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At least 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

LANL Activities on Mechanistic Approach to Analyzing and Improving Unconventional Hydrocarbon Production

Hydrocarbon production from shale reservoirs is inherently inefficient and challenging since these are low permeability plays. In addition, there is a limited understanding of the fundamentals and the controlling mechanisms, further complicating how to optimize these plays. Herein, we summarize our experimental and computational efforts fully and partially supported by the fundamental shale portfolio to reveal unconventional shale fundamentals and devise development strategies to enhance extraction efficiency with a minimal environmental footprint. Integrating these fundamentals with machine learning, we outline a pathway to improve the predictive power of our models, which enhances the forecast quality of production, thereby improving the economics of operations in unconventional reservoirs. For instance, we have developed science informed workflows and platforms for optimizing pressure-drawdown at a site, which allow operators to make reservoir-management decisions that optimize recovery in consideration of future production. Recently, our work relies on the hybridization of physics-based prediction and machine learning, whereby accurate synthetic data (combined with available site data) can enable the application of machine learning methods for rapid forecasting and optimization. Consequently, the workflow and platform are readily extendable to operations at other sites, plays, and basins.

04 OIL SHALES AND TAR SANDS↗
DOE OSTI2026

From models to reality: a systematic review on simulated and measured residential heat pump energy savings

High-performance HVAC solutions are central to residential energy management. A substantial share of these are electric, reversible-cycle systems, with heat pumps representing the largest portion of current and near-term adoption. This review synthesizes peer-reviewed and grey literature on residential space heating and cooling heat pumps. The academic literature is dominated by modeling (73.8%), with limited field measurement (13.1%). Grey literature from United States serve as a supplemental resource providing measured savings. Conversions from electric-resistance heating consistently show the largest site energy reductions, while oil/propane baselines yield moderate savings, and gas baseline scenario often deliver small and region-dependent savings. This study cross-checks the grey literature measured data with simulation data filtered from the ResStock dataset. The comparison indicates a discrepancy between simulations and measured data: simulated site EUIs are typically lower than measured EUIs, but percentage energy savings fall in similar ranges, implying simulations capture directional effects while underestimating energy use. Factors associated with variability and model–measurement differences include system characterization and control representation (e.g., backup heat engagement, thermostat/setpoint strategies, commissioning/installation quality), occupant behavior, weather normalization, metering scope, and envelope characterization. This paper also outlines the proposed methodology for comparing simulation and measured data for heat pumps. It emphasizes the metrics used for comparison and units harmonization, building characteristics matching, and compact metadata are needed for simulations to match measured data. The proposed methodology is expected to improve the credibility of simulated savings as measured evidence grows.

Yu, Lili↗
DOE OSTI2025

Site B - NREL ASSIST (SN11) Thermodynamic Retrievals TROPoe / Derived Data

This dataset contains daily files with thermodynamic profiles retrieved with the optimal estimation physical retrieval TROPoe v0.12 (Turner and Löhnert 2014; Turner and Blumberg 2019; Turner and Löhnert 2021). The profiles are retrieved every 10 minutes from instantaneous observations from the NREL ASSIST-II (SN 11) infrared spectrometer. Observations are noise-filtered but not averaged in time to minimize errors due to non-uniform clouds. Additional input data in TROPoe are cloud base height (CBH), which is a combined data product that uses data from ceilometers at sites A1 and H and scanning lidars from ARM sites C1 and E37. The CBH is weighted inversely proportionally to the distance to the respective site to take into account the spatial variability of clouds (see https://github.com/StefanoWind/ASSIST_analysis/blob/main/awaken_processing/combine_cbh.py). The full pipeline for running the retrieval is available at https://github.com/StefanoWind/TROPoe_processor. Met data was not ingested. In addition to these temporally resolved input data, TROPoe requires an a priori dataset (prior) that provides mean climatological estimates of thermodynamic profiles and specifies how temperature and humidity covary with height as an input (for details see, e.g., Djalalova et al. 2022). The prior is a key component of the retrieval and provides a constraint on the ill-posed inversion problem. A monthly prior was computed from operational radiosonde launches at ARM SGP, OK.

17 WIND ENERGY↗
DOE OSTI2025

Site G - NREL ASSIST (SN10) Thermodynamic Retrievals TROPoe / Derived Data

This dataset contains daily files with thermodynamic profiles retrieved with the optimal estimation physical retrieval TROPoe v0.12 (Turner and Löhnert 2014; Turner and Blumberg 2019; Turner and Löhnert 2021). The profiles are retrieved every 10 minutes from instantaneous observations from the NREL ASSIST-II (SN 10) infrared spectrometer. Observations are noise-filtered but not averaged in time to minimize errors due to non-uniform clouds. Additional input data in TROPoe are cloud base height (CBH), which is a combined data product that uses data from ceilometers at sites A1 and H and scanning lidars from ARM sites C1 and E37. The CBH is weighted inversely proportionally to the distance to the respective site to take into account the spatial variability of clouds (see https://github.com/StefanoWind/ASSIST_analysis/blob/main/awaken_processing/combine_cbh.py). The full pipeline for running the retrieval is available at https://github.com/StefanoWind/TROPoe_processor. Met data was not ingested. In addition to these temporally resolved input data, TROPoe requires an a priori dataset (prior) that provides mean climatological estimates of thermodynamic profiles and specifies how temperature and humidity covary with height as an input (for details see, e.g., Djalalova et al. 2022). The prior is a key component of the retrieval and provides a constraint on the ill-posed inversion problem. A monthly prior was computed from operational radiosonde launches at ARM SGP, OK.

17 WIND ENERGY↗
DOE OSTI2025

Site C1a - NREL ASSIST (SN12) Thermodynamic Retrievals TROPoe / Derived Data

This dataset contains daily files with thermodynamic profiles retrieved with the optimal estimation physical retrieval TROPoe v0.12 (Turner and Löhnert 2014; Turner and Blumberg 2019; Turner and Löhnert 2021). The profiles are retrieved every 10 minutes from instantaneous observations from the NREL ASSIST-II (SN 12) infrared spectrometer. Observations are noise-filtered but not averaged in time to minimize errors due to non-uniform clouds. Additional input data in TROPoe are cloud base height (CBH), which is a combined data product that uses data from ceilometers at sites A1 and H and scanning lidars from ARM sites C1 and E37. The CBH is weighted inversely proportionally to the distance to the respective site to take into account the spatial variability of clouds (see https://github.com/StefanoWind/ASSIST_analysis/blob/main/awaken_processing/combine_cbh.py). The full pipeline for running the retrieval is available at https://github.com/StefanoWind/TROPoe_processor. Met data was not ingested. In addition to these temporally resolved input data, TROPoe requires an a priori dataset (prior) that provides mean climatological estimates of thermodynamic profiles and specifies how temperature and humidity covary with height as an input (for details see, e.g., Djalalova et al. 2022). The prior is a key component of the retrieval and provides a constraint on the ill-posed inversion problem. A monthly prior was computed from operational radiosonde launches at ARM SGP, OK.

17 WIND ENERGY↗
NASA NTRS2014

ExMC Technology Watch

The Technology Watch (Tech Watch) project is directed by the NASA Human Research Programs (HRP) Exploration Medical Capability (ExMC) element, and primarily focuses on ExMC technology gaps. The project coordinates the efforts of multiple NASA centers, including the Johnson Space Center (JSC), Glenn Research Center (GRC), Ames Research Center (ARC), and the Langley Research Center (LaRC). The objective of Tech Watch is to identify emerging, high-impact technologies that augment current NASA HRP technology development efforts. Identifying such technologies accelerates the development of medical care and research capabilities for the mitigation of potential health issues encountered during human space exploration missions. The aim of this process is to leverage technologies developed by academia, industry and other government agencies and to identify the effective utilization of NASA resources to maximize the HRP return on investment. The establishment of collaborations with these entities is beneficial to technology development, assessment and/or insertion, and advance NASAs goal to provide a safe and healthy environment for human exploration. In fiscal year 2013, the Tech Watch project maintained student project activity aimed at specific ExMC gaps, completed the gap report review cycle for all gaps through a maturated gap report review process, and revised the ExMC Tech Watch Sharepoint site for enhanced data content and organization. Through site visits, internships and promotions via aerospace journals, several student projects were initiated and completed this past year. Upon project completion, the students presented their results via telecom or WebEx to the ExMC Element as a whole. The upcoming year will continue to forge strategic alliances and student projects in the interest of technology and knowledge gap closure. Through the population of Sharepoint with technologies assessed by the gap owners, the database expansion will develop a more comprehensive technology set for each gap. By placing such data in Sharepoint, the gap report updates in fiscal year 2014 are anticipated to be streamlined since the evaluated technologies will be readily available to the gap owners in a sortable archive, and may be simply exported into the final gap report presentation.

Technology gaps↗
NASA NTRS2014

ExMC Technology Watch

The Technology Watch (Tech Watch) project is directed by the NASA Human Research Program's (HRP) Exploration Medical Capability (ExMC) element, and primarily focuses on ExMC technology gaps. The project coordinates the efforts of multiple NASA centers, including the Johnson Space Center (JSC), Glenn Research Center (GRC), Ames Research Center (ARC), and the Langley Research Center (LaRC). The objective of Tech Watch is to identify emerging, high-impact technologies that augment current NASA HRP technology development efforts. Identifying such technologies accelerates the development of medical care and research capabilities for the mitigation of potential health issues encountered during human space exploration missions. The aim of this process is to leverage technologies developed by academia, industry and other government agencies and to identify the effective utilization of NASA resources to maximize the HRP return on investment. The establishment of collaborations with these entities is beneficial to technology development, assessment and/or insertion, and advance NASA's goal to provide a safe and healthy environment for human exploration. In fiscal year 2013, the Tech Watch project maintained student project activity aimed at specific ExMC gaps, completed the gap report review cycle for all gaps through a maturated gap report review process, and revised the ExMC Tech Watch Sharepoint site for enhanced data content and organization. Through site visits, internships and promotions via aerospace journals, several student projects were initiated and completed this past year. Upon project completion, the students presented their results via telecom or WebEx to the ExMC Element as a whole. The upcoming year will continue to forge strategic alliances and student projects in the interest of technology and knowledge gap closure. Through the population of Sharepoint with technologies assessed by the gap owners, the database expansion will develop a more comprehensive technology set for each gap. By placing such data in Sharepoint, the gap report updates in fiscal year 2014 are anticipated to be streamlined since the evaluated technologies will be readily available to the gap owners in a sortable archive, and may be simply exported into the final gap report presentation

Exploration Medical Capability↗
DOE OSTI2020

Southeast Regional CO 2 Utilization and Storage Acceleration Partnership (SECARB-USA): Preliminary Regional Assessment of Potential Storage Complexes, Including Capacities and Costs, Based on Application of NRAP and SCO2T (Deliverable 3.3) Storage Complexes

The Recipient will assist with the field validation of one or more risk assessment toolsets through: 1) collaborative research; 2) sharing of relevant datasets, information, and technical insights from field efforts; and 3) other modeling and simulation toolsets as they are developed. Collaborative research could include, but is not limited to: 1) demonstrating use of field data for improved leakage pathway characterization, uncertainty reduction, and risk management and uncertainty workflows; 2) testing and validation of a specific National Risk Assessment Partnership (NRAP) tool using site specific data; and 3) improved modeling or reduced-order modeling of geophysical monitoring.

42 ENGINEERING↗
NASA NTRS2000

BOREAS AFM-07 SRC Surface Meteorological Data

The Saskatchewan Research Council (SRC) collected surface meteorological and radiation data from December 1993 until December 1996. The data set comprises Suite A (meteorological and energy balance measurements) and Suite B (diffuse solar and longwave measurements) components. Suite A measurements were taken at each of ten sites, and Suite B measurements were made at five of the Suite A sites. The data cover an approximate area of 500 km (North-South) by 1000 km (East-West) (a large portion of northern Manitoba and northern Saskatchewan). The measurement network was designed to provide researchers with a sufficient record of near-surface meteorological and radiation measurements. The data are provided in tabular ASCII files, and were collected by Aircraft Flux and Meteorology (AFM)-7. The surface meteorological and radiation data are available from the Earth Observing System Data and Information System (EOSDIS) Oak Ridge National Laboratory (ORNL) Distributed Active Archive Center (DAAC). The data files are available on a CD-ROM (see document number 20010000884).

Osborne, Heather↗
DOE OSTI2021

The Colorado East River Community Observatory Data Collection

Abstract The U.S. Department of Energy's (DOE) Colorado East River Community Observatory (ER) in the Upper Colorado River Basin was established in 2015 as a representative mountainous, snow‐dominated watershed to study hydrobiogeochemical responses to hydrological perturbations in headwater systems. The ER is characterized by steep elevation, geologic, hydrologic and vegetation gradients along floodplain, montane, subalpine, and alpine life zones, which makes it an ideal location for researchers to understand how different mountain subsystems contribute to overall watershed behaviour. The ER has both long‐term and spatially‐extensive observations and experimental campaigns carried out by the Watershed Function Scientific Focus Area (SFA), led by Lawrence Berkeley National Laboratory, and researchers from over 30 organizations who conduct cross‐disciplinary process‐based investigations and modelling of watershed behaviour. The heterogeneous data generated at the ER include hydrological, genomic, biogeochemical, climate, vegetation, geological, and remote sensing data, which combined with model inputs and outputs comprise a collection of datasets and value‐added products within a mountainous watershed that span multiple spatiotemporal scales, compartments, and life zones. Within 5 years of collection, these datasets have revealed insights into numerous aspects of watershed function such as factors influencing snow accumulation and melt timing, water balance partitioning, and impacts of floodplain biogeochemistry and hillslope ecohydrology on riverine geochemical exports. Data generated by the SFA are managed and curated through its Data Management Framework. The SFA has an open data policy, and over 70 ER datasets are publicly available through relevant data repositories. A public interactive map of data collection sites run by the SFA is available to inform the broader community about SFA field activities. Here, we describe the ER and the SFA measurement network, present the public data collection generated by the SFA and partner institutions, and highlight the value of collecting multidisciplinary multiscale measurements in representative catchment observatories.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Historical Data Analysis Supporting the Data Quality Objectives for the INL Site Environmental Soil Monitoring Program

This document represents the initial evaluation and soil monitoring proposed by Battelle Energy Alliance, LLC (BEA) in 2015. The evaluation included analyses of historical soil monitoring data and soil inventories, current emission estimates, and modeled potential deposition/accumulation patterns. The initially proposed monitoring included a 5-year rotation of in-situ gamma measurements augmented by soil sampling with laboratory analyses near each major active and some inactive facilities. It also proposed rotational in-situ gamma measurements and soil sampling at two centrally located onsite air monitoring locations coinciding with sampling at the traditional offsite soil monitoring locations. The chosen alternative includes only physical soil sampling with laboratory analysis and only at the Radioactive Waste Management Complex (RWMC), the two air monitors and the offsite locations as documented in Data Quality Objectives Supporting the Environmental Soil Monitoring Program for the Idaho National Laboratory (INL) Site, INL/EXT-15-34909, Revision 0, February 2016. The data and evaluations in this document are valid for comparisons with future soil data that may be collected in many INL site locations.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Data-model files associated with the manuscript "Modeling the Effects of Wetland Restoration on Coastal Hydrology: A Case Study of Elkhorn Slough Watershed, California"

This package contains the data, simulation setups, notebooks and figures used in “Modeling the Effects of Wetland Restoration on Coastal Hydrology: A Case Study of Elkhorn Slough Watershed, California” (Xu et al., 2025). In this study, we selected Elkhorn Slough, a tidal estuary, in California, to investigate the impact of wetland restoration and sea level rise on coastal hydrology using the process-based coastal hydrologic model, Advanced Terrestrial Simulator (ATS), informed by site-specific data. We designed a novel modeling workflow for incorporating wetland restoration features into land cover and soil properties for the model parameterization. The validation results demonstrate a strong agreement between modeled and observed data. We studied the characteristics of coastal watershed hydrology, then focused on the surface water dynamics at two wetland sites within Elkhorn Slough, a reference site and a restored site. Our simulation results indicate that the restored site successfully maintains surface elevation, resulting in reduced surface inundation. We also examined the impact of wetland restoration under expected sea level rise over the next few decades. The low-lying Yampah Marsh, the reference site, is likely to be inundated due to future sea level rise when highest tides arrive; while a higher percentage of Hester Marsh, the restored site, would retain marsh vegetation in coming decades, regardless of tidal conditions. Our study provides important information for examining the outcome of restoration practices that include surface elevation in tidal wetlands under climate changes.Several files can be found from this data package.1. README.md: This file describes the title, journal, co-authors, abstract, repository structure and model version.2. Simulation_Setups.zip: The file contains the model configuration files (XML format) for ATS. 3. Notebooks.zip: The file contains the Jupyter notebooks for generating the pre- and post-restoration meshes and the meshes of future scenarios. 4. Figures.zip: The file contains the figures used in the manuscript.5. Data.zip: The file contains the data used to drive the model simulations, including watershed and wetlands boundaries, mesh files and references to additional datasets (e.g., meteorological forcing, tidal dataset, DEMs, land cover, soil properties). Also, it contains water level observations at the restored wetland.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2012

Limits on the Abundance and Burial Depth of Lunar Polar Ice

The Diviner imaging radiometer experiment aboard the Lunar Reconnaissance Orbiter has revealed that surface temperatures in parts of the lunar polar regions are among the lowest in the solar system. Moreover, modeling of these Diviner data using realistic thermal conductivity profiles for lunar regolith and topography-based illumination has been done, with surprising results. Large expanses of circum-polar terrain appear to have near-subsurface temperatures well below 110K, despite receiving episodic low-angle solar illumination [Paige et al., 2010]. These subsurface cold traps could provide areally extensive reservoirs of volatiles. Here we examine the limits to abundance and burial depth of putative volatiles, based on the signature they would create for orbital thermal and epithermal neutrons. Epithermals alone are not sufficient to break the abundance-depth ambiguity, while thermal neutrons provide an independent constraint on the problem. The subsurface cold traps are so large that even modest abundances, well below that inferred from LCROSS observations, would produce readily detectable signatures in the Lunar Prospector neutron spectrometer data [Colaprete et al., 2010]. Specifically, we forward-model the thermal and epithermal neutron leakage flux that would be observed for various ice concentrations, given the depth at which ice stability begins. The LCROSS results point to a water-equivalent hydrogen abundance (WEH) in excess of 10 wt%, when all hydrogenous species are added together (except for H2, detected by LAMP on LRO [Gladstone et al., 2010]). When such an ice abundance is placed in a layer below the stability depth of Paige et al., the epithermal and thermal neutron leakage fluxes are vastly reduced and very much at odds with orbital observations. So clearly an environment that is conducive to cold trapping is necessary but not sufficient for the presence of volatiles such as water. We present the limits on the abundances that are indeed consistent with orbital data. At the LCROSS impact site itself, the data are consistent with very high ice abundances at 50-100 cm depth. However, radar results rule out these high abundances.

Elphic, Richard C.↗
DOE OSTI2022

Representativeness assessment of the pan-Arctic eddy covariance site network and optimized future enhancements

Abstract. Large changes in the Arctic carbon balance are expected as warming linked to climate change threatens to destabilize ancient permafrost carbon stocks. The eddy covariance (EC) method is an established technique to quantify net losses and gains of carbon between the biosphere and atmosphere at high spatiotemporal resolution. Over the past decades, a growing network of terrestrial EC tower sites has been established across the Arctic, but a comprehensive assessment of the network's representativeness within the heterogeneous Arctic region is still lacking. This creates additional uncertainties when integrating flux data across sites, for example when upscaling fluxes to constrain pan-Arctic carbon budgets and changes therein. This study provides an inventory of Arctic (here > = 60∘ N) EC sites, which has also been made available online (https://cosima.nceas.ucsb.edu/carbon-flux-sites/, last access: 25 January 2022). Our database currently comprises 120 EC sites, but only 83 are listed as active, and just 25 of these active sites remain operational throughout the winter. To map the representativeness of this EC network, we evaluated the similarity between environmental conditions observed at the tower locations and those within the larger Arctic study domain based on 18 bioclimatic and edaphic variables. This allows us to assess a general level of similarity between ecosystem conditions within the domain, while not necessarily reflecting changes in greenhouse gas flux rates directly. We define two metrics based on this representativeness score: one that measures whether a location is represented by an EC tower with similar characteristics (ER1) and a second for which we assess if a minimum level of representation for statistically rigorous extrapolation is met (ER4). We find that while half of the domain is represented by at least one tower, only a third has enough towers in similar locations to allow reliable extrapolation. When we consider methane measurements or year-round (including wintertime) measurements, the values drop to about 1/5 and 1/10 of the domain, respectively. With the majority of sites located in Fennoscandia and Alaska, these regions were assigned the highest level of network representativeness, while large parts of Siberia and patches of Canada were classified as underrepresented. Across the Arctic, mountainous regions were particularly poorly represented by the current EC observation network. We tested three different strategies to identify new site locations or upgrades of existing sites that optimally enhance the representativeness of the current EC network. While 15 new sites can improve the representativeness of the pan-Arctic network by 20 %, upgrading as few as 10 existing sites to capture methane fluxes or remain active during wintertime can improve their respective ER1 network coverage by 28 % to 33 %. This targeted network improvement could be shown to be clearly superior to an unguided selection of new sites, therefore leading to substantial improvements in network coverage based on relatively small investments.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2000

BOREAS TE-7 Dendrology Data

The BOREAS TE-7 team collected data sets in support of its efforts to characterize and interpret information on the sapflow and dendrology of boreal vegetation. This data set contains dendrology measurements, consisting of tree ring width and density taken at several points within each ring,.Measurements were taken near the TE towers at the OJP and OBS sites in NSA. In the SSA, measurements were taken near the TE towers at the MIX, OBS, and OJP sites; at the AIM- 1 3 and BMH-9 sites; and near the TF-YJP site. All data were collected during the summer of 1994. The data files are available on a CD-ROM (see document number 20010000884), or from the Oak Ridge National Laboratory (ORNL) Distributed Active Archive Center (DAAC).

Hall, Forrest G.↗
NASA NTRS2004

Accuracy Assessments and Validation of an Expanded UV Irradiance Database from Satellite Total Ozone Mapping Spectrometer (TOMS)

The TOMS UV irradiance database (1978 to 2000) has been expanded to include 5 new products (noon irradiance at 305, 310, 324, and 380 nm, and noon erythemal-weighted irradiance), in addition to the existing erythemal daily exposure, which permit direct Comparisons with ground-based measurements from UV spectrometers. Sensitivity studies are conducted to estimate uncertainties of the new TOMS UV irradiance data due to algorithm apriori assumptions. Comparisons with Brewer spectrometers as well as filter radiometers are used to review of the sources of known errors. Inability to distinguish between snow and cloud cover using only TOMS data results in large errors in estimating surface UV using snow climatology. A correction is suggested for the case when the regional snow albedo is known from an independent source. The summer-time positive bias between TOMS UV estimations and Brewer measurements can be seen at all wavelengths. This suggests the difference is not related to ozone absorption effects. We emphasize that uncertainty of boundary layer UV aerosol absorption properties remains a major source of error in modeling UV irradiance in clear sky conditions. Neglecting aerosol absorption by the present TOMS algorithm results in a positive summertime bias in clear-sky UV estimations over many locations. Due to high aerosol variability the bias is strongly site dependent. Data from UV-shadow-band radiometer and well-calibrated CIMEL sun-sky radiometer are used to quantify the bias at NASA/GSFC site in Greenbelt, MD. Recommendations are given to enable potential users to better account for local conditions by combining standard TOMS UV data with ancillary ground measurements.

Krotkov, N. A.↗
NASA NTRS1989

Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed

Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Charles, Steve↗