight and restricted mobility on egress from the Orbiter during an emergency is unknown. An alternate suit - the advanced crew escape suite (ACES) - is being evaluated. The physiological responses to ambulatory exercise of six subjects wearing the LES and ACES were measured and compared to those measurements taken while unsuited. Dependent variables included heart rate and metabolic response to treadmill walking at 5.6 km/h (3.5 mph), and also bilateral concentric muscle strength about the knee, shoulder, and elbow. No significant (p greater than 0.06) differences in heart rate or metabolic variables were measured in either suit while walking at 5.6 km/h. Significant (p less than 0.05) decreases in all metabolic variables were remarked when both suits were compared to the unsuited condition. There were no significant (p greater than 0.05) differences among the three suit conditions at 30 or 180 deg/s for muscles about the elbow and knee; however, about the shoulder, a significant (p = 0.0215) difference between the ACES and the unsuited condition was noted. Therefore, wearing a life support suit while performing Orbiter egress imposes a significant metabolic demand on crewmembers. Selective upper body strength movements may be compromised.

Barrows, Linda H.↗