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NASA NTRS2008

The Supercritical Pile GRB Model: The Prompt to Afterglow Evolution

The 'Supercritical Pile' is a very economical gamma ray burst (GRB) model that provides for the efficient conversion of the energy stored in the protons of a Relativistic Blast Wave (RBW) into radiation and at the same time produces - in the prompt GRB phase, even in the absence of any particle acceleration - a spectral peak at an energy sim 1 MeV. We extend this model to include also the evolution of the RBW Lorentz factor Gamma and thus follow the spectral and temporal features of this model into the early GRB afterglow stage. One of the novel features of the present treatment is the inclusion of the feedback of the GRB produced radiation on the evolution of Gamma with radius. This feedback and the presence of kinematic and dynamic thresholds in the model can be the sources of rich time evolution which we have begun to explore. In particular, one can this way obtain afterglow light curves with steep decays followed by the more conventional flatter afterglow slopes, while at the same time preserving the desirable features of the model, i.e. the well defined relativistic electron source and radiative processes that produce the proper peak in the nu F spectra. Furthermore, the existence of a kinematic threshold in this model provides for a operational distinction of the prompt and afterglow GRB stages; in fact, the afterglow stage sets in when the RBW Lorentz factor cannot anymore fulfill the kinematic condition for pair formation in the photon - proton pair production reactions that constitute the fundamental process for the dissipation of the blast wave kinetic energy. We present the results of a specific set of parameters of this model with emphasis on the multiwavelength prompt emission and transition to the early afterglow.

Kazanas, Demosthenes↗

NASA NTRS2004

Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Nickels, Kevin↗

NASA NTRS2005

Simulator of Space Communication Networks

Multimission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) is a suite of software tools that simulates the behaviors of communication networks to be used in space exploration, and predict the performance of established and emerging space communication protocols and services. MACHETE consists of four general software systems: (1) a system for kinematic modeling of planetary and spacecraft motions; (2) a system for characterizing the engineering impact on the bandwidth and reliability of deep-space and in-situ communication links; (3) a system for generating traffic loads and modeling of protocol behaviors and state machines; and (4) a system of user-interface for performance metric visualizations. The kinematic-modeling system makes it possible to characterize space link connectivity effects, including occultations and signal losses arising from dynamic slant-range changes and antenna radiation patterns. The link-engineering system also accounts for antenna radiation patterns and other phenomena, including modulations, data rates, coding, noise, and multipath fading. The protocol system utilizes information from the kinematic-modeling and link-engineering systems to simulate operational scenarios of space missions and evaluate overall network performance. In addition, a Communications Effect Server (CES) interface for MACHETE has been developed to facilitate hybrid simulation of space communication networks with actual flight/ground software/hardware embedded in the overall system.

Clare, Loren↗

NASA NTRS2004

Sensory-Feedback Exoskeletal Arm Controller

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

An, Bin↗

NASA NTRS2003

Software for Simulating a Complex Robot

RoboSim (Robot Simulation) is a computer program that simulates the poses and motions of the Robonaut a developmental anthropomorphic robot that has a complex system of joints with 43 degrees of freedom and multiple modes of operation and control. RoboSim performs a full kinematic simulation of all degrees of freedom. It also includes interface components that duplicate the functionality of the real Robonaut interface with control software and human operators. Basically, users see no difference between the real Robonaut and the simulation. Consequently, new control algorithms can be tested by computational simulation, without risk to the Robonaut hardware, and without using excessive Robonaut-hardware experimental time, which is always at a premium. Previously developed software incorporated into RoboSim includes Enigma (for graphical displays), OSCAR (for kinematical computations), and NDDS (for communication between the Robonaut and external software). In addition, RoboSim incorporates unique inverse-kinematical algorithms for chains of joints that have fewer than six degrees of freedom (e.g., finger joints). In comparison with the algorithms of OSCAR, these algorithms are more readily adaptable and provide better results when using equivalent sets of data.

Goza, S. Michael↗

NASA NTRS2012

The Epoch of Disk Formation: z is Approximately l to Today

We present data on galaxy kinematics, morphologies, and star-formation rates over 0.1 less than z less than 1.2 for approximately 500 blue galaxies. These data show how systems like our own Milky-Way have come into being. At redshifts around 1, about half the age of the Universe ago, Milky-Way mass galaxies were different beasts than today. They had a significant amount of disturbed motions, disturbed morphologies, shallower potential wells, higher specific star-formation rates, and likely higher gas fractions. Since redshift approximately 1, galaxies have decreased in disturbed motions, increased in rotation velocity and potential well depth, become more well-ordered morphologically, and decreased in specific star-formation rate. We find interrelationships between these measurements. Galaxy kinematics are correlated with morphology and specific star-formation rate such that galaxies with the fastest rotation velocities and the least amounts of disturbed motions have the most well-ordered morphologies and the lowest specific star-formation rates. The converse is true. Moreover, we find that the rate at which galaxies become more well-ordered kinematically (i.e., increased rotation velocity, decreased disturbed motions) and morphologically is directly proportional to their stellar mass.

Kassin, Susan↗

NASA NTRS2012

SOFIA Observations of S106: Dynamics of the Warm Gas

Context The H II region/PDR/molecular cloud complex S106 is excited by a single O-star. The full extent of the warm and dense gas close to the star has not been mapped in spectrally resolved high-J CO or [C II] lines, so the kinematics of the warm. partially ionized gas, are unknown. Whether the prominent dark lane bisecting the hourglass-shaped nebula is due solely to the shadow cast by a small disk around the exciting star or also to extinction in high column foreground gas was an open question until now. Aims. To disentangle the morphology and kinematics of warm neutral and ionized gas close to the star, study their relation to the bulk of the molecular gas. and to investigate the nature of the dark lane. Methods. We use the heterodyne receiver GREAT on board SOFIA to observe velocity resolved spectral lines of [C II] and CO 11 yields 10 in comparison with so far unpublished submm continuum data at 350 micron (8HARC-Il) and complementary molecular line data. Results. The high angular and spectral resolution observations show a very complex morphology and kinematics of the inner S106 region, with many different components at different excitation conditions contributing to the observed emission. The [C II] lines are found to be bright and very broad. tracing high velocity gas close to the interface of molecular cloud and H II region. CO 11 yields 10 emission is more confined.. both spatially and in velocity, to the immediate surroundings of S 106 IR showing the presence of warm, high density (clumpy) gas. Our high angular resolution submm continuum observations rule out the scenario where the dark lane separating the two lobes is due solely to the shadow cast by a small disk close to the star. The lane is clearly seen also as warm, high column density gas at the boundary of the molecular cloud and H II region.

Simon, R.↗

NASA NTRS2013

A Waveguide-coupled Thermally-isolated Radiometric Source

The design and validation of a dual polarization source for waveguide-coupled millimeter and sub-millimeter wave cryogenic sensors is presented. The thermal source is a waveguide mounted absorbing conical dielectric taper. The absorber is thermally isolated with a kinematic suspension that allows the guide to be heat sunk to the lowest bath temperature of the cryogenic system. This approach enables the thermal emission from the metallic waveguide walls to be subdominant to that from the source. The use of low thermal conductivity Kevlar threads for the kinematic mount effectively decouples the absorber from the sensor cold stage. Hence, the absorber can be heated to significantly higher temperatures than the sensor with negligible conductive loading. The kinematic suspension provides high mechanical repeatability and reliability with thermal cycling. A 33-50 GHz blackbody source demonstrates an emissivity of 0.999 over the full waveguide band where the dominant deviation from unity arises from the waveguide ohmic loss. The observed thermal time constant of the source is 40 s when the absorber temperature is 15 K. The specific heat of the lossy dielectric MF-117 is well approximated by Cv(T) = 0.12 T(exp 2.06) mJ/g/K between 3.5 K and 15 K.

Rostem, Karwan↗

NASA NTRS2014

Evaluation of Human and Anthropomorphic Test Device Finite Element Models under Spaceflight Loading Conditions

In an effort to develop occupant protection standards for future multipurpose crew vehicles, the National Aeronautics and Space Administration (NASA) has looked to evaluate the test device for human occupant restraint with the modification kit (THOR‐K) anthropomorphic test device (ATD) in relevant impact test scenarios. With the allowance and support of the National Highway Traffic Safety Administration, NASA has performed a series of sled impact tests on the latest developed THOR‐K ATD. These tests were performed to match test conditions from human volunteer data previously collected by the U.S. Air Force. The objective of this study was to evaluate the THOR‐K finite element (FE) model and the Total HUman Model for Safety (THUMS) FE model with respect to the tests performed. These models were evaluated in spinal and frontal impacts against kinematic and kinetic data recorded in ATD and human testing. Methods: The FE simulations were developed based on recorded pretest ATD/human position and sled acceleration pulses measured during testing. Predicted responses by both human and ATD models were compared to test data recorded under the same impact conditions. The kinematic responses of the models were quantitatively evaluated using the ISO‐metric curve rating system. In addition, ATD injury criteria and human stress/strain data were calculated to evaluate the risk of injury predicted by the ATD and human model, respectively. Results: Preliminary results show well‐correlated response between both FE models and their physical counterparts. In addition, predicted ATD injury criteria and human model stress/strain values are shown to positively relate. Kinematic comparison between human and ATD models indicates promising biofidelic response, although a slightly stiffer response is observed within the ATD. Conclusion: As a compliment to ATD testing, numerical simulation provides efficient means to assess vehicle safety throughout the design process and further improve the design of physical ATDs. The assessment of the THOR‐K and THUMS FE models in a spaceflight testing condition is an essential first step to implementing these models in the computational evaluation of spacecraft occupant safety. Promising results suggest future use of these models in the aerospace field.

Putnam, Jacob P.↗

NASA NTRS2013

NIR Imaging Spectroscopy of the Inner Few Arcseconds of NGC 4151 with OSIRIS at Keck

We present H- and K-band data from the inner arcsecond of the Seyfert 1.5 galaxy NGC 4151 obtained with the adaptive optics assisted near-infrared imaging field spectrograph OSIRIS at the Keck Observatory. The angular resolution is about a few parsecs on-site and thus competes easily with optical images taken previously with the Hubble Space Telescope. We present the morphology and dynamics of most species detected but focus on the morphology and dynamics of the narrow line region (as traced by emission of [FeII]λ1.644 μm), the interplay between plasma ejected from the nucleus (as traced by 21 cm continuum radio data) and hot H2 gas and characterize the detected nuclear HeIλ2.058 μm absorption feature as a narrow absorption line (NAL) phenomenon. Emission from the narrow line region (NLR) as traced by [FeII] reveals a biconical morphology and we compare the measured dynamics in the [FeII] emission line with models proposing acceleration of gas in the NLR and simple ejection of gas into the NLR. In the inner 2.5 arcseconds the acceleration model reveals a better fit to our data than the ejection model.We also see evidence that the jet very locally enhances emission in [FeII] at certain positions in our field-of-view such that we were able to distinct the kinematics of these clouds from clouds generally accelerated in the NLR. Further, the radio jet is aligned with the bicone surface rather than the bicone axis such that we assume that the jet is not the dominant mechanism responsible for driving the kinematics of clouds in the NLR. The hot H2 gas is thermal with a temperature of about 1700 K. We observe a remarkable correlation between individual H2 clouds at systemic velocity with the 21 cm continuum radio jet. We propose that the radio jet is at least partially embedded in the galactic disk of NGC 4151 such that deviations from a linear radio structure are invoked by interactions of jet plasma with H2 clouds that are moving into the path of the jet because of rotation of the galactic disk of NGC 4151. Additionally, we observe a correlation of the jet as traced by the radio data, with gas as traced in Brγ and H2, at velocities between systemic and +/- 200 km/s at several locations along the path of the jet. The HeIλ2.058 μm line in NGC 4151 appears in emission with a blueshifted absorption component from an outflow. The emission (absorption) component has a velocity offset of 10 km/s (-280 km/s) with a Gaussian (Lorentzian) full-width (half-width) at half maximum of 160 km/s (440 km/s). The absorption component remains spatially unresolved and its kinematic measures differ from that of UV resonance absorption lines. From the amount of absorption we derive a lower limit of the HeI 2S column density of 1 × 10(exp 14) cm−2 with a covering factor along the line-of-sight of C(sub los) approximately equal to 0.1.

K-band data↗

NASA NTRS2014

Human Performance in Simulated Reduced Gravity Environments

NASA is currently designing a new space suit capable of working in deep space and on Mars. Designing a suit is very difficult and often requires trade‐offs between performance, cost, mass, and system complexity. Our current understanding of human performance in reduced gravity in a planetary environment (the moon or Mars) is limited to lunar observations, studies from the Apollo program, and recent suit tests conducted at JSC using reduced gravity simulators. This study will look at our most recent reduced gravity simulations performed on the new Active Response Gravity Offload System (ARGOS) compared to the C‐9 reduced gravity plane. Methods: Subjects ambulated in reduced gravity analogs to obtain a baseline for human performance. Subjects were tested in lunar gravity (1.6 m/sq s) and Earth gravity (9.8 m/sq s) in shirt‐sleeves. Subjects ambulated over ground at prescribed speeds on the ARGOS, but ambulated at a self‐selected speed on the C‐9 due to time limitations. Subjects on the ARGOS were given over 3 minutes to acclimate to the different conditions before data was collected. Nine healthy subjects were tested in the ARGOS (6 males, 3 females, 79.5 +/- 15.7 kg), while six subjects were tested on the C‐9 (6 males, 78.8 +/- 11.2 kg). Data was collected with an optical motion capture system (Vicon, Oxford, UK) and was analyzed using customized analysis scripts in BodyBuilder (Vicon, Oxford, UK) and MATLAB (MathWorks, Natick, MA, USA). Results: In all offloaded conditions, variation between subjects increased compared to 1‐g. Kinematics in the ARGOS at lunar gravity resembled earth gravity ambulation more closely than the C‐9 ambulation. Toe‐off occurred 10% earlier in both reduced gravity environments compared to earth gravity, shortening the stance phase. Likewise, ankle, knee, and hip angles remained consistently flexed and had reduced peaks compared to earth gravity. Ground reaction forces in lunar gravity (normalized to Earth body weight) were 0.4 +/- 0.2 on the ARGOS, but only 0.2 +/- 0.1 on the C‐9. Discussion: Gait analysis showed differences in joint kinematics and temporal‐spatial parameters between the reduced gravity simulators and with respect to earth gravity. Although most of the subjects chose a somewhat unique ambulation style as a result of learning to ambulate in a new environment, all but two were consistent with keeping an Earth‐like gait. Learning how reduced gravity affects ambulation will help NASA to determine optimal suit designs, influence mission planning, help train crew, and may shed light on the underlying methods the body uses to optimize gait for energetic efficiency. Conclusion: Kinematic and kinetic analysis demonstrated noteworthy differences between an offloaded environment and 1‐g, as would be expected. The analysis showed a trend to change the ambulation style in an offloaded environment to a rolling‐loping walk (resembling crosscountry skiing) with increased swing time. This ambulation modification, particularly in the ARGOS, indicated that the relative kinetic energy of the subject was increased, on average, per the static body weight compared to the 1‐g condition. How much of this was influenced by the active offloading of the ARGOS system is unknown.

Cowley, Matthew↗

NASA NTRS2016

Utilizing Commercial Hardware and Open Source Computer Vision Software to Perform Motion Capture for Reduced Gravity Flight

Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. Since gravity is not present to aid loading, astronauts will use resistive and aerobic exercise regimes for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the area available for an exercise device in the next generation of spacecraft is limited. Therefore, compact resistance exercise device prototypes are being developed. The NASA Digital Astronaut Project (DAP) is supporting the Advanced Exercise Concepts (AEC) Project, Exercise Physiology and Countermeasures (ExPC) project and the National Space Biomedical Research Institute (NSBRI) funded researchers by developing computational models of exercising with these new advanced exercise device concepts. To perform validation of these models and to support the Advanced Exercise Concepts Project, several candidate devices have been flown onboard NASAs Reduced Gravity Aircraft. In terrestrial laboratories, researchers typically have available to them motion capture systems for the measurement of subject kinematics. Onboard the parabolic flight aircraft it is not practical to utilize the traditional motion capture systems due to the large working volume they require and their relatively high replacement cost if damaged. To support measuring kinematics on board parabolic aircraft, a motion capture system is being developed utilizing open source computer vision code with commercial off the shelf (COTS) video camera hardware. While the systems accuracy is lower than lab setups, it provides a means to produce quantitative comparison motion capture kinematic data. Additionally, data such as required exercise volume for small spaces such as the Orion capsule can be determined. METHODS: OpenCV is an open source computer vision library that provides the ability to perform multi-camera 3 dimensional reconstruction. Utilizing OpenCV, via the Python programming language, a set of tools has been developed to perform motion capture in confined spaces using commercial cameras. Four Sony Video Cameras were intrinsically calibrated prior to flight. Intrinsic calibration provides a set of camera specific parameters to remove geometric distortion of the lens and sensor (specific to each individual camera). A set of high contrast markers were placed on the exercising subject (safety also necessitated that they be soft in case they become detached during parabolic flight); small yarn balls were used. Extrinsic calibration, the determination of camera location and orientation parameters, is performed using fixed landmark markers shared by the camera scenes. Additionally a wand calibration, the sweeping of the camera scenes simultaneously, was also performed. Techniques have been developed to perform intrinsic calibration, extrinsic calibration, isolation of the markers in the scene, calculation of marker 2D centroids, and 3D reconstruction from multiple cameras. These methods have been tested in the laboratory side-by-side comparison to a traditional motion capture system and also on a parabolic flight.

Biodynamics↗

NASA NTRS2017

Assessment of Suited Reach Envelope in an Underwater Environment

Predicting the performance of a crewmember in an extravehicular activity (EVA) space suit presents unique challenges. The kinematic patterns of suited motions are difficult to reproduce in gravity. Additionally, 3-D suited kinematics have been practically and technically difficult to quantify in an underwater environment, in which crewmembers are commonly trained and assessed for performance. The goal of this study is to develop a hardware and software system to predictively evaluate the kinematic mobility of suited crewmembers, by measuring the 3-D reach envelope of the suit in an underwater environment. This work is ultimately aimed at developing quantitative metrics to compare the mobility of the existing Extravehicular Mobility Unit (EMU) to newly developed space suit, such as the Z-2. The EMU has been extensively used at NASA since 1981 for EVA outside the Space Shuttle and International Space Station. The Z-2 suit is NASA's newest prototype space suit. The suit is comprised of new upper torso and lower torso architectures, which were designed to improve test subject mobility.

Kim, Han↗

NASA NTRS2016

Anthropomorphic Robot Design and User Interaction Associated with Motion

Though in its original concept a robot was conceived to have some human-like shape, most robots now in use have specific industrial purposes and do not closely resemble humans. Nevertheless, robots that resemble human form in some way have continued to be introduced. They are called anthropomorphic robots. The fact that the user interface to all robots is now highly mediated means that the form of the user interface is not necessarily connected to the robots form, human or otherwise. Consequently, the unique way the design of anthropomorphic robots affects their user interaction is through their general appearance and the way they move. These robots human-like appearance acts as a kind of generalized predictor that gives its operators, and those with whom they may directly work, the expectation that they will behave to some extent like a human. This expectation is especially prominent for interactions with social robots, which are built to enhance it. Often interaction with them may be mainly cognitive because they are not necessarily kinematically intricate enough for complex physical interaction. Their body movement, for example, may be limited to simple wheeled locomotion. An anthropomorphic robot with human form, however, can be kinematically complex and designed, for example, to reproduce the details of human limb, torso, and head movement. Because of the mediated nature of robot control, there remains in general no necessary connection between the specific form of user interface and the anthropomorphic form of the robot. But their anthropomorphic kinematics and dynamics imply that the impact of their design shows up in the way the robot moves. The central finding of this report is that the control of this motion is a basic design element through which the anthropomorphic form can affect user interaction. In particular, designers of anthropomorphic robots can take advantage of the inherent human-like movement to 1) improve the users direct manual control over robot limbs and body positions, 2) improve users ability to detect anomalous robot behavior which could signal malfunction, and 3) enable users to be better able to infer the intent of robot movement. These three benefits of anthropomorphic design are inherent implications of the anthropomorphic form but they need to be recognized by designers as part of anthropomorphic design and explicitly enhanced to maximize their beneficial impact. Examples of such enhancements are provided in this report. If implemented, these benefits of anthropomorphic design can help reduce the risk of Inadequate Design of Human and Automation Robotic Integration (HARI) associated with the HARI-01 gap by providing efficient and dexterous operator control over robots and by improving operator ability to detect malfunctions and understand the intention of robot movement.

automation/robotic integration↗

NASA NTRSDate not supplied

Leveraging the Multiplatform Precipitation Feature Database of Combined Ground Radar and Satellite Lightning Observations for Convective Studies

The Multiplatform Precipitation Feature (MPF) database combines coincident observations of lightning from space with satellite- and ground-based radar data in a storm-based, feature-defined framework. The concept for the MPF database stems from the motivation to extend the scale and scope of investigations into the complex connections between ice precipitation, updrafts, and lightning in thunderstorms. The earliest iteration of the MPF database incorporates NASA International Space Station Lightning Imaging Sensor (ISS LIS) observations alongside the NASA Global Precipitation Measurement (GPM) Mission Dual-frequency Precipitation Radar (DPR) and Validation Network (VN). Because of the specific role of the GPM VN in forming the first MPFs, this subset is referred to as the VNMPF database. The synthesis of these multi-scale and multi-resolution observations leveraged each platform’s unique insights into convective properties and processes, offering a more complete view of deep convection over the large viewing area afforded by satellite coverage. The VNMPF database established the feasibility and infrastructure to combine microphysical, kinematic, and lightning observations from multiple satellite- and ground-based platforms. Following this successful proof-of-concept, recent progress has expanded the MPF database to make use of coincident ISS LIS lightning observations and data from the operational Weather Surveillance Radar - 1988 Doppler (WSR-88D) network, where individual WSR-88D proximity facilitates vertical wind retrievals via dual-Doppler analysis. These database changes have expanded the scope of the dataset by removing the requirement for coincident GPM and ISS LIS overpasses. This increases the sample size dramatically and facilitates analysis of higher-resolution radar-derived properties. These advancements allow both storm-scale and unprecedented broad statistical analyses of deep convection from electrical, kinematic, and microphysical perspectives over the contiguous United States. This presentation outlines the construction of the new MPF database and introduces some preliminary analyses of the convection captured within it. Early results summarize relationships based on updraft characteristics ascertained from WSR-88D dual-Doppler three-dimensional wind retrievals, properties of ice microphysics gleaned from dual-polarization analyses, and electrical characteristics observed by the ISS LIS. The expanded scale and scope offered by more than five years of ISS LIS observations enable new insights into regional and seasonal variations in the microphysical, kinematic, and electrical relationships of convection. Analysis of the database highlights the potential for advancements in lightning meteorology made possible by combining large-scale spaceborne lightning detection and proven storm interrogation tools such as operational polarimetric Doppler radar.

Lightning↗

NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗

NASA NTRS2013

KINEROS2-AGWA: Model Use, Calibration, and Validation

KINEROS (KINematic runoff and EROSion) originated in the 1960s as a distributed event-based model that conceptualizes a watershed as a cascade of overland flow model elements that flow into trapezoidal channel model elements. KINEROS was one of the first widely available watershed models that interactively coupled a finite difference approximation of the kinematic overland flow equations to a physically based infiltration model. Development and improvement of KINEROS continued from the 1960s on a variety of projects for a range of purposes, which has resulted in a suite of KINEROS-based modeling tools. This article focuses on KINEROS2 (K2), a spatially distributed, event-based watershed rainfall-runoff and erosion model, and the companion ArcGIS-based Automated Geospatial Watershed Assessment (AGWA) tool. AGWA automates the time-consuming tasks of watershed delineation into distributed model elements and initial parameterization of these elements using commonly available, national GIS data layers. A variety of approaches have been used to calibrate and validate K2 successfully across a relatively broad range of applications (e.g., urbanization, pre- and post-fire, hillslope erosion, erosion from roads, runoff and recharge, and manure transport). The case studies presented in this article (1) compare lumped to stepwise calibration and validation of runoff and sediment at plot, hillslope, and small watershed scales; and (2) demonstrate an uncalibrated application to address relative change in watershed response to wildfire.

Erosion↗

NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗