Results for “FIRST ROBOTICS” — Page 43

NASA NTRS2013

Benefits to the Europa Clipper Mission Provided by the Space Launch System

The National Aeronautics and Space Administration's (NASA's) proposed Europa Clipper mission would provide an unprecedented look at the icy Jovian moon, and investigate its environment to determine the possibility that it hosts life. Focused on exploring the water, chemistry, and energy conditions on the moon, the spacecraft would examine Europa's ocean, ice shell, composition and geology by performing 32 low-altitude flybys of Europa from Jupiter orbit over 2.3 years, allowing detailed investigations of globally distributed regions of Europa. In hopes of expediting the scientific program, mission planners at NASA's Jet Propulsion Laboratory are working with the Space Launch System (SLS) program, managed at Marshall Space Flight Center. Designed to be the most powerful launch vehicle ever flown, SLS is making progress toward delivering a new capability for exploration beyond Earth orbit. The SLS rocket will offer an initial low-Earth-orbit lift capability of 70 metric tons (t) beginning with a first launch in 2017 and will then evolve into a 130 t Block 2 version. While the primary focus of the development of the initial version of SLS is on enabling human exploration missions beyond low Earth orbit using the Orion Multi-Purpose Crew Vehicle, the rocket offers unique benefits to robotic planetary exploration missions, thanks to the high characteristic energy it provides. This paper will provide an overview of both the proposed Europa Clipper mission and the Space Launch System vehicle, and explore options provided to the Europa Clipper mission for a launch within a decade by a 70 t version of SLS with a commercially available 5-meter payload fairing, through comparison with a baseline of current Evolved Expendable Launch Vehicle (EELV) capabilities. Compared to that baseline, a mission to the Jovian system could reduce transit times to less than half, or increase mass to more than double, among other benefits. In addition to these primary benefits, the paper will also explore secondary effects, such as the elimination of the need to design for hot inner-solar-system conditions and gain permits for a radioisotope thermoelectric generator fly-by of Earth, are provided by the use of a direct trajectory transit instead of a more time-consuming gravitational-assist trajectory.

Creech, Stephen D.↗

DOE OSTI2017

DACCIWA Cloud-Aerosol Observations in West Africa Field Campaign Report

Interactions between aerosols and clouds, and their effects on radiation, precipitation, and regional circulations, are one of the largest uncertainties in understanding climate. With reducing uncertainties in predictions of weather, climate, and climate impacts in mind, the Dynamics-Aerosol-Chemistry-Cloud Interactions in West Africa (DACCIWA) project, funded by the European Commission, set out to improve our understanding of cloud-aerosol interactions in southern West Africa. This region is ideal for studying cloud-aerosol interactions because of its rich mix of natural and anthropogenic aerosols and diverse clouds, and because of the strong dependence on the regional and global climate of the sensitive West African monsoon. The overview of DACCIWA is described in Knippertz et al. 2015. The interdisciplinary DACCIWA team includes not only several European and African universities, but also Met Centres in the UK, France, Germany, Switzerland, Benin, Ghana, and Nigeria. One of the crucial research activities in DACCIWA is the major field campaign in southern West Africa from June to July 2016, comprising a benchmark data set for assessing detailed processes on natural and anthropogenic emissions; atmospheric composition; air pollution and its impacts on human and ecosystem health; boundary layer processes; couplings between aerosols, clouds, and rainfall; weather systems; radiation; and the monsoon circulation. Details and highlights of the campaign can be found in Flamant et al. 2017. To provide aerosol/cloud microphysical and optical properties that are essential for model evaluations and for the linkage between ground-based, airborne, and spaceborne observations, the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility loaned two sun photometers to the DACCWIA team for the campaign from June 8 to July 29, 2016. The first sun photometer was deployed at Kumasi, Ghana (6.67962°N, 1.56019°W) by the University of Leeds (UK). The instrument was supposed to operate in normal aerosol mode in clear-sky conditions for aerosol monitoring, and operate in cloud mode for measuring cloud properties when clouds block the sun. Unfortunately, the robot of the sun photometer did not work properly from the beginning of the deployment, and remained problematic throughout the campaign. No useful data was recovered. The second sun photometer was deployed at Savé, Benin (8.000842°N, 2.413115°E), set up and maintained by the Karlsruher Institut fuer Technologie, Germany. Unlike most sun photometers that are designed to monitor aerosol properties and thus operated in normal aerosol mode, this sun photometer at Savé was operated in a special cloud mode, pointing vertically and measuring zenith radiance continuously at wavelengths of 440, 500, 675, 870, 1020, and 1640 nm with 10-sec temporal resolution. Zenith radiances at 440, 870, and 1640 nm alone can be used to retrieve cloud optical depth and column-mean effective radius (Chiu et al. 2010, 2012). The following section takes 6 and 7 July as an example to highlight a typical diurnal cycle of clouds observed during the campaign. Cloud properties retrieved from zenith radiance are compared against those retrieved from microwave radiometer (MWR) measurements, and against in situ measurements collected from the Twin Otter aircraft.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2016

Hexapod Robot

The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.

Begody, Ericka↗

NASA NTRS2008

NASA In-Situ Resource Utilization (ISRU) Technology and Development Project Overview

Since the Vision for Space Exploration (VSE) was released in 2004, NASA, in conjunction with international space agencies, industry, and academia, has continued to define and refine plans for sustained and affordable robotic and human exploration of the Moon and beyond. With the goal of establishing a lunar Outpost on the Moon to extend human presence, pursue scientific activities, use the Moon to prepare for future human missions to Mars, and expand Earth s economic sphere, a change in how space exploration is performed is required. One area that opens up the possibility for the first time of breaking our reliance on Earth supplied consumables and learn to live off the land is In-Situ Resource Utilization (ISRU). ISRU, which involves the extraction and processing of space resources into useful products, can have a substantial impact on mission and architecture concepts. In particular, the ability to make propellants, life support consumables, and fuel cell reagents can significantly reduce the cost, mass, and risk of sustained human activities beyond Earth. However, ISRU is an unproven capability for human lunar exploration and can not be put in the critical path of lunar Outpost success until it has been proven. Therefore, ISRU development and deployment needs to take incremental steps toward the desired end state. To ensure ISRU capabilities are available for pre-Outpost and Outpost deployment by 2020, and mission and architecture planners are confident that ISRU can meet initial and long term mission requirements, the ISRU Project is developing technologies and systems in three critical areas: (1) Regolith Excavation, Handling and Material Transportation; (2) Oxygen Extraction from Regolith; and (3) Volatile Extraction and Resource Prospecting, and in four development stages: (I) Demonstrate feasibility; (II) Evolve system w/ improved technologies; (III) Develop one or more systems to TRL 6 before start of flight development; and (IV) Flight development for Outpost. To minimize cost and ensure that ISRU technologies, systems, and functions are integrated properly into the Outpost, technology development efforts are being coordinated with other development areas such as Surface Mobility, Surface Power, Life Support, EVA, and Propulsion. Lastly, laboratory and field system-level tests and demonstrations will be performed as often as possible to demonstrate improvements in: Capabilities (ex. digging deeper); Performance (ex. lower power); and Duration (ex. more autonomy or more robustness). This presentation will provide the status of work performed to date within the NASA ISRU project with respect to technology and system development and field demonstration activities, as well as the current strategy to implement ISRU in future robotic and human lunar exploration missions.

Sanders, Gerald B.↗

NASA NTRS2006

From Prime to Extended Mission: Evolution of the MER Tactical Uplink Process

To support a 90-day surface mission for two robotic rovers, the Mars Exploration Rover mission designed and implemented an intensive tactical operations process, enabling daily commanding of each rover. Using a combination of new processes, custom software tools, a Mars-time staffing schedule, and seven-day-a-week operations, the MER team was able to compress the traditional weeks-long command-turnaround for a deep space robotic mission to about 18 hours. However, there was never an intention of maintaining the pace of this process indefinitely. Even before the end of the three-month prime mission, MER operations began evolving towards greater sustainability. A combination of continued software tool development, increasing team experience, and availability of reusable sequences first reduced the mean process duration to approximately 11 hours. The number of workshifts required to perform the process dropped, and the team returned to a modified 'Earth-time' schedule. Additional process and tool adaptation eventually provided the option of planning multiple Martian days of activity within a single workshift, making 5- day-a-week operations possible. The vast majority of the science team returned to their home institutions, continuing to participate fully in the tactical operations process remotely. MER has continued to operate for over two Earth-years as many of its key personnel have moved on to other projects, the operations team and budget have shrunk, and the rovers have begun to exhibit symptoms of aging.

Mars exploration↗

NASA NTRS2026

The Relevance of the VIPER Mission to NASA’s Artemis Human Exploration of the Moon

NASA has ambitious plans to send astronaut crews to the south polar region of the Moon and explore this lunar terrain with humans for the first time through a series of Artemis missions. Artemis will provide economic benefits, drive technological advancement, and inspire the next generation of explorers. Simultaneously, Artemis presents a unique opportunity for humans to conduct high-priority planetary science in situ in the south polar region of the Moon. Prior to human exploration, landed robotic precursor investigations can provide valuable information to reduce risk and maximize discovery and productivity of subsequent crewed missions. NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) is a robotic mission designed to explore and characterize the lunar south polar region prior to crewed Artemis landed missions. VIPER is designed to explore multiple thermal regimes to characterize the lunar polar environment and regolith properties, and to explore for surface and subsurface ices. Each of these objectives are key for both scientific investigation and to detect and assess volatile deposits to support in situ resource utilization (ISRU) and a sustained human presence on the Moon. VIPER would also operate with a real-time mission operations architecture with relevance and feed-forward to Artemis crewed operations on the lunar surface. VIPER would provide key information regarding the lunar environment, scientific exploration, technologies, and real-time operations to optimize the valuable surface exploration time of Artemis crew members while simultaneously reducing risk to crew and increasing health and human safety on the lunar surface.

Jennifer L Heldmann↗

DOE OSTI2016

SU-F-J-18: Feasibility of Open Mask Immobilization with Optical Imaging Guidance (OIG) for H&N Radiotherapy

Purpose: Full face and neck thermoplastic masks provide standard-of-care immobilization for patients receiving H&N IMRT. However, these masks are uncomfortable and increase skin dose. The purpose of this pilot study was to investigate the feasibility and setup accuracy of open face and neck mask immobilization with OIG. Methods: Ten patients were consented and enrolled to this IRB-approved protocol. Patients were immobilized with open masks securing only forehead and chin. Standard IMRT to 60–70 Gy in 30 fractions were delivered in all cases. Patient simulation information, including isocenter location and CT skin contours, were imported to a commercial OIG system. On the first day of treatment, patients were initially set up to surface markings and then OIG referenced to face and neck skin regions of interest (ROI) localized on simulation CT images, followed by in-room CBCT. CBCTs were acquired at least weekly while planar OBI was acquired on the days without CBCT. Following 6D robotic couch correction with kV imaging, a new optical real-time surface image was acquired to track intrafraction motion and to serve as a reference surface for setup at the next treatment fraction. Therapists manually recorded total treatment time as well as couch shifts based on kV imaging. Intrafractional ROI motion tracking was automatically recorded. Results: Setup accuracy of OIG was compared with CBCT results. The setup error based on OIG was represented as a 6D shift (vertical/longitudinal/lateral/rotation/pitch/roll). Mean error values were −0.70±3.04mm, −0.69±2.77mm, 0.33±2.67 mm, −0.14±0.94 o, −0.15±1.10o and 0.12±0.82o, respectively for the cohort. Average treatment time was 24.1±9.2 minutes, comparable to standard immobilization. The amplitude of intrafractional ROI motion was 0.69±0.36 mm, driven primarily by respiratory neck motion. Conclusion: OGI can potentially provide accurate setup and treatment tracking for open face and neck immobilization. Study accrual and patient/provider satisfaction survey collection remain ongoing. This study is supported by VisionRT, Ltd.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-00: New Task Groups for External Beam QA: An Overview

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-01: AAPM TG-135U1 QA for Robotic Radiosurgery

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-02: AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-A-BRC-03: AAPM TG218: Measurement Methods and Tolerance Levels for Patient-Specific IMRT Verification QA

AAPM TG-135U1 QA for Robotic Radiosurgery - Sonja Dieterich Since the publication of AAPM TG-135 in 2011, the technology of robotic radiosurgery has rapidly developed. AAPM TG-135U1 will provide recommendations on the clinical practice for using the IRIS collimator, fiducial-less real-time motion tracking, and Monte Carlo based treatment planning. In addition, it will summarize currently available literature about uncertainties. Learning Objectives: Understand the progression of technology since the first TG publication Learn which new QA procedures should be implemented for new technologies Be familiar with updates to clinical practice guidelines AAPM TG-178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance - Steven Goetsch Purpose: AAPM Task Group 178 Gamma Stereotactic Radiosurgery Dosimetry and Quality Assurance was formed in August, 2008. The Task Group has 12 medical physicists, two physicians and two consultants. Methods: A round robin dosimetry intercomparison of proposed ionization chambers, electrometer and dosimetry phantoms was conducted over a 15 month period in 2011 and 2012 (Med Phys 42, 11, Nov, 2015). The data obtained at 9 institutions (with ten different Elekta Gamma Knife units) was analyzed by the lead author using several protocols. Results: The most consistent results were obtained using the Elekta ABS 16cm diameter phantom, with the TG-51 protocol modified as recommended by Alfonso et al (Med Phys 35, 11, Nov 2008). A key white paper (Med Phys, in press) sponsored by Elekta Corporation, was used to obtain correction factors for the ionization chambers and phantoms used in this intercomparison. Consistent results were obtained for both Elekta Gamma Knife Model 4C and Gamma Knife Perfexion units as measured with each of two miniature ionization chambers. Conclusion: The full report gives clinical history and background of gamma stereotactic radiosurgery, clinical examples and history, quality assurance recommendations and outline of possible dosimetry protocols. The report will be reviewed by the AAPM Working Group on Recommendations for Radiotherapy External Beam Quality Assurance and then by the AAPM Science Council before publication in Medical Physics Survey of possible calibration protocols for calibration of Gamma Stereotactic Radiosurgery (GSR) devices Overview of modern Quality Assurance techniques for GSR AAPM TG-218 Tolerance Levels and Methodologies for IMRT Verification QA - Moyed Miften Patient-specific IMRT QA measurement is a process designed to identify discrepancies between calculated and delivered doses. Error tolerance limits are not well-defined or consistently applied across centers. The AAPM TG-218 report has been prepared to improve the understanding and consistency of this process by providing recommendations for methodologies and tolerance limits in patient-specific IMRT QA. Learning Objectives: Review measurement methods and methodologies for absolute dose verification Provide recommendations on delivery methods, data interpretation, the use of analysis routines and choice of tolerance limits for IMRT QA Sonja Dieterich has a research agreement with Sun Nuclear Inc. Steven Goetsch is a part-time consultant for Elekta.

60 APPLIED LIFE SCIENCES↗

NASA NTRS1988

Liquid-Crystal-Television Image Subtracters

Two image-subtraction systems from output images that show differences between input images of two objects. First: differences appear as bright regions in otherwise dark output image. Second: differences and similarities shown by colors. All parts of two images processed simultaneously by optical components only; digital electronic processing of data not required. Concept offers potential for rapid, inexpensive comparison of images in such applications as automatic inspection, medical diagnosis, and robotic vision.

Chao, Tien-Hsin↗

NASA NTRS1989

Critical Evaluation of the Conference on Low Reynolds Number Aerodynamics at the University of Notre Dame

As a result of the continued interest in designing efficient low Reynolds number systems, the University of Notre Dame decided to organize a Conference on Low Reynolds Number Aerodynamics in June 1989. This Conference followed the 1986 International Conference in London by about three years and the first Conference on Low Reynolds Number Airfoil Aerodynamics at Notre Dame in 1985 by four years. The emphasis of the 1989 Conference was to assess the state-of-the-art in the chord Reynolds number range from about 10,000 to about 700,000. Applications of current interest include high altitude remotely or robotically piloted vehicles, ultra-light, and human powered vehicles as well as mini-RPVs at low altitudes. Other examples include small axial-flow fans used to cool electronic equipment in the unpressurized sections of high-altitude aircraft and gas turbine blades. High Reynolds number airfoil design strategies attempt to control the onset and development of turbulent boundary layers. This is difficult at low Reynolds numbers because of the increased stability of attached laminar boundary layers. Therefore, laminar separation is common even at small angles of attack at low Reynolds numbers. Under these conditions, the development of a turbulent boundary layer usually depends on the formation of a transitional separation bubble. The purpose of this Conference on Low Reynolds Number Aerodynamics was to bring together those researchers who have been active in areas closely related to this subject. It is clear from the papers presented that a great deal of progress has been made in understanding the occurrence and behavior of laminar separation and transition as well as their overall effect on the performance of airfoils at low chord Reynolds numbers. This progress has brought us closer to our goal of improving analytical methods for the design and evaluation of a variety of practical applications.

Mueller, Thomas J.↗

NASA NTRS1983

An overview of artificial intelligence and robotics. Volume 1: Artificial intelligence. Part A: The core ingredients

Artificial Intelligence (AI) is an emerging technology that has recently attracted considerable attention. Many applications are now under development. The goal of Artificial Intelligence is focused on developing computational approaches to intelligent behavior. This goal is so broad - covering virtually all aspects of human cognitive activity - that substantial confusion has arisen as to the actual nature of AI, its current status and its future capability. This volume, the first in a series of NBS/NASA reports on the subject, attempts to address these concerns. Thus, this report endeavors to clarify what AI is, the foundations on which it rests, the techniques utilized, applications, the participants and, finally, AI's state-of-the-art and future trends. It is anticipated that this report will prove useful to government and private engineering and research managers, potential users, and others who will be affected by this field as it unfolds.

Gevarter, W. B.↗

NASA NTRS1987

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Rodriguez, G.↗

DOE OSTI2021

bnl/pub-Maffettone_2020_08

The application of the XCA package as first demonstrated in aXiv:2008.00283. ABSTRACT: The discovery of new structural and functional materials is driven by phase identification, often using X-ray diffraction (XRD). Automation has accelerated the rate of XRD measurements, greatly outpacing XRD analysis techniques that remain manual, time consuming, error prone, and impossible to scale. With the advent of autonomous robotic scientists or self-driving labs, contemporary techniques prohibit the integration of XRD. Here, we describe a computer program for the autonomous characterization of XRD data, driven by artificial intelligence (AI), for the discovery of new materials. Starting from structural databases, we train an ensemble model using a physically accurate synthetic dataset, which output probabilistic classifications --- rather than absolutes --- to overcome the overconfidence in traditional neural networks. This AI agent behaves as a companion to the researcher, improving accuracy and offering unprecedented time savings, and is demonstrated on a diverse set of organic and inorganic materials challenges. This innovation is directly applicable to inverse design approaches, robotic discovery systems, and can be immediately considered for other forms of characterization such as spectroscopy and the pair distribution function.

Maffettone, PhillipM [Brookhaven National Lab. (BN↗

NASA NTRS1990

Distributed memory approaches for robotic neural controllers

The suitability is explored of two varieties of distributed memory neutral networks as trainable controllers for a simulated robotics task. The task requires that two cameras observe an arbitrary target point in space. Coordinates of the target on the camera image planes are passed to a neural controller which must learn to solve the inverse kinematics of a manipulator with one revolute and two prismatic joints. Two new network designs are evaluated. The first, radial basis sparse distributed memory (RBSDM), approximates functional mappings as sums of multivariate gaussians centered around previously learned patterns. The second network types involved variations of Adaptive Vector Quantizers or Self Organizing Maps. In these networks, random N dimensional points are given local connectivities. They are then exposed to training patterns and readjust their locations based on a nearest neighbor rule. Both approaches are tested based on their ability to interpolate manipulator joint coordinates for simulated arm movement while simultaneously performing stereo fusion of the camera data. Comparisons are made with classical k-nearest neighbor pattern recognition techniques.

Jorgensen, Charles C.↗

NASA NTRS2001

Actuator for Flexing a Resilient Covering

The present invention provides a power assisted actuator assembly for flexing restraints in response to movement of an underlying member or a controller. The actuator assembly generally includes a flexible member, such as a cord or fabric panel, having a first end coupled to the restraint and a second end coupled to a drive member, such as a drive roller or winch. The drive member, which may be located remotely or locally, pulls on the flexible member to flex the restraint. The actuator assemblies are useful in many applications, including space suit gloves and compliant robot arms.

Daniel George Cencer↗