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At least 541 records · Page 30

All sources NASA NTRS DOE OSTI

NASA NTRS1980

Kinesthetic coupling between operator and remote manipulator

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Bejczy, A. K.↗

NASA NTRS1986

Theoretical three-and four-axis gimbal robot wrists

In high-performance flight simulations, a four-axis gimbal system allows all possible rotations with acceptable gimbal angle rates while it avoids the so-callled 'gimbal lock' that occurs when gimbal rotational axes are colinear. In this paper, pertinent equations (including quaternions) are assembled for a hypothetical robot wrist, functionally equivalent to this four-axis gimbal system, and also for a true three-axis gimbal robot wrist. These equations are used to simulate the rotation of a robot hand by the robot wrist in response to operator rotational velocity commands to the robot hand. Near gimbal lock (wrist singularity), excessive rotational rates occur. Scaling the rates, which is necessary for the three-gimbal robot wrist to prevent rate limiting, introduces an undesirable time delay in the robot hand rotation with respect to the commanded rotation. However, the merit of the four-gimbal robot wrist is that the fourth gimbal angle keeps the robot wrist away from the singularity so that the robot hand moves exactly as commanded. It appears that in a 'worst-type' maneuver of the robot hand, the fourth gimbal angle can be defined so that none of the gimbal angle rates exceed about twice the commanded rates.

Barker, L. K.↗

NASA NTRS1989

A human factors evaluation of Extravehicular Activity gloves

One of the major problems faced in Extravehicular Activity (EVA) glove development has been the absence of concise and reliable methods to measure the effects of EVA gloves on human-hand capabilities. NASA has sponsored a program to develop a standardized set of tests designed to assess EVA-gloved hand capabilities in six performance domains: Range of Motion, Strength, Tactile Perception, Dexterity, Fatigue, and Comfort. Based upon an assessment of general human-hand functioning and EVA task requirements, several tests within each performance domain were developed to provide a comprehensive evaluation. All tests were designed to be conducted in a glove box with the bare hand, an EVA glove without pressure, an EVA glove at operation pressure. Thus, the differential effect on performance of the glove with and without pressure was tested. Bare hand performance was used to 'calibrate' the effects. Ten subjects participated in the test setup as a repeated-measures experimental design. The paper will report the results of the test program.

O'Hara, John M.↗

NASA NTRS1991

A two dimensional artificial reality

The current presumption is that it is necessary to don goggles, gloves and a data suit to experience artificial reality. However, there is another technology that offers an alternative or complement to the encumbering techniques associated with NASA. In VIDEOPLACE, your image appears in a 2D graphic world created by a computer. The VIDEOPLACE computer can analyze a person's image in 1/30 second and can detect when an object is touched. Thus, it can generate a graphic or auditory response to an illusory contact. VIDEOPLACE technology exists in two formats: the VIDEODESK and the VIDEOPLACE. In the VIDEODESK environment, the image of your hands can be used to perform the normal mouse functions, such as menuing and drawing. In addition, you have the advantage of multipoint control. For instance, you can use the thumbs and forefingers of each hand as control points for a spline curve. Perhaps most important, the image of your hands can be compressed and transmitted to a colleague over an ISDN voice channel to appear on the remote screen superimposed over identical information. Likewise, the image of your colleague's hands can appear on both screens. The result is that the two of you can use your hands to point to features on your respective screens as you speak, exactly as you would if you were sitting together. In the VIDEOPLACE environment, you can interact with graphic creatures and the images of other people in other locations in a graphic world. Your whole body can be moved, scaled and rotated in real-time without regard to the laws of physics. Thus, VIDEOPLACE can be used to create a fantasy world in which the laws of cause and effect are composed by an artist.

Krueger, Myron W.↗

NASA NTRS1994

Beat, modulational, and decay instabilities of a circularly polarized Alfven wave

A circulary polarized low-frequency electomagnetic pump wave propoagating along an ambient magnetic field is known to be unstable to the growth of several parallel-propagating parametric instabilties. If ion-cyclotron effects are retained in a two-fluid description, the dispersion relation is a sixth-order polynomial. We present a series of new analytical approximations to this dispersion relation. We emphasize new results for the beat instability that occurs as an interaction of the forward prpagating upper sideband with the backward propagating lower sideband. The nature of the beat instabitlity depends on beta = (v(sub sound)/v(sub A)(exp 2) and on the sense of polarization of the pump wave. The beat and decay instabilities can occur together if the pump is left-handed (i.e., ion resonant) and if beta is less than or approximately 1, but they cannot occur together if the pump is right-handed. For a left-handed pump the beat mode is the only instability if beta is greater than or approximately 1. If the pump is right-handed and beta is greater than or approximately 1, then the beat instability exists only when the pump amplitude exceeds a threshold value, and the beat will be the only instability if the pump amplitude is large enough to stabilize the modulational instability. If the pump is left-handed and beta is less than or approximately 1, then the beat mode is stabilized when the pump amplitude becomes sufficiently large. The beat instability primarily produces a forward propagating transverse wave in the upper sideband. Thus if beta is greater than or approximately 1, the instabilities considered here do not produce the backward propagating waves which are thought to affect turbulence and the evolution of cross helicity in the solar wind. New analytical results are presented also for the decay and modulational instabilites when beta is approximately equal to 1.

Hollweg, Joseph V.↗

NASA NTRS1997

Method for neural network control of motion using real-time environmental feedback

A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

Buckley, Theresa M.↗

NASA NTRS2014

The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-Rotors

During the course of the Kennedy Space Center Summer Internship, two main experiments were performed: The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-copters. The objectives of the Vacuum-Compacted Regolith Gripping Mechanism, often abbreviated as the Granular Gripper, are to exhibit Space Technology, such as a soft robotic hand, lift different apparatuses used to excavate regolith, and conserve energy while executing its intended task. The project is being conducted to test how much weight the Granular Gripper can hold. With the use of an Animatronic Robotic Hand, Arduino Uno, and other components, the system was calibrated before actually conducting the intended weight test. The maximum weight each finger could hold with the servos running, in the order of pinky, ring, middle, and index fingers, are as follows: 1.340N, 1.456 N, 0.9579 N, and 1.358 N. Using the small vacuum pump system, the maximum weight each finger could hold, in the same order, was: 4.076 N, 6.159 N, 5.454 N, and 4.052 N. The maximum torques on each of the fingers when the servos were running, in the same respective order, was: 0.0777 Nm, 0.0533 Nm, 0.0648 Nm, and 0.0532 Nm. The maximum torques on the individual fingers, when the small vacuum pump was in effect, in the same order as above, was: 0.2318 Nm, 0.3032 Nm, 0.2741 Nm, and 0.1618 Nm. In testing all the fingers with the servos running, the total weight was 5.112 N and the maximum torque on the all the fingers was 0.2515 Nm. However, when the small vacuum pump system was used, the total weight was 19.741 N and the maximum torque on the all the fingers was 0.9713 Nm. The conclusion that was drawn stated that using the small vacuum pump system proved nearly 4 times more effective when testing how much weigh the hand could hold. The resistance provided by the compacted sand in the glove allowed more weight to be held by the hand and glove. Also, when the servos turned off and the hand still retaining its position, energy is being saved because the vacuum created the same resistance the running servos did without using power. The Unmanned Flights via Quad-rotors are built because multi-rotor dynamics are an important starting point and fair analog for space craft control systems and they make good terrestrial development platforms for various aspects of control for space crafts. The project is being conducted to see what the thrust response is going to be when a pulse width modulation command is sent to the control system since the quad-rotors are PWM controlled. A simulation environment in constructed so that one can quickly iterate and test different designs such as control systems, PID control vs. LDR control, and state estimation. Using two DIY Quad Kits, APM 2.6, testing apparatus (called a data acquisition system) to test the quad-rotors, and a simulation program such as Simulink, two quad-rotors are built and controlled via a simulation program, which is designed to be as realistic as possible and not idealistic. Due to the quad-rotors not being completely built nor ready for testing, there are no results or conclusions to report.

Granular Gripper↗

NASA NTRS2017

Training, Retention, and Transfer of Data Entry Perceptual and Motoric Processes Over Long Retention Intervals

Subjects trained in a standard data entry task, which involved typing numbers (e.g., 5421) using their right hands. At test (6 months post-training), subjects completed the standard task, followed by a left-hand variant (typing with their left hands) that involved the same perceptual, but different motoric, processes as the standard task. At a second test (8 months post-training), subjects completed the standard task, followed by a code variant (translating letters into digits, then typing the digits with their right hands) that involved different perceptual, but the same motoric, processes as the standard task. For each of the three tasks, half the trials were trained numbers (old) and half were new. Repetition priming (faster response times to old than new numbers) was found for each task. Repetition priming for the standard task reflects retention of trained numbers; for the left-hand variant reflects transfer of perceptual processes; and for the code variant reflects transfer of motoric processes. There was thus evidence for both specificity and generalizability of training data entry perceptual and motoric processes over very long retention intervals.

dat↗

NASA NTRS2018

Chemiluminescence Measurements in a Combustor Using a 7-Point Lean Direct Injector Array Configuration for Gas Turbine Engine Applications

Two different configurations of a 7-point lean direct injector array were investigated. Chemiluminescence images of C2* or CH* were collected during combustion tests for insight on flame structure for the two configurations. Several inlet conditions were tested by varying the equivalence ratio or reference velocity. For the center right-hand 60 degree and outer right-hand 52 degree outers, the chemiluminescence emanating from the central pilot appeared well isolated from the outers. At the same time, a hollow region below the pilot showed little fluctuation of chemiluminescence where a central recirculation zone was present during the non-reacting tests. The central left-hand 60 degree and outer right-hand 52 degree configuration displayed a narrower structure from the pilot compared to the flatter pilot observed in the other configuration. Additionally, the right-handed outer swirlers may be responsible for the asymmetry observed with the chemiluminescence images. Both configurations showed less variation in chemiluminescence intensity as the reference velocity was increased. This was likely due to better atomization and vaporization associated with higher fuel and air flow rates.

lean direct injection↗

NASA NTRS2019

Training, Retention, and Transfer of Data Entry Perceptual and Motor Processes Over Short and Long Retention Intervals

In 2 experiments, subjects trained in a standard data entry task, which involved typing numbers (e.g., 2147) using their right hands. At an initial test (20 min or 6 months after training), subjects completed the standard task, followed by a left-hand variant (typing with their left hands) that involved the same perceptual, but different motoric, processes as the standard task. At a second test (2 days or 8 months after training), subjects completed the standard task, followed by a code variant (translating letters into digits, then typing the digits with their right hands) that involved different perceptual, but the same motoric, processes as the standard task. At test, for each of the three tasks, half the trials were trained numbers (old) and half were new. Repetition priming (faster response times to old than new numbers) was found for each task, with extended delays only slightly decreasing the magnitude of the effect. Repetition priming for the standard task reflects retention of trained numbers, for the left-hand variant reflects transfer of perceptual processes, and for the code variant reflects transfer of motoric processes. There was, thus, evidence for both specificity and generalizability of training data entry perceptual and motoric processes even over very long retention intervals.

transfer↗

NASA NTRSDate not supplied

Volumetric Limits for Carry in a Spacesuit

Though there is a plethora of ergonomic guidelines for manual material handling, including maximum weight limits, there is not much guidance for the largest size of an object that a person can carry. Moreover, given the new Artemis space program’s intent to reestablish and maintain human presence on the Moon, there is a need to set manual material handling requirements for the partial gravity environment. Lunar surface carry limits while wearing a pressurized spacesuit is chief among them. Specifically, volumetric limits are required to determine the maximum dimensions of an item that a crewmember will be able to carry on the lunar surface. This study will assess spacesuit motion data to determine acceptable locations where the hand can be positioned for carrying an object, as hand position will vary with the crewmember anthropometry, spacesuits constraints and mechanism. Maximum volume limits will be derived from clearances between the suit and the gloved hand. The mobility of the suit and task contexts (e.g., terrain types, ground clearance) will also be taken into consideration to ensure that the volume being carried does not interfere with suit hardware or impart any mobility restrictions. The specific analysis methods and outcomes will be detailed in the final proceeding. The outcome of this study is expected to provide guidelines for maximum volumes that can be carried both two-handed and one-handed while wearing a spacesuit.

Y. Hernandez↗

DOE OSTI2024

Increasing the Reproducibility and Replicability of Supervised AI/ML in the Earth Systems Science by Leveraging Social Science Methods

Artificial intelligence (AI) and machine learning (ML) pose a challenge for achieving science that is both reproducible and replicable. The challenge is compounded in supervised models that depend on manually labeled training data, as they introduce additional decision-making and processes that require thorough documentation and reporting. We address these limitations by providing an approach to hand labeling training data for supervised ML that integrates quantitative content analysis (QCA)—a method from social science research. The QCA approach provides a rigorous and well-documented hand labeling procedure to improve the replicability and reproducibility of supervised ML applications in Earth systems science (ESS), as well as the ability to evaluate them. Specifically, the approach requires (a) the articulation and documentation of the exact decision-making process used for assigning hand labels in a “codebook” and (b) an empirical evaluation of the reliability” of the hand labelers. In this paper, we outline the contributions of QCA to the field, along with an overview of the general approach. We then provide a case study to further demonstrate how this framework has and can be applied when developing supervised ML models for applications in ESS. With this approach, we provide an actionable path forward for addressing ethical considerations and goals outlined by recent AGU work on ML ethics in ESS.

58 GEOSCIENCES↗

DOE OSTI2021

Sterile neutrino dark matter and leptogenesis in Left-Right Higgs Parity

The standard model Higgs quartic coupling vanishes at (10 9 – 10 13 ) GeV. We study SU(2) L × SU(2) R × U(1) B–L theories that incorporate the Higgs Parity mechanism, where this becomes the scale of Left-Right symmetry breaking, $v_R$. Furthermore, these theories solve the strong CP problem and predict three right-handed neutrinos. We introduce cosmologies where SU(2) R × U(1) B–L gauge interactions produce right-handed neutrinos via the freeze-out or freeze-in mechanisms. In both cases, we find the parameter space where the lightest right-handed neutrino is dark matter and the decay of a heavier one creates the baryon asymmetry of the universe via leptogenesis. A theory of flavor is constructed that naturally accounts for the lightness and stability of the right-handed neutrino dark matter, while maintaining sufficient baryon asymmetry. The dark matter abundance and successful natural leptogenesis require vR to be in the range (10 10 – 10 13 ) GeV for freeze-out, in remarkable agreement with the scale where the Higgs quartic coupling vanishes, whereas freeze-in requires $v_R$ ≳ 109 GeV. The allowed parameter space can be probed by the warmness of dark matter, precise determinations of the top quark mass and QCD coupling by future colliders and lattice computations, and measurement of the neutrino mass hierarchy.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2020

Combination of the W boson polarization measurements in top quark decays using ATLAS and CMS data at $\sqrt{s} =$ 8 TeV

The combination of measurements of the W boson polarization in top quark decays performed by the ATLAS and CMS collaborations is presented. The measurements are based on proton-proton collision data produced at the LHC at a centre-of-mass energy of 8 TeV, and corresponding to an integrated luminosity of about 20 fb$^{−1}$ for each experiment. The measurements used events containing one lepton and having different jet multiplicities in the final state. The results are quoted as fractions of W bosons with longitudinal (F$_{0}$), left-handed (F$_{L}$), or right-handed (F$_{R}$) polarizations. The resulting combined measurements of the polarization fractions are F$_{0}$ = 0.693 ± 0.014 and F$_{L}$ = 0.315 ± 0.011. The fraction F$_{R}$ is calculated from the unitarity constraint to be F$_{R}$ = −0.008 ± 0.007. These results are in agreement with the standard model predictions at next-to-next-to-leading order in perturbative quantum chromodynamics and represent an improvement in precision of 25 (29)% for F$_{0}$ (F$_{L}$) with respect to the most precise single measurement. A limit on anomalous right-handed vector (V$_{R}$), and left- and right-handed tensor (g$_{L}$, g$_{R}$) tWb couplings is set while fixing all others to their standard model values. The allowed regions are [−0.11, 0.16] for V$_{R}$, [−0.08, 0.05] for g$_{L}$, and [−0.04, 0.02] for g$_{R}$, at 95% confidence level. Limits on the corresponding Wilson coefficients are also derived.[graphic not available: see fulltext]

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

Torques within and outside the human spindle balance twist at anaphase

At each cell division, nanometer-scale motors and microtubules give rise to the micron-scale spindle. Many mitotic motors step helically around microtubules in vitro, and most are predicted to twist the spindle in a left-handed direction. However, the human spindle exhibits only slight global twist, raising the question of how these molecular torques are balanced. Here, we find that anaphase spindles in the epithelial cell line MCF10A have a high baseline twist, and we identify factors that both increase and decrease this twist. The midzone motors KIF4A and MKLP1 are together required for left-handed twist at anaphase, and we show that KIF4A generates left-handed torque in vitro. The actin cytoskeleton also contributes to left-handed twist, but dynein and its cortical recruitment factor LGN counteract it. Together, our work demonstrates that force generators regulate twist in opposite directions from both within and outside the spindle, preventing strong spindle twist during chromosome segregation.

Cell Biology↗

DOE OSTI2025

Observing leptogenesis in action with gravitational waves

Leptogenesis is arguably the best motivated theory of baryogenesis given the discovery of finite neutrino masses, yet its experimental test is elusive given its high energy scale. We discuss gravitational waves (GWs) produced via graviton bremsstrahlung in right-handed neutrino decays during leptogenesis. The presence of right-handed neutrinos in the early universe can lead to a period of early matter domination. In this context, the resultant GW spectrum scales quadratically with the right-handed neutrino mass, while its peak frequency scales inversely with the Yukawa coupling. Detecting such a spectrum would provide strong evidence for leptogenesis and the existence of heavy right-handed neutrinos. We also discuss how the GW spectrum emitted from the thermal plasma is altered by an era of early matter domination. We show that it can mimic the effects of additional relativistic degrees of freedom and a higher reheating temperature, and that information from the graviton bremsstrahlung GW spectrum can break this degeneracy.

baryon asymmetry↗

DOE OSTI2024

Interaction of N-methylmesoporphyrin IX with a hybrid left-/right-handed G-quadruplex motif from the promoter of the SLC2A1 gene

Abstract Left-handed G-quadruplexes (LHG4s) belong to a class of recently discovered noncanonical DNA structures under the larger umbrella of G-quadruplex DNAs (G4s). The biological relevance of these structures and their ability to be targeted with classical G4 ligands is underexplored. Here, we explore whether the putative LHG4 DNA sequence from the SLC2A1 oncogene promoter maintains its left-handed characteristics upon addition of nucleotides in the 5′- and 3′-direction from its genomic context. We also investigate whether this sequence interacts with a well-established G4 binder, N-methylmesoporphyrin IX (NMM). We employed biophysical and X-ray structural studies to address these questions. Our results indicate that the sequence d[G(TGG)3TGA(TGG)4] (termed here as SLC) adopts a two-subunit, four-tetrad hybrid left-/right-handed G4 (LH/RHG4) topology. Addition of 5′-G or 5′-GG abolishes the left-handed fold in one subunit, while the addition of 3′-C or 3′-CA maintains the original fold. X-ray crystal structure analyses show that SLC maintains the same hybrid LH/RHG4 fold in the solid state and that NMM stacks onto the right-handed subunit of SLC. NMM binds to SLC with a 1:1 stoichiometry and a moderate-to-tight binding constant of 15 μM−1. This work deepens our understanding of LHG4 structures and their binding with traditional G4 ligands.

Seth, Paul↗

DOE OSTI2026

Chiral Magnon Mixing by Symmetry-Breaking in Collinear Ferrimagnets

Magnons in ferromagnets possess spin angular momentum defined by right-handed precession of the moment around the magnetization direction. In antiferromagnets with no net magnetization, left- and right-handed magnons are degenerate in the absence of an applied field. Ferrimagnets possess uncompensated magnetic sublattices, which should natively possess right- and left-handed magnons where their energy is split by the internal molecular field. Here, we show that 𝑅⁢Mn6⁢Sn6 (𝑅 =Tb, Er) ferrimagnets possess right- and left-handed magnon bands that cross at finite momentum (𝐤) within the basal plane, defining modes with opposite dynamical chirality. Depending on the symmetry of the ferrimagnetic order, which may be manipulated by varying the rare-earth magnetic anisotropy or with an applied field, the band crossing may remain a nodal line or may be gapped. The gapped modes contain hybridized chiral excitations whose chirality becomes 𝐤-dependent.

Jaishi, Dhurba R [Ames Laboratory]↗