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All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Measurement and Modeling of Vertically Resolved Aerosol Optical Properties and Radiative Fluxes Over the ARM SGP Site

In order to meet one of its goals - to relate observations of radiative fluxes and radiances to the atmospheric composition - the Department of Energy's Atmospheric Radiation Measurement (ARM) program has pursued measurements and modeling activities that attempt to determine how aerosols impact atmospheric radiative transfer, both directly and indirectly. However, significant discrepancies between aerosol properties measured in situ or remotely remain. One of the objectives of the Aerosol Intensive Operational Period (TOP) conducted by ARM in May 2003 at the ARM Southern Great Plains (SGP) site in north central Oklahoma was to examine and hopefully reduce these differences. The IOP involved airborne measurements from two airplanes over the heavily instrumented SGP site. We give an overview of airborne results obtained aboard the Center for Interdisciplinary Remotely-Piloted Aircraft Studies (CIRPAS) Twin Otter aircraft. The Twin Otter performed 16 research flights over the SGP site. The aircraft carried instrumentation to perform in-situ measurements of aerosol absorption, scattering, extinction and particle size. This included such novel techniques as the photoacoustic and cavity ring-down methods for in-situ absorption (675 nm) and extinction (675 and 1550 nm) and a new multiwavelength, filter-based absorption photometer (467, 530, 660 nm). A newly developed instrument measured cloud condensation nucleus concentration (CCN) concentrations at two supersaturation levels. Aerosol optical depth and extinction (354-2139 nm) were measured with the NASA Ames Airborne Tracking 14-channel sunphotometer. Furthermore, up-and downwelling solar (broadband and spectral) and infrared radiation were measured using seven individual radiometers. Three up-looking radiometers werer mounted on a newly developed stabilized platform, keeping the instruments level up to aircraft pitch and roll angles of approximately 10(exp 0). This resulted in unprecedented continuous vertical profiles of radiative fluxes, which we will compare to modeled fluxes using the aforementioned data as input.

Schmid, B.↗
NASA NTRS2003

Mechanical counter pressure on the arm counteracts adverse effects of hypobaric exposures

INTRODUCTION: Current space suits have limited movement due to gas pressurization during exposure to the vacuum of space. Alternatively, if pressure is applied by an elastic garment vs. pneumatic garment to produce mechanical counter pressure (MCP), several advantages are possible. In this study, we investigate local microcirculatory and other effects produced with and without a prototype MCP glove and sleeve during exposure to varying levels of vacuum. METHODS: The entire arms of eight male volunteers were studied at normal ambient pressure and during 5 min exposures to -50, -100, and -150 mm Hg with and without the MCP glove and sleeve. Pressure distribution, skin microvascular flow, and temperature were measured. RESULTS: The MCP glove and sleeve generated over 200 mm Hg on the middle finger, dorsum of the hand, and the wrist. However, pressure was significantly lower on the forearm and the upper arm. Without the glove and sleeve, only two of eight subjects tolerated -100 mm Hg. Also, no subject tolerated -150 mm Hg. However, subjects tolerated all vacuum pressures wearing the glove and sleeve. Skin microvascular flow and temperature remained within control values with the glove and sleeve at a chamber pressure of -150 mm Hg. DISCUSSION: The MCP glove and sleeve counteracts adverse effects of vacuum exposures due to lower pressure differentials. Pressure levels over the hand and wrist are similar to those of the current U.S. space suit glove and sleeve, but additional development is required to increase MCP over the forearm and upper arm.

NASA Discipline Cardiopulmonary↗
NASA NTRS1994

Rapid adaptation to Coriolis force perturbations of arm trajectory

1. Forward reaching movements made during body rotation generate tangential Coriolis forces that are proportional to the cross product of the angular velocity of rotation and the linear velocity of the arm. Coriolis forces are inertial forces that do not involve mechanical contact. Virtually no constant centrifugal forces will be present in the background when motion of the arm generates transient Coriolis forces if the radius of body rotation is small. 2. We measured the trajectories of arm movements made in darkness to a visual target that was extinguished as movement began. The reaching movements were made prerotation, during rotation at 10 rpm in a fully enclosed rotating room, and postrotation. During testing the subject was seated at the center of the room and pointed radially. Neither visual nor tactile feedback about movement accuracy was present. 3. In experiment 1, subjects reached at a fast or slow rate and their hands made contact with a horizontal surface at the end of the reach. Their initial perrotary movements were highly significantly deviated relative to prerotation in both trajectories and end-points in the direction of the transient Coriolis forces that had been generated during the reaches. Despite the absence of visual and tactile feedback about reaching accuracy, all subjects rapidly regained straight movement trajectories and accurate endpoints. Postrotation, transient errors of opposite sign were present for both trajectories and endpoints. 4. In a second experiment the conditions were identical except that subjects pointed just above the location of the extinguished target so that no surface contact was involved. All subjects showed significant initial perrotation deviations of trajectories and endpoints in the direction of the transient Coriolis forces. With repeated reaches the trajectories, as viewed from above, again became straight, but there was only partial restoration of endpoint accuracy, so that subjects reached in a straight line to the wrong place. Aftereffects of opposite sign were transiently present in the postrotary movements. 5. These observations fail to support current equilibrium point models, both alpha and lambda, of movement control. Such theories would not predict endpoint errors under our experimental conditions, in which the Coriolis force is absent at the beginning and end of a movement. Our results indicate that detailed aspects of movement trajectory are being continuously monitored on the basis of proprioceptive feedback in relation to motor commands. Adaptive compensations can be initiated after one perturbation despite the absence of either visual or tactile feedback about movement trajectory and endpoint error. Moreover, movement trajectory and end-point can be remapped independently.(ABSTRACT TRUNCATED AT 400 WORDS).

Non-NASA Center↗
NASA NTRS1993

Gravitoinertial force level influences arm movement control

1. The ability to move the forearm between remembered elbow joint angles immediately after rapid increases or decreases of the background gravitoinertial force (G) level was measured. The movements had been well-practiced in a normal 1G environment before the measurements in high-(1.8G) and low-force (0G) environments. The forearm and upper arm were always unsupported to maximize the influence of altered G-loading and to minimize extraneous cues about arm position. 2. Horizontal and vertical movement planes were studied to measure the effects of varying the G load in the movement plane within a given G background. Rapid and slow movements were studied to assess the role of proprioceptive feedback. 3. G level did not affect the amplitude of rapid movements, indicating that subjects were able to plan and to generate appropriate motor commands for the new G loading of the arm. The amplitude of slow movements was affected by G level, indicating that proprioceptive feedback is influenced by G level. 4. The effects of G level were similar for horizontal and vertical movements, indicating that proprioceptive information from supporting structures, such as the shoulder joint and muscles, had a role in allowing generation of the appropriate motor commands. 5. The incidence and size of dynamic overshoots were greater in 0G and for rapid movements. This G-related change in damping suggests a decrease in muscle spindle activity in 0G. A decrease in muscle spindle activity in 0G and an increase in 1.8G are consistent with the results of our prior studies on the tonic vibration reflex, locomotion, and perception of head movement trajectory in varying force backgrounds.

NASA Program Space Physiology and Countermeasures↗
NASA NTRS2007

Improvements to GOES Twilight Cloud Detection over the ARM SGP

The current ARM satellite cloud products derived from Geostationary Operational Environmental Satellite (GOES) data provide continuous coverage of many cloud properties over the ARM Southern Great Plains domain. However, discontinuities occur during daylight near the terminator, a time period referred to here as twilight. This poster presentation will demonstrate the improvements in cloud detection provided by the improved cloud mask algorithm as well as validation of retrieved cloud properties using surface observations from the Atmospheric Radiation Measurement Southern Great Plains (ARM SGP) site.

Yost, c. R.↗
NASA NTRS2008

The Adaptively-Refined MHD Solver (ARMS)

ARMS is a robust code for solving the single-fluid, fully compressible equations of magnetohydrodynamics. In this presentation I will describe how to access and run ARMS and how to use HelioSpace to analyze the results. The main features of the code are the following: 1. Equations are solved in either Cartesian or Spherical coordinates. For the latter, either a linear or a Log(r) coordinate can be used. 2. The latest flux-corrected-transport schemes developed at NRZ, are used to advance the convective equations. All waves and shocks are accurately captured. 3. A fully adaptive grid can be used. The code incorporates the PARAMESH technology for block-adaptation. Arbitrary adaptation criteria can be specified. 4. The code maintains a divergence-free magnetic field to machine accuracy throughout all refinement and de-refinement. 5. A uniform resistivity and thermal conduction can be included. Solution is either explicit or implicit. 6. Arbitrary boundary and initial conditions can be used in either Cartesian or spherical coordinates. 7. An accompanying visualization package, HelioSpace, is available for viewing and analyzing the native ARMS output, (without need for interpolating onto a structured grid).

Antichos, S. K.↗
NASA NTRS2005

A Climatology of Midlatitude Continental Clouds from the ARM SGP Site: Low-Level Cloud Macrophysical, Microphysical, and Radiative Properties - Part I

A record of single-layer and overcast low cloud (stratus) properties has been generated using approximately 4000 hours of data collected from January 1997 to December 2002 at the Atmospheric Radiation Measurement (ARM) Southern Great Plains Central Facility (SCF). The cloud properties include liquid-phase and liquid-dominant, mixed-phase, low cloud macrophysical, microphysical, and radiative properties including cloud-base and -top heights and temperatures, and cloud physical thickness derived from a ground-based radar and lidar pair, and rawinsonde sounding; cloud liquid water path (LWP) and content (LWC), and cloud-droplet effective radius (r(sub e)) and number concentration (N) derived from the macrophysical properties and radiometer data; and cloud optical depth (tau), effective solar transmission (gamma), and cloud/top-of-atmosphere albedos (R(sub cldy)/R(sub TOA)) derived from Eppley precision spectral pyranometer measurements. The cloud properties were analyzed in terms of their seasonal, monthly, and hourly variations. In general, more stratus clouds occur during winter and spring than in summer. Cloud-layer altitudes and physical thicknesses were higher and greater in summer than in winter with averaged physical thicknesses of 0.85 km and 0.73 km for day and night, respectively. The seasonal variations of LWP, LWC, N. tau, R(sub cldy), and R(sub TOA) basically follow the same pattern with maxima and minima during winter and summer, respectively. There is no significant variation in mean r(sub e), however, despite a summertime peak in aerosol loading, Although a considerable degree of variability exists, the 6-yr average values of LWP, LWC, r(sub e), N, tau, gamma, R(sub cldy) and R(sub TOA) are 150 gm(exp -2) (138), 0.245 gm(exp -3) (0.268), 8.7 micrometers (8.5), 213 cm(exp -3) (238), 26.8 (24.8), 0.331, 0.672, 0.563 for daytime (nighttime). A new conceptual model of midlatitude continental low clouds at the ARM SGP site has been developed from this study. The low stratus cloud amount monotonically increases from midnight to early morning (0930 LT), and remains large until around local noon, then declines until 1930 LT when it levels off for the remainder of the night. In the morning, the stratus cloud layer is low, warm, and thick with less LWC, while in the afternoon it is high, cold, and thin with more LWC. Future parts of this series will consider other cloud types and cloud radiative forcing at the ARM SCF.

Dong, Xiquan↗
NASA NTRS2009

Monitoring and Controlling an Underwater Robotic Arm

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Haas, John↗
NASA NTRS2005

Patch Antenna Fed via Unequal-Crossed-Arm Aperture

A proposed rectangular-patch antenna for transmitting or receiving microwave circularly polarized (CP) radiation would be fed via a cross-shaped aperture that would have unequal arms and would, in turn, be fed at a single point via a microstrip transmission line. As a consequence of the unequal-arm aperture design, the antenna could be made smaller in one dimension, relative to a typical prior CP antenna that comprises a nearly square patch fed via an equal-crossed-arm aperture. Hence, in designing a phased array of such antennas, the antennas could be packed together more closely along one dimension, making it possible to scan the beam radiated by the antenna over a wider angular range in a plane that includes that dimension. Alternatively or in addition, one could lay out transmission lines in the extra spaces created by the shortening in one dimension

Epp, Larry↗
NASA NTRS2011

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Mars Exploration Rover (MER)↗
NASA NTRS2012

Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem

A report describes the PLuto (programmable logic) Mars Technology Rover, a mid-sized FIDO (field integrated design and operations) class rover with six fully drivable and steerable cleated wheels, a rocker-bogey suspension, a pan-tilt mast with panorama and navigation stereo camera pairs, forward and rear stereo hazcam pairs, internal avionics with motor drivers and CPU, and a 5-degrees-of-freedom robotic arm. The technology rover was integrated with an arm-mounted percussive coring tool, microimager, and sample handling encapsulation containerization subsystem (SHEC). The turret of the arm contains a percussive coring drill and microimager. The SHEC sample caching system mounted to the rover body contains coring bits, sample tubes, and sample plugs. The coring activities performed in the field provide valuable data on drilling conditions for NASA tasks developing and studying coring technology. Caching of samples using the SHEC system provide insight to NASA tasks investigating techniques to store core samples in the future.

Younse, Paulo J.↗
NASA NTRS2012

Detachment of Tertiary Dendrite Arms during Controlled Directional Solidification in Aluminum - 7 wt Percent Silicon Alloys: Observations from Ground-based and Microgravity Processed Samples

Electron Back Scattered Diffraction results from cross-sections of directionally solidified aluminum 7wt% silicon alloys unexpectedly revealed tertiary dendrite arms that were detached and mis-oriented from their parent arm. More surprisingly, the same phenomenon was observed in a sample similarly processed in the quiescent microgravity environment aboard the International Space Station (ISS) in support of the joint US-European MICAST investigation. The work presented here includes a brief introduction to MICAST and the directional solidification facilities, and their capabilities, available aboard the ISS. Results from the ground-based and microgravity processed samples are compared and possible mechanisms for the observed tertiary arm detachment are suggested.

Grugel, Richard N.↗
NASA NTRS2016

Asteroid Redirect Mission (ARM) Formulation Assessment and Support Team (FAST) Final Report

The Asteroid Redirect Mission (ARM) Formulation Assessment and Support Team (FAST) was a two-month effort, chartered by NASA, to provide timely inputs for mission requirement formulation in support of the Asteroid Redirect Robotic Mission (ARRM) Requirements Closure Technical Interchange Meeting held December 15-16, 2015, to assist in developing an initial list of potential mission investigations, and to provide input on potential hosted payloads and partnerships. The FAST explored several aspects of potential science benefits and knowledge gain from the ARM. Expertise from the science, engineering, and technology communities was represented in exploring lines of inquiry related to key characteristics of the ARRM reference target asteroid (2008 EV5) for engineering design purposes. Specific areas of interest included target origin, spatial distribution and size of boulders, surface geotechnical properties, boulder physical properties, and considerations for boulder handling, crew safety, and containment. In order to increase knowledge gain potential from the mission, opportunities for partnerships and accompanying payloads were also investigated. Potential investigations could be conducted to reduce mission risks and increase knowledge return in the areas of science, planetary defense, asteroid resources and in-situ resource utilization, and capability and technology demonstrations. This report represents the FASTâ€"TM"s final product for the ARM.

Mazanek, Daniel D.↗
NASA NTRS2019

Thermal Design of Astrobee Perching Arm

This paper presents the thermal design of actuators in the perching arm of Astrobee robot that will operate inside the International Space Station (ISS) starting in 2019. Since the crew's safety is of the utmost importance on the ISS, all materials used in the Astrobee robot should meet the touch temperature requirements according to the ISS safety standards to protect crew from skin burns by controlling the exposure temperature. The Astrobee perching arm consists of 2-DOF (Degrees-of-Freedom)- arm servo motors and 1-DOF gripper DC motor, which are capable of overheating in the stalled condition. Thermal properties of two types of actuators are verified by monitoring the touch temperature in worst-case operations with no thermal protection. Then, the proper thermal protection designs have been conducted and installed to guarantee the safety in all conditions.

Park, In-Won↗
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↗
NASA NTRS2019

Thermal Design of Astrobee Perching Arm

This paper presents the thermal design of actuators in the perching arm of Astrobee robot that will operate inside the International Space Station (ISS) in starting 2019. Since the crew's safety is of the utmost importance on the ISS, all materials used in the Astrobee robot should meet the touch temperature requirements according to the ISS safety standards to protect crew from skin burns. The Astrobee perching arm consists of 2-DOF arm servo motors and 1-DOF gripper DC motor, which are capable of overheating when stalled, particularly given the lack of gravity-driven thermal convection in the ISS zero-gee environment. Thermal properties of two types of actuators are verified by monitoring the touch temperature in worst-case operations with no thermal protection. Then, the proper thermal protection designs have been conducted and installed to guarantee the safety in all conditions.

Park, In-Won↗
NASA NTRS2018

Resolving Faint Structures in the Debris Disk Around TWA 7* Tentative Detections of an Outer Belt, a Spiral Arm, and a Dusty Cloud

Context. Debris disks are the intrinsic by-products of the star and planet formation processes. Most likely due to instrumental limitations and their natural faintness, little is known about debris disks around low mass stars, especially when it comes to spatially resolved observations. Aims. We present new VLT/SPHERE IRDIS dual-polarization imaging (DPI) observations in which we detect the dust ring around the M2 spectral type star TWA 7. Combined with additional angular differential imaging observations we aim at a fine characterization of the debris disk and setting constraints on the presence of low-mass planets. Methods. We modeled the SPHERE DPI observations and constrain the location of the small dust grains, as well as the spectral energy distribution of the debris disk, using the results inferred from the observations, and performed simple N-body simulations. Results. We find that the dust density distribution peaks at ~0.72′′ (25 au), with a very shallow outer power-law slope, and that the disk has an inclination of ~13° with a position angle of ~91° east of north. We also report low signal-to-noise ratio detections of an outer belt at a distance of ~1.5′′ (~52 au) from the star, of a spiral arm in the southern side of the star, and of a possible dusty clump at 0.11′′. These findings seem to persist over timescales of at least a year. Using the intensity images, we do not detect any planets in the close vicinity of the star, but the sensitivity reaches Jovian planet mass upper limits. We find that the SED is best reproduced with an inner disk at ~0.2′′ (~7 au) and another belt at 0.72′′ (25 au). Conclusions. We report the detections of several unexpected features in the disk around TWA 7. A yet undetected 100 Solar Mass planet with a semi-major axis at 20−30 au could possibly explain the outer belt as well as the spiral arm. We conclude that stellar winds are unlikely to be responsible for the spiral arm.

VLT/SPHERE IRDIS↗
NASA NTRS2011

Autonomous rover traverse and precise arm placement on remotely designated targets

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring insitu measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover’s mast cameras. The rover then autonomously traverses the rocky terrain for a distance of 10 – 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Volpe, Richard↗