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At least 631 records · Page 35

A Synoptic System for Capturing Ecosystem Control Points Across Terrestrial‐Aquatic Interfaces

Interconnected landscape features such as terrestrial‐aquatic interfaces play an outsized role in biogeochemical cycles as ecosystem control points, but it is notoriously challenging to characterize these. Here, we document a synoptic sensor network design that is (a) flexible to accommodate diverse ecosystem interfaces and gradients, (b) adaptable to monitoring and modeling needs of small and large projects alike, (c) standardized for intercomparability across sites and field experiments, and (d) adequately replicated to capture heterogeneity of each parameter monitored. This real‐time monitoring of surface water, groundwater, soil, and vegetation supports configuration and evaluation of models that span upland, wetland, open water strata, and transitions between them. We established the network at seven sites along the Chesapeake Bay and Lake Erie coastlines, including large‐scale flood manipulation experiments in both regions. A central design element is “one data logger program to rule them all”—a collection of sensor‐specific modules deployed on 40 loggers controlling ∼2,000 sensors, with the goal of streamlining maintenance, debugging, and reproducible data processing. The network generates ∼6 M observations per month, capturing system dynamics at the broad spatial and fine temporal scales needed to initialize and benchmark models; measurement frequency can be modified remotely to capture events. This network design has also revealed behaviors not represented in Earth system models, such as transient groundwater oxygen pulses. Completely documented and open source, this standardized, flexible, and efficient sensor network design can reduce barriers to understanding environmental changes and ecosystem responses across systems and scales.

Ward, Nicholas D. [Pacific Northwest National Labo↗

Computer aided control of a mechanical arm

A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

Derocher, W. L., Jr.↗

Operator performance with alternative manual control modes in teleoperation

Recent experiments conducted at the JPL comparing alternative manual control modes using the JPL Advanced Teleoperator system are described. Of particular interest were control modes that provide force reflection to the operator. The task selected for the experiment is a portion of the Solar Maximum Satellite Repair procedure we developed to demonstrate the repair of the Solar Maximum Satellite with teleoperators. The seven manual control modes evaluated in the experiment are combinations of manual position or resolved motion rate control with alternative control schemes for force reflection and remote manipulator compliance. Performance measures used were task completion times, average force and torque exerted during the execution of the task, and cumulative force and torque exerted. The results were statistically analyzed and they show that, in general, force reflection significantly improves operator performance and indicate that a specific force-reflecting scheme may yield the best performance among the control modes we tested. Also, our experiment showed that, for the selected task, the position control modes were preferable to the rate control modes and slave manipulator compliance reduced task interaction forces and torques.

Das, H.↗

Experiences with Mobile Units for Liquid RAW Management in Slovak and Czech Nuclear Power Plants - 20089

In Nuclear Power Plants VVER 440, Russian type of reactor there was designed auxiliary building where according to basic design all operational liquid radioactive waste (RAW) should be stored in large capacity tanks during the whole operational period. That's why there are in the auxiliary building several types of large storage tanks with different internal volume from 110 m{sup 3}, 460 m{sup 3} to 550 m{sup 3}. Storage tanks are usually situated in rooms with limited access and minimal handling space. Operational waste was here transported by the system of pipes from the reactor building. There is possibility to handle with the waste and set the pipeline in to the chosen storage tanks. Nobody takes care about the quality of waste in the storage tanks and waste waits for the period of decommissioning when it should be treated. The storage capacity was designed for the whole lifetime of nuclear power plant. Currently the life time of Nuclear Power Plant's (NPP) is extended and there is necessity to retrieve and treat the RAW in advance. Another reason why the stakeholder, who operates the NPPs, decides to treat the operational RAW during the operational period of NPP, is that there are still new requirements from safety point of view which need to have free available space for example because of potential accident. So treating the operational RAW during the life time of NPP is present issue. Because in basic design nobody cares how the RAW will be retrieved and treated in the future, there is usually no technology for that in existing NPP. Some of the NPPs build an additional building with suitable technologies for treatment or hire the company which offer mobile technology for retrieving the waste from the storage tanks. Wood Nuclear Slovakia PLC provides all activities within liquid RAW management projects by its own staff including management, design, construction and deployment of equipment, engineering support, as well as all RAW retrieval and solidification activities. We offer RAW management as a service without any significant changes in existing NPP's buildings and technology. It is always a technical challenge to conduct successful retrieval, pumping and treatment of RAW. The complex RAW retrieval system can be designed as tailored solution for any RAW storage according to known boundary conditions and specific needs. These systems are based on years of experience with RAW manipulation, processing and treatment and the whole RAW management knowledge by Wood Nuclear Slovakia LTD. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

VICAR/IBIS Software System

Collection of programs provides extensive capabilities for manipulation of imagery and geographical data. VICAR/IBIS software system is combination of JPL VICAR (Video Image Communications and Retrieval System) image-processing system and JPL IBIS (Image Based Information System) geographic-information-management system. Provides user with extensive general-purpose image-processing capabilities, also information-management system for accepting, converting, and operating on vector (graphical) and tabular data. System used to perform various image processing functions on any sort of digitized image data, including such remotely sensed data as those from Landsat multispectral scanner.

Stanfill, Daniel F., IV↗

Marsviewer

Marsviewer is a multi-platform application designed to aid in quality control, browsing, and analysis of original science product images (Experiment Data Records, or EDRs) and derived image data products (Reduced Data Records, or RDRs) returned by the Mars Explorer Rover (MER) mission. Marsviewer offers an abstraction of the products organization via a file finder. For example, the application understands the file structure and filename conventions of the MER Operational Storage Server, helping the user to navigate this complex file system to find desired images. Marsviewer also works with a flat file system, remote-operations file systems, image-archive file systems, and others. All EDRs found for a given solar day (Sol) are displayed in a list, optionally with thumbnail images. Once the user selects an image from the list, a tabbed pane conveniently displays the original source image and all associated RDRs. Marsviewer provides the option of overlaying derived images upon the source image, resulting in an easier-to-interpret color representation of the data. Display manipulations such as zoom, data range adjustment, contrast enhancement, and contour control are available. Image metadata (labels) from the current image can be displayed and searched. The architecture of the program is extensible: new types of RDRs can be installed and new file finders can be added to adapt the program to different file structures and different filename conventions. This keeps the application flexible and provides an opportunity for reuse with future rover missions.

Toole, Nicholas↗

Manipulator design and development for the Ranger satellite servicing vehicle

The Ranger program is a planned series of low cost telerobotics flight experiments, based on the use of Pegasus launch vehicles. As the first step towards this goal, the Space Systems Lab was developing a neutral buoyancy version of Ranger for use in design verification and operations testing. The design approach and results of the Ranger manipulator development program is related. Ranger is designed to incorporate four appendages: a pair of dexterous, seven degree of freedom manipulators for general manipulation; a six DOF grappling arm for securing the vehicle to the local work site; and a five DOF positioning manipulator for the stereo camera pair that provide feedback to the remote operator. Each of these manipulators incorporate unique approaches to satisfying design requirements. The numerical and operational requirements are given for Ranger manipulators, and the evolution is discussed of the differing design approaches based on similarities and differences in the requirements. Testing results for individual joints and manipulator assemblies are presented, followed by initial results of operational testing on satellite servicing tasks with the integrated Ranger neutral buoyancy vehicle.

Howard, Russell D.↗

Easy and Accessible Imaging Software

DATASTAR, Inc., of Picayune, Mississippi, has taken NASA s award-winning Earth Resources Laboratory Applications Software (ELAS) program and evolved it into a user-friendly desktop application and Internet service to perform processing, analysis, and manipulation of remotely sensed imagery data. NASA s Stennis Space Center developed ELAS in the early 1980s to process satellite and airborne sensor imagery data of the Earth s surface into readable and accessible information. Since then, ELAS information has been applied worldwide to determine soil content, rainfall levels, and numerous other variances of topographical information. However, end-users customarily had to depend on scientific or computer experts to provide the results, because the imaging processing system was intricate and labor intensive.

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Space construction engineering - A new career field

Opportunities for engineers in the design and construction of future large space structures are outlined. Possible space structures for the 1980's include a large mirror to reflect sunlight to earth for night lighting, an antenna for a personal communications system, a deep space communications relay system and a large passive radiometer to measure soil moisture. Considerations in the design of such structures include the lack of gravity, allowing structures to be built with much less supporting weight, the cost of transportation to orbit, leading to the use of aluminum or composite materials stored on reels and attached to a beam builder, and the required surface accuracy in the presence of thermal stresses. Construction factors to consider include the use of astronauts and remote manipulators in assembly, both of which have been demonstrated to be feasible.

Hagler, T.↗

Conference on Advanced Technology for Future Space Systems, Hampton, Va., May 8-10, 1979, Technical Papers

Propulsion systems for spacecraft, satellite communications technology, the design of large light-weight erectable structures for assembly in space, electronics and information processing for spacecraft, and self-diagnostic, fault-tolerant controls based on high memory and processing capabilities are discussed. Topics of the papers include the design of large delta wings for earth-to-orbit transports, dual-fuel propulsion units, magnetoplasmadynamic thrusters, heating rates on blunt-nosed bodies at various angles of attack, remote manipulators for space assembly tasks, solar electric propulsion for planetary missions, deployable space platforms with multiple payloads, the design of large offset-fed antennas, a nonlinear stress-strain relationship for metallic meshes, and adaptive sensors for spacecraft.

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Validation of On-Orbit Methodology for the Assessment of Cardiac Function and Changes in the Circulating Volume Using Ultrasound and Braslet-M Occlusion Cuffs

The objective of this joint U.S. - Russian project was the development and validation of an in-flight methodology to assess a number of cardiac and vascular parameters associated with circulating volume and its manipulation in long-duration space flight. Responses to modified Valsalva and Mueller maneuvers were measured by cardiac and vascular ultrasound (US) before, during, and after temporary volume reduction by means of Braslet-M thigh occlusion cuffs (Russia). Materials and Methods: The study protocol was conducted in 14 sessions on 9 ISS crewmembers, with an average exposure to microgravity of 122 days. Baseline cardiovascular measurements were taken by echocardiography in multiple modes (including tissue Doppler of both ventricles) and femoral and jugular vein imaging on the International Space Station (ISS). The Braslet devices were then applied and measurements were repeated after >10 minutes. The cuffs were then released and the hemodynamic recovery process was monitored. Modified Valsalva and Mueller maneuvers were used throughout the protocol. All US data were acquired by the HDI-5000 ultrasound system aboard the ISS (ATL/Philips, USA) during remotely guided sessions. The study protocol, including the use of Braslet-M for this purpose, was approved by the ISS Human Research Multilateral Review Board (HRMRB). Results: The effects of fluid sequestration on a number of echocardiographic and vascular parameters were readily detectable by in-flight US, as were responses to respiratory maneuvers. The overall volume status assessment methodology appears to be valid and practical, with a decrease in left heart lateral E (tissue Doppler) as one of the most reliable measures. Increase in the femoral vein cross-sectional areas was consistently observed with Braslet application. Other significant differences and trends within the extensive cardiovascular data were also observed. (Decreased - RV and LV preload indices, Cardiac Output, LV E all maneuvers, LV Stroke Volume). Conclusions: This Study: 1) Addressed specific aspects of operational space medicine and space physiology, including assessment of circulating volume disturbances 2) Expanded the applications of diagnostic ultrasound imaging and Doppler techniques in microgravity. 3) Used respiratory maneuvers against the background of acute circulating volume manipulations which appear to enhance our ability to noninvasively detect volume-dependency in a number of cardiac and vascular parameters. 4) Determined that Tei index is not clinically changed therefore contractility not altered in the face of reduced preload. 5) Determined that increased Femoral Vein Area indicating blood being sequestered in lower extremities correlates with reduced preload and cardiac output. 6) That Braslet may be the only feasible means of acutely treating high pressure pulmonary edema in reduced gravity environments.

Hamilton, Douglas↗

2012 Alabama Lunabotics Systems Engineering Paper

Excavation will hold a key role for future lunar missions. NASA has stated that "advances in lunar regolith mining have the potential to significantly contribute to our nation's space vision and NASA space exploration operations." [1]. The Lunabotics Mining Competition is an event hosted by NASA that is meant to encourage "the development of innovative lunar excavation concepts from universities which may result in clever ideas and solutions which could be applied to an actual lunar excavation device or payload." [2]. Teams entering the competition must "design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 10 minutes." [2]. While excavation will play an important part in lunar missions, there will still be many other tasks that would benefit from robotic assistance. An excavator might not be as well suited for these tasks as other types of robots might be. For example a lightweight rover would do well with reconnaissance, and a mobile gripper arm would be fit for manipulation, while an excavator would be comparatively clumsy and slow in both cases. Even within the realm of excavation it would be beneficial to have different types of excavators for different tasks, as there are on Earth. The Alabama Lunabotics Team at the University of Alabama has made it their goal to not only design and build a robot that could compete in the Lunabotics Mining Competition, but would also be a multipurpose tool for future NASA missions. The 2010-2011 resulting robot was named the Modular Omnidirectional Lunar Excavator (MOLE). Using the Systems Engineering process and building off of two years of Lunabotics experience, the 20ll-2012 Alabama Lunabotics team (Team NASACAR) has improved the MOLE 1.0 design and optimized it for the 2012 Lunabotics Competition rules [I]. A CAD model of MOLE 2.0 can be seen below in Fig. 1.

Baker, Justin↗

ACTS Satellite Telemammography Network Experiments

The Satellite Networks and Architectures Branch of NASA's Glenn Research Center has developed and demonstrated several advanced satellite communications technologies through the Advanced Communications Technology Satellite (ACTS) program. One of these technologies is the implementation of a Satellite Telemammography Network (STN) encompassing NASA Glenn, the Cleveland Clinic Foundation. the University of Virginia, and the Ashtabula County Medical Center. This paper will present a look at the STN from its beginnings to the impact it may have on future telemedicine applications. Results obtained using the experimental ACTS satellite demonstrate the feasibility of Satellite Telemammography. These results have improved teleradiology processes and mammography image manipulation, and enabled advances in remote screening methodologies. Future implementation of satellite telemammography using next generation commercial satellite networks will be explored. In addition, the technical aspects of the project will be discussed, in particular how the project has evolved from using NASA developed hardware and software to commercial off the shelf (COTS) products. Development of asymmetrical link technologies was an outcome of this work. Improvements in the display of digital mammographic images, better understanding of end-to-end system requirements, and advances in radiological image compression were achieved as a result of the research. Finally, rigorous clinical medical studies are required for new technologies such as digital satellite telemammography to gain acceptance in the medical establishment. These experiments produced data that were useful in two key medical studies that addressed the diagnostic accuracy of compressed satellite transmitted digital mammography images. The results of these studies will also be discussed.

Kachmar, Brian A.↗

Construction and demonstration of a 9-string 6 DOF force reflecting joystick for telerobotics

Confrontation with difficult manipulation tasks in hostile environments such as space, has led to the development of means to transport the human's senses, skills and cognition to the remote site. The use of advanced Telerobotics to achieve this goal is examined. A novel and universal hand controller based on a fully parallel mechanical architecture is discussed. The design and implementation of this 6 DOF force reflecting joystick is shown in relationship to the general philosophy of achieving telepresence in a man-machine system.

Lindemann, Randel↗

A real time spectrum to dose conversion system

A system has been developed which permits the determination of dose in real time or near real time directly from the pulse-height output of a radiation spectrometer. The technique involves the use of the resolution matrix of a spectrometer, the radiation energy-to-dose conversion function, and the geometrical factors, although the order of matrix operations is reversed. The new technique yields a result which is mathematically identical to the standard method while requiring no matrix manipulations or resolution matrix storage in the remote computer. It utilizes only a single function for each type dose required and each geometric factor involved.

Farmer, B. J.↗

Human Machine Interfaces for Teleoperators and Virtual Environments Conference

In a teleoperator system the human operator senses, moves within, and operates upon a remote or hazardous environment by means of a slave mechanism (a mechanism often referred to as a teleoperator). In a virtual environment system the interactive human machine interface is retained but the slave mechanism and its environment are replaced by a computer simulation. Video is replaced by computer graphics. The auditory and force sensations imparted to the human operator are similarly computer generated. In contrast to a teleoperator system, where the purpose is to extend the operator's sensorimotor system in a manner that facilitates exploration and manipulation of the physical environment, in a virtual environment system, the purpose is to train, inform, alter, or study the human operator to modify the state of the computer and the information environment. A major application in which the human operator is the target is that of flight simulation. Although flight simulators have been around for more than a decade, they had little impact outside aviation presumably because the application was so specialized and so expensive.

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Generic functional requirements for a NASA general-purpose data base management system

Generic functional requirements for a general-purpose, multi-mission data base management system (DBMS) for application to remotely sensed scientific data bases are detailed. The motivation for utilizing DBMS technology in this environment is explained. The major requirements include: (1) a DBMS for scientific observational data; (2) a multi-mission capability; (3) user-friendly; (4) extensive and integrated information about data; (5) robust languages for defining data structures and formats; (6) scientific data types and structures; (7) flexible physical access mechanisms; (8) ways of representing spatial relationships; (9) a high level nonprocedural interactive query and data manipulation language; (10) data base maintenance utilities; (11) high rate input/output and large data volume storage; and adaptability to a distributed data base and/or data base machine configuration. Detailed functions are specified in a top-down hierarchic fashion. Implementation, performance, and support requirements are also given.

Lohman, G. M.↗

Traction-drive telerobot for space manipulation

The National Aeronautics and Space Administration (NASA) Space Station Program marks the begining of a new era in space utilization and habitation. Extensive use of remote manipulation and robotics to reduce astronaut extra-vehicular activity is expected. Emphasis on teleoperator technology in early Space Station phases, followed by growth of autonomous robotics capabilities, is planned. A new telerobot concept has been developed at Oak Ridge National Laboratory (ORNL) under NASA Langley Research Center sponsorship, to address the technical needs of both teleoperations and telerobotics for these future NASA programs. The concept is based on traction drives, redundant kinematics, modular construction, and a state-of-the-art distributed, hierarchical control system.

Herndon, J. N.↗