Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Adaptive sampling”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 397 records · Page 22

Systems and Methods for Gravity-Independent Gripping and Drilling

Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

Parness, Aaron↗

Skeletal Responses to Long-Duration Simulated Weightlessness in Rats

Damaging effects due to spaceflight and long-duration weightlessness are seen in the musculoskeletal system, specifically with regards to bone loss, bone resorption, and changes in overall bone structure. These adverse effects are all seen with indicators of oxidative stress and a variation in the levels of oxidative gene expression. Once gravity is restored, however, the recovery is slow and incomplete. Despite this, few reports have investigated the correlation between oxidative damage and general modifications within the bone. In this project, we will make use of a ground-based model of simulated weightlessness (hindlimb unloading, HU) in order to observe skeletal changes in response to induced microgravity due to changes in oxidative pressures. With this model we will analyze samples at 14-day and 90-day time points following HU for the determination of acute and chronic effects, each with corresponding controls. We hypothesize that simulated microgravity will lead to skeletal adaptations including time-dependent activation of pro-oxidative processes and pro-osteoclastogenic signals related to the progression, plateau, and recovery of the bone. Microcomputed tomography techniques will be utilized to measure skeletal changes in response to HU. With the results of this study, we hope to further the understanding of skeletal affects as a result of long-duration weightlessness and develop countermeasures to combat bone loss in spaceflight and osteoporosis on Earth.

hindlimb unloading↗

Conclusions of A Mini Technical Interchange Meeting on New Cross Risk Integration Projects Managed By the NASA Space Radiation Element

To enable deep space exploration and sustained human presence in space, the NASA Human Research Program’s (HRP) Space Radiation Element (SRE) funds research to characterize and mitigate adverse health outcomes from exposure to space radiation. Recently, the Space Radiation Element was tasked with supporting multiple HRP Elements with innovative and enabling projects to inform risk characterization, facilitate mitigation activities, and support crew health and performance. These projects, such as precision health initiative, NASA Omics Archive (NOA) and human sample repositories, are agnostic to any HRP Element, hence the name, Cross Risk Integration Projects (CRIP). CRIP serves three broad purposes: Services: Generate samples/data or manage the receipt, inventory, archive and ultimate redistribution of biospecimens created in HRP-funded spaceflight and analog research activities – includes NASA Omics Archive (NOA) project and various human and animal sample repositories. Method Development: Identify and evaluate, new-to-NASA research or analysis methods or techniques – includes TRRaC (Translational Radiation Research and Countermeasures) Project. Enabling Capabilities: Demonstrate real world application by adapting, adopting and/or developing capabilities to benefit crew health & performance and improve risk – includes Precision Health Initiative (Pharmacogenomics) and advanced biological systems and engineered tissue microsystems initiative (tissue chips, organ-on-a-chip). To identify new technologies, future work, and solicitations, the SRE organizes themed sessions at annual HRP Investigators’ Workshops (IWS). These technical interchange meetings (TIMs) provide a venue for the scientific community to present ongoing work and engage in open discussion, limitations of current approaches, and incorporation of novel experimental strategies and other innovative techniques. Here a summary and lessons learned from the SRE-sponsored mini-TIM titled “Space Radiation Cross Risk Integrations Projects” at HRP IWS 2024 will be communicated. The 90-min TIM had 6 speakers who presented impressive novel ideas and work This poster presents the outcomes of the session along with proposed future workshops and other SRE initiatives.

Janapriya Saha↗

Interior Noise Reduction by Adaptive Feedback Vibration Control

The objective of this project is to investigate the possible use of adaptive digital filtering techniques in simultaneous, multiple-mode identification of the modal parameters of a vibrating structure in real-time. It is intended that the results obtained from this project will be used for state estimation needed in adaptive structural acoustics control. The work done in this project is basically an extension of the work on real-time single mode identification, which was performed successfully using a digital signal processor (DSP) at NASA, Langley. Initially, in this investigation the single mode identification work was duplicated on a different processor, namely the Texas Instruments TMS32OC40 DSP. The system identification results for the single mode case were very good. Then an algorithm for simultaneous two mode identification was developed and tested using analytical simulation. When it successfully performed the expected tasks, it was implemented in real-time on the DSP system to identify the first two modes of vibration of a cantilever aluminum beam. The results of the simultaneous two mode case were good but some problems were identified related to frequency warping and spurious mode identification. The frequency warping problem was found to be due to the bilinear transformation used in the algorithm to convert the system transfer function from the continuous-time domain to the discrete-time domain. An alternative approach was developed to rectify the problem. The spurious mode identification problem was found to be associated with high sampling rates. Noise in the signal is suspected to be the cause of this problem but further investigation will be needed to clarify the cause. For simultaneous identification of more than two modes, it was found that theoretically an adaptive digital filter can be designed to identify the required number of modes, but the algebra became very complex which made it impossible to implement in the DSP system used in this study. The on-line identification algorithm developed in this research will be useful in constructing a state estimator for feedback vibration control.

Lim, Tae W.↗

Automated microbial metabolism laboratory

The labeled release concept was advanced to accommodate a post- Viking mission designed to extend the search, to confirm the presence of, and to characterize any Martian life found, and to obtain preliminary information on control of the life detected. The advanced labeled release concept utilizes four test chambers, each of which contains either an active or heat sterilized sample of the Martian soil. A variety of C-14 labeled organic substrates can be added sequentially to each soil sample and the resulting evolved radioactive gas monitored. The concept can also test effects of various inhibitors and environmental parameters on the experimental response. The current Viking '75 labeled release hardware is readily adaptable to the advanced labeled release concept.

Source record↗

Endocrine, electrolyte, and fluid volume changes associated with Apollo missions

The endocrine and metabolic results obtained before and after the Apollo missions and the results of the limited in-flight sampling are summarized and discussed. The studies were designed to evaluate the biochemical changes in the returning Apollo crewmembers, and the areas studied included balance of fluids and electrolytes, regulation of calcium metabolism, adaptation to the environment, and regulation of metabolic processes.

Carolyn S. Leach↗

Development of advanced control schemes for telerobot manipulators

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Nguyen, Charles C.↗

In Flight MiRNA Isolation and Recovery on the ISS Using the Wetlab-2 System

Due to advancements in RNA research, mi (micro) RNAs and other small nucleotide RNAs have become a major research field in biology including spaceflight research. The regulation of RNA transcription and processing by miRNAs makes miRNAs an appealing topic for genetics and molecular research. It has been estimated that over 60% of human gene transcripts are targets of miRNA regulation. In fact, this is true for all organisms, including plants and insects. Small nucleotide RNAs can also play a role in regulating gene expression, meaning that gene expression alone is not a complete picture of the potential genetic changes that occur in an organism during spaceflight. The goal of the WetLab-2 project is to isolate and recover miRNAs from various tissue sources on the International Space Station (ISS). No system currently exists that can isolate and recover small nucleotide RNA in space. However, the WetLab-2 system that was validated on the ISS in 2016 can be adapted to fit this purpose. We are currently testing the new modified protocols by running plant and mouse blood experiments in parallel, allowing us to demonstrate the effectiveness of the procedure on different sample types. We expect to be able to optimize and implement the modified miRNA protocols for use on future ISS flights.

miRNA↗

In Flight miRNA Isolation and Recovery on the ISS

Due to advancements in RNA research, mi (micro) RNAs and other small nucleotide RNAs have become a major research field in biology including spaceflight research. The regulation of RNA transcription and processing by miRNAs makes miRNAs an appealing topic for genetics and molecular research. It has been estimated that over 60% of human gene transcripts are targets of miRNA regulation. In fact, this is true for all organisms, including plants and insects. Small nucleotide RNAs can also play a role in regulating gene expression, meaning that gene expression alone is not a complete picture of the potential genetic changes that occur in an organism during spaceflight. The goal of the WetLab-2 project is to isolate and recover miRNAs from various tissue sources on the International Space Station (ISS). No system currently exists that can isolate and recover small nucleotide RNA in space. However, the WetLab-2 system that was validated on the ISS in 2016 can be adapted to fit this purpose. We are currently testing the new modified protocols by running plant and mouse blood experiments in parallel, allowing us to demonstrate the effectiveness of the procedure on different sample types. We expect to be able to optimize and implement the modified miRNA protocols for use on future ISS flights.

miRNA↗

WetLab-2: Tools for Conducting On-Orbit Quantitative Real-Time Gene Expression Analysis on ISS

The objective of NASA Ames Research Centers WetLab-2 Project is to place on the ISS a research platform capable of conducting gene expression analysis via quantitative real-time PCR (qRT-PCR) of biological specimens sampled or cultured on orbit. The project has selected a Commercial-Off-The-Shelf (COTS) qRT-PCR system, the Cepheid SmartCycler and will fly it in its COTS configuration. The SmartCycler has a number of advantages including modular design (16 independent PCR modules), low power consumption, rapid ramp times and the ability to detect up to four separate fluorescent channels at one time enabling multiplex assays that can be used for normalization and to study multiple genes of interest in each module. The team is currently working with Cepheid to enable the downlink of data from the ISS to the ground and provide uplink capabilities for programming, commanding, monitoring, and instrument maintenance. The project has adapted commercial technology to design a module that can lyse cells and extract RNA of sufficient quality and quantity for use in qRT-PCR reactions while using a housekeeping gene to normalize RNA concentration and integrity. The WetLab-2 system is capable of processing multiple sample types ranging from microbial cultures to animal tissues dissected on-orbit. The ability to conduct qRT-PCR on-orbit eliminates the confounding effects on gene expression of reentry stresses and shock acting on live cells and organisms or the concern of RNA degradation of fixed samples. The system can be used to validate terrestrial analyses of samples returned from ISS by providing on-orbit gene expression benchmarking prior to sample return. The ability to get on orbit data will provide investigators with the opportunity to adjust experiment parameters for subsequent trials based on the real-time data analysis without need for sample return and re-flight. Researchers will also be able to sample multigenerational changes in organisms. Finally, the system can be used for analysis of air, surface, water, and clinical samples to monitor environmental contaminants and crew health. The verification flight of the instrument is scheduled to launch on SpaceX-7 in June 2015.

quantitative PCR↗

Coherent Detection of High-Rate Optical PPM Signals

A method of coherent detection of high-rate pulse-position modulation (PPM) on a received laser beam has been conceived as a means of reducing the deleterious effects of noise and atmospheric turbulence in free-space optical communication using focal-plane detector array technologies. In comparison with a receiver based on direct detection of the intensity modulation of a PPM signal, a receiver based on the present method of coherent detection performs well at much higher background levels. In principle, the coherent-detection receiver can exhibit quantum-limited performance despite atmospheric turbulence. The key components of such a receiver include standard receiver optics, a laser that serves as a local oscillator, a focal-plane array of photodetectors, and a signal-processing and data-acquisition assembly needed to sample the focal-plane fields and reconstruct the pulsed signal prior to detection. The received PPM-modulated laser beam and the local-oscillator beam are focused onto the photodetector array, where they are mixed in the detection process. The two lasers are of the same or nearly the same frequency. If the two lasers are of different frequencies, then the coherent detection process is characterized as heterodyne and, using traditional heterodyne-detection terminology, the difference between the two laser frequencies is denoted the intermediate frequency (IF). If the two laser beams are of the same frequency and remain aligned in phase, then the coherent detection process is characterized as homodyne (essentially, heterodyne detection at zero IF). As a result of the inherent squaring operation of each photodetector, the output current includes an IF component that contains the signal modulation. The amplitude of the IF component is proportional to the product of the local-oscillator signal amplitude and the PPM signal amplitude. Hence, by using a sufficiently strong local-oscillator signal, one can make the PPM-modulated IF signal strong enough to overcome thermal noise in the receiver circuits: this is what makes it possible to achieve near-quantum-limited detection in the presence of strong background. Following quantum-limited coherent detection, the outputs of the individual photodetectors are automatically aligned in phase by use of one or more adaptive array compensation algorithms [e.g., the least-mean-square (LMS) algorithm]. Then the outputs are combined and the resulting signal is processed to extract the high-rate information, as though the PPM signal were received by a single photodetector. In a continuing series of experiments to test this method (see Fig. 1), the local oscillator has a wavelength of 1,064 nm, and another laser is used as a signal transmitter at a slightly different wavelength to establish an IF of about 6 MHz. There are 16 photodetectors in a 4 4 focal-plane array; the detector outputs are digitized at a sampling rate of 25 MHz, and the signals in digital form are combined by use of the LMS algorithm. Convergence of the adaptive combining algorithm in the presence of simulated atmospheric turbulence for optical PPM signals has already been demonstrated in the laboratory; the combined output is shown in Fig. 2(a), and Fig. 2(b) shows the behavior of the phase of the combining weights as a function of time (or samples). We observe that the phase of the weights has a sawtooth shape due to the continuously changing phase in the down-converted output, which is not exactly at zero frequency. Detailed performance analysis of this coherent free-space optical communication system in the presence of simulated atmospheric turbulence is currently under way.

Vilnrotter, Victor↗

Dynamics of multirate sampled data control systems

The effect was investigated of the synthesis approach (single or multirate) on the machine requirements for a digital control system for the space shuttle boost vehicle. The study encompassed four major work areas: synthesis approach trades, machine requirements trades, design analysis requirements and multirate adaptive control techniques. The primary results are two multirate autopilot designs for the low Q and maximum Q flight conditions that exhibits equal or better performance than the analog and single rate system designs. Also, a preferred technique for analyzing and synthesizing multirate digital control systems is included.

Naylor, J. R.↗

Voice encoding for the Space Shuttle using adaptive delta modulation

The paper describes the SONG and modified ABATE adaptive delta modulation algorithms for voice encoding. Waveforms of the response of the delta modulators to channel errors are given, and performance data which show the relationship between channel errors and word intelligibility are provided. An analytic derivation yielding a comparison between PCM and adaptive delta modulation with respect to channel errors is given. The Space Shuttle is employing the modified-ABATE device because it can tolerate a high error rate and operates at a relatively low sampling rate.

Schilling, D. L.↗

Direct adaptive control of manipulators in Cartesian space

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Seraji, H.↗

Mobile Robot for Exploring Cold Liquid/Solid Environments

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Bergh, Charles↗

An Iterated Global Mascon Solution with Focus on Land Ice Mass Evolution

Land ice mass evolution is determined from a new GRACE global mascon solution. The solution is estimated directly from the reduction of the inter-satellite K-band range rate observations taking into account the full noise covariance, and formally iterating the solution. The new solution increases signal recovery while reducing the GRACE KBRR observation residuals. The mascons are estimated with 10-day and 1-arc-degree equal area sampling, applying anisotropic constraints for enhanced temporal and spatial resolution of the recovered land ice signal. The details of the solution are presented including error and resolution analysis. An Ensemble Empirical Mode Decomposition (EEMD) adaptive filter is applied to the mascon solution time series to compute timing of balance seasons and annual mass balances. The details and causes of the spatial and temporal variability of the land ice regions studied are discussed.

Luthcke, S. B.↗

Automated Scheduling of Personnel to Staff Operations for the Mars Science Laboratory

Leveraging previous work on scheduling personnel for space mission operations, we have adapted ASPEN (Activity Scheduling and Planning Environment) [1] to the domain of scheduling personnel for operations of the Mars Science Laboratory. Automated scheduling of personnel is not new. We compare our representations to a sampling of employee scheduling systems available with respect to desired features. We described the constraints required by MSL personnel schedulers and how each is handled by the scheduling algorithm.

MSL↗