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At least 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Implementation and Testing of Inverse Kinematics on Robotic Arm

COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.

Franz, Carter↗
DOE OSTI2021

Tidal Energy Resource Characterization, Velocity and Turbulence Measurements, Processed Data, Cook Inlet, AK, 2021

This submission contains processed datasets from a long-term deployment of 3 moorings and a transect survey of the proposed tidal energy site off the East Forelands in Cook Inlet, AK. The long-term mooring datasets were created from 8 instruments mounted on a Terrasond High Energy Oceanographic Mooring (THEOM) bottom lander and two Mid-Water Mooring (MWM) Stablemoor buoys from 1 July 2021 to 31 August 2021 (60 days). The west-most mooring (MWM1) was deployed at 60.720225 N, 151.436196 W in ~50 m of water. The middle mooring (THEOM) was deployed at 60.720703 N, 151.429500 W in ~52 m of water. The east-most buoy (MWM2) was deployed at 60.720081 N, 151.420896 W in ~50 m of water. Each Stablemoor carried three instruments: 1. A Nortek Vector acoustic Doppler velocimeter (ADV) mounted at the Stablemoor's nose. Data were recorded at 8 Hz on a 5 minute duty cycle every 20 minutes. Data was motion-corrected using the internal IMU and external ADCP bottom-track data and then bin-averaged into 4 minute bins and converted to the Principal (streamwise, cross-stream, vertical) coordinate system. (Note: 30 seconds were trimmed from the beginning and end of each 5 minute duty cycle to account for the filter end-effects from turning on and turning off the IMU.) 2. A down-looking Nortek Signature 1000 kHz acoustic Doppler current profiler (ADCP) mounted in the first Stablemoor instrument well. Data were recorded in 2 Hz with 5-beam burst and bottom-track enabled. Processed data has been averaged into 10 minute bins and converted into the Principal coordinate system. 3. An up-looking Nortek Signature 1000 kHz acoustic Doppler current profiler (ADCP) mounted in the second Stablemoor instrument well. Data were recorded at 4 Hz with 5 beam burst enabled. Processed data has been averaged into 10 minute bins and converted into the Principal coordinate system. Note: the down-facing ADCP on MWM1 failed on July 10th, 2021, only recording 9 days of data. Because ADV motion-correction required bottom track, the ADV from MWM1 also only has 9 days processed. Additionally, only 25 days of data were processed from the MWM2 ADV because it appeared to have been impacted by debris on 7/25. Two instruments were mounted on the THEOM (see MHKDR link further below for THEOM raw data): 4. A Nortek Vector acoustic Doppler velocimeter (ADV). Data were recorded at 8 Hz on a 5 minute duty cycle every 20 minutes. Data was bin-averaged into 5 minute bins, and converted to the Principal coordinate system. 5. A Nortek Signature 500 kHz acoustic Doppler current profiler (ADCP). Data were recorded in 4 Hz in the beam coordinate system from all 5 beams. Processed data has been averaged into 10 minutes bins and converted to the Principal coordinate system.

16 TIDAL AND WAVE POWER↗
NASA NTRS2021

Between-Simulator Comparison of Motion Filter Order and Break Frequency Interaction Effects on Pilot Control Behavior

This paper investigates the interaction effects of motion filter order and break frequency on pilots' manual control behavior and control performance using two simulators. Eighteen pilots performed the experiment in the Vertical Motion Simulator (VMS) at NASA Ames Research Center and twenty pilots in the SIMONA Research Simulator at Delft University of Technology. The experiment used a full-factorial design with three motion filter orders (first-, second-, and third-order) and two filter break frequencies (0.5 and 2.0 rad/s), in addition to reference no-motion and full-motion conditions. Key task variables, such as the quality of the motion and visual cues and the characteristics of the sidestick, were matched across both simulators. Overall, the expected effects of filter order and break frequency variations were found, with both increasing order and increasing break frequency causing pilots to use less motion feedback in their control strategy, resulting in lower tracking performance. Furthermore, across the wide range of filter orders tested in the experiment, the existing Sinacori-Schroeder motion fidelity criterion was found to be a good predictor of the interaction effects of both filter settings on pilot control behavior. For the same motion condition, there was a consistent offset in the results between simulators, due to the more high-gain control strategy adopted by a number of the VMS pilots. Still, the observed relative trends in pilot control behavior and performance between motion conditions were equivalent in both simulators and thus accurately replicated.

manual control↗
NASA NTRS2013

Cursor Control Device Test Battery

The test battery was developed to provide a standard procedure for cursor control device evaluation. The software was built in Visual Basic and consists of nine tasks and a main menu that integrates the set-up of the tasks. The tasks can be used individually, or in a series defined in the main menu. Task 1, the Unidirectional Pointing Task, tests the speed and accuracy of clicking on targets. Two rectangles with an adjustable width and adjustable center- to-center distance are presented. The task is to click back and forth between the two rectangles. Clicks outside of the rectangles are recorded as errors. Task 2, Multidirectional Pointing Task, measures speed and accuracy of clicking on targets approached from different angles. Twenty-five numbered squares of adjustable width are arranged around an adjustable diameter circle. The task is to point and click on the numbered squares (placed on opposite sides of the circle) in consecutive order. Clicks outside of the squares are recorded as errors. Task 3, Unidirectional (horizontal) Dragging Task, is similar to dragging a file into a folder on a computer desktop. Task 3 requires dragging a square of adjustable width from one rectangle and dropping it into another. The width of each rectangle is adjustable, as well as the distance between the two rectangles. Dropping the square outside of the rectangles is recorded as an error. Task 4, Unidirectional Path Following, is similar to Task 3. The task is to drag a square through a tunnel consisting of two lines. The size of the square and the width of the tunnel are adjustable. If the square touches any of the lines, it is counted as an error and the task is restarted. Task 5, Text Selection, involves clicking on a Start button, and then moving directly to the underlined portion of the displayed text and highlighting it. The pointing distance to the text is adjustable, as well as the to-be-selected font size and the underlined character length. If the selection does not include all of the underlined characters, or includes non-underlined characters, it is recorded as an error. Task 6, Multi-size and Multi-distance Pointing, presents the participant with 24 consecutively numbered buttons of different sizes (63 to 163 pixels), and at different distances (60 to 80 pixels) from the Start button. The task is to click on the Start button, and then move directly to, and click on, each numbered target button in consecutive order. Clicks outside of the target area are errors. Task 7, Standard Interface Elements Task, involves interacting with standard interface elements as instructed in written procedures, including: drop-down menus, sliders, text boxes, radio buttons, and check boxes. Task completion time is recorded. In Task 8, a circular track is presented with a disc in it at the top. Track width and disc size are adjustable. The task is to move the disc with circular motion within the path without touching the boundaries of the track. Time and errors are recorded. Task 9 is a discrete task that allows evaluation of discrete cursor control devices that tab from target to target, such as a castle switch. The task is to follow a predefined path and to click on the yellow targets along the path.

Kritina Holden↗
NASA NTRSDate not supplied

Evaluation of Markerless Motion Capture for Monitoring Sensorimotor Performance

BACKGROUND Astronauts returning from long-duration exposure to microgravity frequently exhibit alterations in sensorimotor function leading to postural imbalance, impaired locomotion, and operational challenges to manual control. Mission duration and individual responses often influence both the severity of performance decrements and the variability in adaptation timelines. Postflight disruptions during functional tasks are often detected through body-worn inertial measurement unit (IMU) devices. While IMU sensors are relatively compact, the long-term wear may lead to discomfort, displacement of the sensors on the body, and restrictions in movement or crew behavior. Although IMU data offers valuable insights from a research standpoint, interpreting changes in pre- and post-flight measures can be difficult for crew support personnel beyond the research domain, which can hinder the application for medical assessments and rehabilitation. Finally, the availability of inertial sensors in-flight is limited. There is a need for unobtrusive monitoring tools to improve our ability to monitor adaptation following gravitational transitions in various postflight evaluations and rehabilitation settings. Markerless motion capture (MMC) is an evolving unobtrusive technology that builds upon decades of research with marker-based motion capture systems to provide 3D human pose estimation from multiple synchronized 2D camera views using deep learning algorithms. Markerless technology can revolutionize how data is captured pre- and post-flight and potentially in-flight during intravehicular activity by enabling pose estimation of multiple crew members from onboard camera hardware. METHODS The following presents the initial evaluation of a state-of-the-art commercial-off-the-shelf MMC system, Theia Markerless, compared to IMU devices during various ground-based functional tasks and environmental conditions. The featured functional tasks include assessments from Human Research Program (HRP) funded studies such as Sensorimotor Standard Measures and Sensorimotor Assessments. Synchronous data collected using both motion capture and IMUs are analyzed for six male and female subjects of varying anthropometry. The analysis includes limited assessments of clothing, capture volume configurations, and the tool's sensitivity to detecting performance changes after a spaceflight analog centrifuge exposure. The development of visualization tools to enhance the application of the pose estimation output is also presented. RESULTS Initial results demonstrate comparable root mean square error (RMSE) to existing literature evaluating markerless and marker-based motion capture systems. Considering the relative functional range of motion of the cervical spine, normalized error values for the markerless system’s accuracy of the head was 0.032 in pitch, 0.025 in roll, and 0.018 in yaw plane of motion across a subset of functional tasks. The raw RMSE values were 3.49, 2.25, and 2.81 degrees respectively. For the torso, results suggest normalized errors of 0.469 in pitch, 0.191 in roll, and 0.307 in yaw planes of motion and raw RMSE values of 3.52, 1.53, and 3.07 degrees respectively. The data suggests the functional demands of a particular task influences the estimation accuracy of the MMC system where more dynamic motion and cases where subjects are not upright may introduce diminished tracking accuracy. DISCUSSION The following work lays the foundation for future implementations leveraging markerless motion capture to assess the time course of recovery and provide insight for rehabilitation protocols to enhance crew readiness for the resumption of daily activities. These tools offer effective methods for anonymizing sensitive crew data, facilitating numerous applications across research, medical, and rehabilitation groups. Collaborations with the Anthropometry and Biomechanics Facility will provide further comparisons of the Markerless system to a marker-based system. ACKNOWLEDGEMENT</ This work is supported by NASA’s Exploration Systems Development Mission Directorate Mars Campaign Office Crew Health Countermeasures.

Hannah M. Weiss↗
NASA NTRS1977

The effect of a visual/motion display mismatch in a single axis compensatory tracking task

An experiment was performed to determine the effect of a performance mismatch between the visual and motion display systems on a real time piloted aircraft simulation. Pilots performed a compensatory roll tracking task with dynamics typical of medium jet transports. Between 0 and 10 rad/sec, visual and motion system responses were equivalent to either unity or a first order lag at 4.8 rad/sec. Pilot describing functions and error scores were calculated. Results show that the mismatch between visual and motion display systems has no significant effect. It is the absence of high frequency visual and/or motion cues which significantly affects pilot performance.

Shirachi, D. K.↗
NASA NTRS1975

Wind estimates from cloud motions: Preliminary results from phases 1, 2, and 3 of an in situ aircraft verification experiment

Low level aircraft equipped with Inertial Navigation Systems (INS) were used to define the vertical extent and horizontal motion of a cloud and to measure the ambient wind field. A high level aircraft, also equipped with an INS, took photographs to describe the horizontal extent of the cloud field and to measure cloud motion. The aerial photographs were also used to make a positive identification in a satellite picture of the cloud observed by the low level aircraft. The experiment was conducted over the tropical oceans in the vicinity of Florida, Puerto Rico, Panama and in the Western Gulf of Mexico. Results for tropical cumulus clouds indicate excellent agreement between the cloud motion and the wind at the cloud base. The magnitude of the vector difference between the cloud motion and the cloud base wind is less than 1.3 m/sec for 67% of the cases with track lengths of 1 hour or longer. The cirrus cloud motions agreed best with the mean wind in the cloud layer with a vector difference of about 1.6 m/sec.

Hasler, A. F.↗
NASA NTRS1988

Analysis procedures and subjective flight results of a simulator validation and cue fidelity experiment

A joint experiment to investigate simulator validation and cue fidelity was conducted by the Dryden Flight Research Facility of NASA Ames Research Center (Ames-Dryden) and NASA Langley Research Center. The primary objective was to validate the use of a closed-loop pilot-vehicle mathematical model as an analytical tool for optimizing the tradeoff between simulator fidelity requirements and simulator cost. The validation process includes comparing model predictions with simulation and flight test results to evaluate various hypotheses for differences in motion and visual cues and information transfer. A group of five pilots flew air-to-air tracking maneuvers in the Langley differential maneuvering simulator and visual motion simulator and in an F-14 aircraft at Ames-Dryden. The simulators used motion and visual cueing devices including a g-seat, a helmet loader, wide field-of-view horizon, and a motion base platform.

Carr, Peter C.↗
NASA NTRS1984

On the potential use of satellite sounder data in forecasting tropical cyclone motion

Although many prediction schemes are available, tropical cyclone track forecast errors are still unacceptably large. A primary difficulty is that tropical cyclones and their environments are poorly observed by conventional data networks. Satellite sounders, however, routinely provide numerous observations near these storms. Mean layer temperatures from the Scanning Microwave Spectrometer (SCAMS) on board the Nimbus-6 satellite are decomposed using empirical orthogonal functions, and the expansion coefficients are related to deviations from persistence track forecasts. Based on multiple correlation coefficients it appears that upper-level (250-100 mb) temperatures contain significant information about the right-angle error of the persistence forecast location. Temperatures from the 1000-500 mb layer seemed to contain little forecast information. Implications of these results for further work are offered.

Kidder, S. Q.↗
NASA NTRS1977

The effect of a visual/motion display mismatch in a single axis compensatory tracking task

The frequency response of visual systems is typically unity from 0 to 20 rad/sec, while that of motion systems typically falls off in the vicinity of 6 rad/sec. The question arises as to what effect, if any, such a difference in servomechanism performance has on the simulation. Is pilot performance reduced by the conflict between displays? Would a more realistic simulation occur if the visual servomechanisms were degraded to match the motion servomechanisms? Does the pilot need and use the higher frequency information present in the visual display? The purpose of the experiment is to take a step forward toward answering these questions. Work already in the literature which bears on these questions is outlined. A description is then given of an experiment used to check for the effects of a difference in the performance of the visual and motion servomechanisms (the experiment uses a single-axis, compensatory, roll-tracking task). The results of the experiment are then presented and analyzed.

Shirachi, D. K.↗
NASA NTRS1971

Anchoring spacecraft to planets

For planet tracking, the immense mass relative to applied nongravitational forces (for even the smaller asteroids) removes limitations on the ability to model orbital motion mathematically. A lander on a natural satellite (other than the moon) would not suffer from nongravitational effects, and would further have a large mean motion, which is important for observing gravitational effects. The tracking of a Mars lander over a long period would yield conclusions in the areas of relativity (determination of the parameter beta), the inertial framework, Mars' internal structure (based on the polar moment), and Mars' physical ephemeris.

Cain, D. L.↗
DOE OSTI2023

Human-in-the-Loop Motion Control of a Two-DOF Hydraulic Backhoe Powered by the Hybrid Hydraulic Electric Architecture (HHEA)

Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) combines the respective power density and control advantages of hydraulic and electric actuation to save energy for off-road vehicles. It uses a set of selectable common pressure rails to transmit the majority of power and electric actuation to modulate that power. As it is critical that off-road vehicles can perform tasks dexterously and exactly as commanded by the operator, the switchings between discrete pressure rails pose a potential challenge for smooth and precise motion. A control strategy consisting of a backstepping nominal control and least norm transition control has previously been developed to address this issue. It has been tested on 1 degree of freedom (DOF) testbeds where known trajectories were able to be tracked precisely. This paper presents the implementation of the HHEA motion control strategy on a 2-DOF backhoe operated by a human operator via a 2-DOF joystick. Unlike previous studies, the duty cycle is unknown beforehand and the decision to change pressure rails is taken in real-time. The efficacy of the motion control strategy has been validated experimentally. Several strategies to improve the user interface: control in workspace coordinates, pressure feedback, and velocity field-based task specification, have also been implemented and demonstrated to make operating the multiple DOF, HHEA actuated machine more intuitive to novice operators.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1997

Interferometric estimation of ice sheet motion and topography

With ERS-1/2 satellite radar interferometry, it is possible to make measurements of glacier motion with high accuracy and fine spatial resolution. Interferometric techniques were applied to map velocity and topography for several outlet glaciers in Greenland. For the Humboldt and Petermann glaciers, data from several adjacent tracks were combined to make a wide-area map that includes the enhanced flow regions of both glaciers. The discharge flux of the Petermann glacier upstream of the grounding line was estimated, thereby establishing the potential use of ERS-1/2 interferometric data for monitoring ice-sheet discharge. Interferograms collected along a single track are sensitive to only one component of motion. By utilizing data from ascending and descending passes and by making a surface-parallel flow assumption, it is possible to measure the full three-dimensional vector flow field. The application of this technique for an area on the Ryder glacier is demonstrated. Finally, ERS-1/2 interferograms were used to observe a mini-surge on the Ryder glacier that occurred in autumn of 1995.

Joughlin, Ian↗
NASA NTRS2012

Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

Trube, Matthew J.↗
NASA NTRS2000

Video Based Sensor for Tracking 3-Dimensional Targets

Video-Based Sensor for Tracking 3-Dimensional Targets The National Aeronautics and Space Administration's (NASAs) Marshall Space Flight Center (MSFC) has been developing and testing video-based sensors for automated spacecraft guidance for several years, and the next generation of video sensor will have tracking rates up to 100 Hz and will be able to track multiple reflectors and targets. The Video Guidance Sensor (VGS) developed over the past several years has performed well in testing and met the objective of being used as the terminal guidance sensor for an automated rendezvous and capture system. The first VGS was successfully tested in closed-loop 3-degree-of-freedom (3- DOF) tests in 1989 and then in 6-DOF open-loop tests in 1992 and closed-loop tests in 1993-4. Development and testing continued, and in 1995 approval was given to test the VGS in an experiment on the Space Shuttle. The VGS flew in 1997 and in 1998, performing well for both flights. During the development and testing before, during, and after the flight experiments, numerous areas for improvement were found. The VGS was developed with a sensor head and an electronics box, connected by cables. The VGS was used in conjunction with a target that had wavelength-filtered retro-reflectors in a specific pattern, The sensor head contained the laser diodes, video camera, and heaters and coolers. The electronics box contained a frame grabber, image processor, the electronics to control the components in the sensor head, the communications electronics, and the power supply. The system works by sequentially firing two different wavelengths of laser diodes at the target and processing the two images. Since the target only reflects one wavelength, it shows up well in one image and not at all in the other. Because the target's dimensions are known, the relative positions and attitudes of the target and the sensor can be computed from the spots reflected from the target. The system was designed to work from I meter out to I 10 meters. The VGS was mounted on the Space Shuttle while its target was mounted on the Spartan free-flyer carried on the same Shuttle flight. The VGS tracked the Spartan at ranges up to 170m, and the VGS range data very closely matched the range data from the Hand-Held Laser- Rangefinder used by the astronauts on board the Shuttle. While the VGS was designed primarily as a terminal guidance sensor for an automated spacecraft, it could be applied to other uses. It could be used as an alignment aid for an operator of a remote system (giving position and attitude feedback data, as well as a camera view of the target), as a feedback system for a robotic arm, or for automated vehicle guidance. The next generation VGS, with its higher tracking rates, smaller size, and lower power could be used in more places than the original VGS, and by using LED's instead of laser diodes, the system would be eye-safe at any range. Other possible uses include tracking 3-dimensional objects with retro-reflectors mounted at various locations or motion analysis by placing several retro-reflectors on the moving object and tracking them at high speeds. There are few sensors capable of performing tasks similar to those the VGS can perform, and the next generation VGS will be even more capable than the original. Some of this work is previously presented in the papers.

Howard, R. T.↗
NASA NTRS1984

Spacecraft system study: A study to define the impact of laser communication systems on their host spacecraft

The mutual influence of a laser communication system and its host spacecraft and the degree to which the mutual influence limited acquisition, tracking and pointing processes were investigated. A laser klink between a low earth orbiting (LEO) satellite and a geosynchronous earth orbiting (GEO) satellite was used as a baseline. The laser link between satellites was a generic channel transferring 500 Mbps data from the LEO to GEO using the GaAlAs laser as the laser light source. Major aspects of pointing and tracking with a satelliteborne optical system were evaluated including: (1) orbital aspects such as spacecraft relative motions, point ahead, and Sun snd Moon optical noise; (2) burst errors introduced by the electronic and optical noise levels; (3) servo system design and configurations, and the noise sources such as, sensor noise, base motion disturbances, gimbal friction torque noise; (4) an evaluation of the tracking and beacon link and the type of sensors used; (5) the function of the acquisition procedure and an evaluation of the sensors employed; and (6) an estimate of the size, weight and power needed for the satellite system.

Source record↗
NASA NTRS1974

The effect of spurious angular accelerations on tracking in dynamic simulation

A laboratory study was conducted to investigate the effect of spurious simulator yaw motions on a pilot's control performance. A second objective was to compare the efficiency of static and dynamic simulator tracking in previously unexamined vehicle dynamics. Twelve airline pilots served as subjects in a moving-base flight simulator under congruent-motion, spurious-motion, and no-motion conditions. The results indicated a significant increase in the amount of error with increasing levels of spurious motion during the initially administered series of trials. The influence of spurious motion, however, was absent in a second series of trials. The data suggest that the pilots learned to compensate in their performance for the spurious inputs. It was also found that congruent visual and rotational cueing produced superior performance to that of tracking with visual information alone.

Beck, L. J.↗
DOE OSTI2022

Mapping 3D grain and precipitate structure during in situ mechanical testing of open-cell metal foam using micro-computed tomography and high-energy X-ray diffraction microscopy

Open-cell metal foams are ultra-low-density cellular metals with complex hierarchical structures that span bulk, cell, ligament, and sub-ligament scales and give rise to desirable properties such as high strength-to-weight ratio and excellent energy absorption. Although literature suggests that intrinsic material structures at sub-ligament length scales (e.g., grains and precipitates) play an important role in mechanical behavior of open-cell metal foams, there are very few experimental measurements of such structures in three dimensions and for meaningful volumes of foam. This study seeks to map and track the three-dimensional (3D) grain and precipitate structures of an intact volume of open-cell aluminum foam by advancing microstructural characterization techniques that leverage X-ray micro-computed tomography (μCT) and far-field high-energy X-ray diffraction microscopy (FF-HEDM). A 6%-relative-density aluminum foam sample was mechanically tested in compression while μCT and FF-HEDM measurements were collected at interrupted loading states at beamline 1-ID of the Advanced Photon Source. Further, a new scanning strategy and reconstruction algorithm were established to enable characterization of a foam volume with diameter approximately four times wider than the nominal width of the X-ray beam. The result is a set of maps that detail both the 3D grain and precipitate structures throughout the foam volume at successive strain steps. A novel grain tracking procedure was developed to track individual grains within the foam volume by accounting for the large rigid-body motions that individual ligaments can undergo during mechanical loading. The ability to track grains and precipitate structures in three dimensions throughout large bulk deformation of ultra-low-density polycrystalline materials enables new possibilities for validating numerical models and investigating local failure mechanisms. Furthermore, the methods and procedures developed in this study could be applied to other ultra-low-density structures, such as additively manufactured lattices.

36 MATERIALS SCIENCE↗