Results for “arms control” — Page 48

NASA NTRS1972

Removal of metabolic heat from man working in a protective suit

A water cooled garment was constructed and used to study the characteristics of independent regional cooling of the body in contrast to the current practice of uniform cooling. The cooling pads in the garment were grouped to provide independent control of water inlet temperatures and flow rates to six regions: head, upper torso, lower torso, arms, thighs, and lower legs. Experiments with and without the cooling suit were conducted with five test subjects standing and walking on a treadmill on selected schedules. Steady state and, to a lesser extent, transient characteristics were obtained.

Shitzer, A.↗

NASA NTRS1982

Walking-Beam Solar-Cell Conveyor

Microprocessor-controlled walking-beam conveyor moves cells between work stations in automated assembly line. Conveyor has arm at each work station. In unison arms pick up all solar cells and advance them one station; then beam retracks to be in position for next step. Microprocessor sets beam stroke, speed, and position.

Feder, H.↗

NASA NTRS1988

Performance of lightweight manipulators under joint variable feedback control - Analytical study of limitations

The performance limitations of joint-variable-feedback-controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite-dimensional time-domain manipulator model is used in the study. Fine-motion analysis results agree very well with the previously reported results of infinite-dimensional frequency-domain models. The limitations of a class of adaptive controllers in high-speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.

Cetinkunt, Sabri↗

NASA NTRS1989

A telerobotic system for automated assembly of large space structures

Future space missions such as polar platforms and antennas are anticipated to require large truss structures as their primary support system. During the past several years considerable research has been conducted to develop hardware and construction techniques suitable for astronaut assembly of truss structures in space. A research program has recently been initiated to develop the technology and to demonstrate the potential for automated in-space assembly of large erectable structures. The initial effort will be focussed on automated assembly of a tetrahedral truss composed of 2-meter members. The facility is designed as a ground based system to permit evaluation of assembly concepts and was not designed for space qualification. The system is intended to be used as a tool from which more sophisticated procedures and operations can be developed. The facility description includes a truss structure, motionbases and a robot arm equipped with an end effector. Other considerations and requirements of the structural assembly describe computer control systems to monitor and control the operations of the assembly facility.

Rhodes, Marvin D.↗

NASA NTRS1990

Rugged Walking Robot

Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

Larimer, Stanley J.↗

NASA NTRS1990

A telerobotic system for automated assembly of large space structures

Future space missions such as polar platforms and antennas are anticipated to require large truss structures as their primary support system. During the past several years considerable research has been conducted to develop hardware and construction techniques suitable for astronaut assembly of truss structures in space. A research program has recently been initiated to develop the technology and to demonstrate the potential for automated in-space assembly of large erectable structures. The initial effort will be focused on automated assembly of a tetrahedral truss composed of 2-meter members. The facility is designed as a ground based system to permit evaluation of assembly concepts and was not designed for space qualification. The system is intended to be used as a tool from which more sophisticated procedures and operations can be developed. The facility description includes a truss structure, motionbases and a robot arm equipped with an end effector. Other considerations and requirements of the structural assembly describe computer control systems to monitor and control the operations of the assembly facility.

Rhodes, Marvin D.↗

NASA NTRS1993

Sensor Monitors Force On Filler Wire During Welding

Sensor measures lateral contact force between filler wire and weldment. Output of sensor fed as input to motorized wire-position controller, which strives to maintain desired contact force. Sensor built into wire-feed assembly. Pivoting arm transmits lateral force on tip of wire to load cell. Setscrews prevent underload and overload on load cell.

Morris, Tim↗

NASA NTRS1996

STS-80 Flight Day 2

On this second day of the STS-80 mission, the flight crew, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave, complete the first major objective of the mission with the deployment of the Orbiting Retrievable Far and Extreme Ultraviolet Spectrometer (ORFEUS) on the reusable Shuttle Pallet Satellite. Release of ORFEUS from Columbia's robot arm came at 8 hours 15 minutes mission elapsed time. Three hours after the release, ground controllers inform the crew that the instrument package appears to be working properly. This begins two weeks of gathering data on the origin and makeup of stars.

Source record↗

NASA NTRS2014

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Sandor, Aniko↗

NASA NTRS2014

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot.

Sandor, Aniko↗

NASA NTRS2019

Experimental Facility to Measure Power and Forces to Excavate Lunar Regolith Simulants

An Excavation Lab has been built at the NASA Glenn Research Center in support of the NASA In-Situ Resource Utilization (ISRU) program objectives to measure the power and forces needed to excavate granular lunar regolith. The data obtained will be used to validate excavation models used in system studies and for developing light weight, energy efficient digging devices for activities on the moon and mars. The Excavation Lab houses the Advanced Planetary Excavator (APEX), an electrically actuated backhoe arm with a bucket, which is used to dig GRC-3B, a simulant of granular lunar regolith comprised of silica sand and silt. A load cell is mounted between the arm and the bucket to measure digging forces. Dig trajectories files are created and used to control the APEX for repeatability. Comparison of preliminary data recorded for the same trajectory in air and in GRC-3B shows measurable difference in power and load cell measurements. Load cell forces for a linear dig in GRC-3B are presented.

Excavation↗

DOE OSTI2025

Size-resolved Eddy-Covariance Particle Flux Measurement during the TRACER Campaign (Final Report)

The main goal of the TRacking Aerosol Convection interactions ExpeRiment (TRACER) campaign was to study aerosol–cloud interactions during deep convection over the Houston area. This project deployed a suite of instrumentation with the aim to (1) quantify turbulent vertical particle fluxes during at DOE-ARM sites, including TRACER, (2) assess hygroscopic growth factors and hygroscopicity parameters of the material driving modal aerosol growth during new particle formation and growth events, (3) derive turbulent aerosol mass fluxes using co-located Doppler LIDAR measurements, and (4) create quality-controlled PI data products to support future research utilizing data collected during the TRACER campaign. This report summarized the main findings from the deployments at two DOE-ARM sites. Briefly, we found that new particle formation may occur aloft, in a residual layer, near the top of the boundary layer. Small grown particles appear later due to downward mixing with daytime turbulence. The species that are responsible for aerosol modal growth had hygroscopicity parameters varying between 0.05 and 0.34. These values systematically depended on the wind sector, suggesting that the chemical composition of the precursors differed. This work demonstrated that lidar retrievals of the elastic backscatter and Doppler velocity can be used to obtain surface number emissions of particles with a diameter greater than 0.53 µm. During TRACER, emission particle number fluxes peaked near ∼ 100 cm−2 s−1. Multiple quality-controlled PI data products that will support future TRACER related science were generated and made publically available.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1994

Graviceptor development in jellyfish ephyrae in space and on Earth

Graviceptor (rhopalium) development in Aurelia aurita ephyrae which developed on Earth and in space during the nine-day NASA SLS-1 mission was compared. The space-developed ephyrae made graviceptors which were morphologically similar to those of their ground-based controls. Rhopalia of both groups developed statocysts with statoliths, ocelli, ciliated mechanoreceptor cells, and immature touch-plates with one type of hair cell. The number of rhopalia formed per arm of ephyrae of both groups revealed no significant differences. The number of statoliths formed per rhopalium was statistically higher in ephyrae which were induced to form in space with iodine than in L(Launch)+8h controls. Statolith numbers were not significantly different between Earth-formed control ephyrae and those formed from polyps induced on Earth and then sent into space 24h and 48h later. Statolith loss from rhopalia was significantly enhanced in the space-maintained ephyrae in artificial sea water (ASW) as compared to their controls. Ephyrae formed through thyroxine treatment and those maintained in thyroxine in space had statolith numbers comparable to thyroxine-treated controls. Pulsing abnormalitities seen in some space-developed ephyrae suggest that some space-formed ephyrae may have developed abnormal rhopalia because normal rhopalia development and function is necessary for normal pulsing.

Spangenberg, D. B.↗

DOE OSTI2023

Drivers of Cloud Condensation Nuclei in the Eastern North Atlantic as Observed at the ARM Site

Abstract Seven years of data collected at the Atmospheric Radiation Measurement's Eastern North Atlantic (ENA) site are analyzed to understand the controls of Cloud Condensation Nuclei (CCN) concentrations in the region. Day‐night differences in the aerosol data as segregated by wind direction demonstrate the aerosol observations to be impacted by local emissions when the wind direction (wdir) is between 90° and 310° (measured clockwise from the North where air is coming from). Data collected during marine conditions (wdir <90° or wdir >310°) show the CCN concentrations to be higher in the summer months as compared to the winter months. CCN budget analysis revealed advection and precipitation scavenging being primarily responsible for modulating the CCN concentrations at the site on monthly timescales, with rain rates driving the precipitation scavenging term. High (greater than 75th percentile) and low (lower than 25th percentile) CCN events were identified for each month to characterize the sub‐monthly variability of CCN concentrations. Low CCN events had thicker clouds, stronger rain rates, and lower reanalysis reported free‐tropospheric aerosol pseudo number concentration at the ENA site as compared to the high CCN events. Analysis of satellite data of air‐parcels 48 hr prior to their arrival at the ENA site demonstrated the air parcels during low CCN events to encounter higher cloudiness, stronger rain rates, and higher cloud top heights as compared to the high CCN events. The results presented herein provide key constraints for model evaluation studies and climatological studies conducted at the ENA site.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

Aerosol Influences on Cloud Water: Insights From ARM EPCAPE Observations With Explainable Machine Learning

This study employs an explainable machine learning (ML) framework (XGBoost-SHapley Additive exPlanations analysis) to investigate controlling factors on cloud liquid water path (LWP) using EPCAPE observations near the California coast. Aerosols are found to be the dominant factor explaining LWP variability, surpassing meteorological factors (MFs). By isolating aerosol effects from meteorological influences, the ML reveals a negative linear relationship between LWP and cloud droplet number concentration (Nd) in log space, likely driven by entrainment drying via evaporation-entrainment feedback. This aligns with the negative regime of the inverted-V relationship reported in previous studies, while no positive LWP responses are found due to a limited number of precipitating cases in EPCAPE. Furthermore, the sensitivity of LWP to Nd shows a non-linear dependence on MFs like moisture contrast between surface and free troposphere and lower-tropospheric stability. This occurs due to the interplay between the MFs' direct effects on entrainment drying and indirect effects through LWP adjustments.

EPCAPE observations↗

DOE OSTI2025

Rapid SACR Observations of Convection at Bankhead National Forest (RAPID) Field Campaign Report

Improving our representation of convective cell processes requires better quantification of convective clouds throughout their entire life cycle. This includes gaining a clearer understanding of the controls on key convective cloud properties, such as updraft intensity, particle size distributions, rainfall rates, and hydrometeor species. Our inability to improve convective cloud process modeling stems, in part, from a limited understanding of convective cell properties, particularly given how rapidly these storms evolve. This lack of detailed observations in the most intense and organized convective storms is especially significant, as large errors remain in representing these clouds, which are critical for severe weather prediction and Earth system model performance. Cloud and precipitation radars are essential tools for studying cloud microphysics and dynamics, particularly in deeper convective clouds. The recent U.S. Department of Energy Atmospheric Radiation Measurement (ARM) User Facility’s third Mobile Facility (AMF3) Bankhead National Forest (BNF) deployment provides a unique opportunity to investigate important land–atmosphere interactions, as well as the environmental controls on deep convective cloud processes, in a location favorable for frequent convection. We operate the X/Ka-band Scanning ARM Cloud Radar (X/Ka SACR) using a scan strategy optimized to capture these rapidly evolving clouds and their properties, thereby improving studies of deep convective cloud processes. This effort is strengthened by a complementary and coordinated partnership with ongoing university and multi-agency radar activities collocated in north Alabama—a unique opportunity to examine clouds and precipitation from a lifetime-centric perspective.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2006

Gesture-Controlled Interfaces for Self-Service Machines

Gesture-controlled interfaces are software- driven systems that facilitate device control by translating visual hand and body signals into commands. Such interfaces could be especially attractive for controlling self-service machines (SSMs) for example, public information kiosks, ticket dispensers, gasoline pumps, and automated teller machines (see figure). A gesture-controlled interface would include a vision subsystem comprising one or more charge-coupled-device video cameras (at least two would be needed to acquire three-dimensional images of gestures). The output of the vision system would be processed by a pure software gesture-recognition subsystem. Then a translator subsystem would convert a sequence of recognized gestures into commands for the SSM to be controlled; these could include, for example, a command to display requested information, change control settings, or actuate a ticket- or cash-dispensing mechanism. Depending on the design and operational requirements of the SSM to be controlled, the gesture-controlled interface could be designed to respond to specific static gestures, dynamic gestures, or both. Static and dynamic gestures can include stationary or moving hand signals, arm poses or motions, and/or whole-body postures or motions. Static gestures would be recognized on the basis of their shapes; dynamic gestures would be recognized on the basis of both their shapes and their motions. Because dynamic gestures include temporal as well as spatial content, this gesture- controlled interface can extract more information from dynamic than it can from static gestures.

Cohen, Charles J.↗

DOE OSTI2023

Machine Learning Downscaling of SoilMERGE in the United States Southern Great Plains

SoilMERGE (SMERGE) is a root-zone soil moisture (RZSM) product that covers the entire continental United States and spans 1978 to 2019. Machine learning techniques, Random Forest (RF), eXtreme Gradient Boosting (XGBoost), and Gradient Boost (GBoost) downscaled SMERGE to spatial resolutions straddling the field scale domain (100 to 3000 m). Study area was northern Oklahoma and southern Kansas. The coarse resolution of SMERGE (0.125 degree) limits this product’s utility. To validate downscaled results in situ data from four sources were used that included: United States Department of Energy Atmospheric Radiation Measurement (ARM) observatory, United States Climate Reference Network (USCRN), Soil Climate Analysis Network (SCAN), and Soil moisture Sensing Controller and oPtimal Estimator (SoilSCAPE). In addition, RZSM retrievals from NASA’s Airborne Microwave Observatory of Subcanopy and Surface (AirMOSS) campaign provided a nearly spatially continuous comparison. Three periods were examined: era 1 (2016 to 2019), era 2 (2012 to 2015), and era 3 (2003 to 2007). During eras 1 and 2, RF outperformed XGBoost and GBoost, whereas during era 3 no model dominated. Performance was better during eras 1 and 2 as opposed to the pre-L band era 3. Improvements across all eras, regions, and models realized from downscaling included an increase in correlation from 0.03 to 0.42 and a decrease in ub RMSE from -0.0005 to -0.0118 m 3 /m 3 . This study demonstrates the feasibility of SMERGE downscaling opening the prospect for the development of a long-term RZSM dataset at a more desirable field-scale resolution with the potential to support diverse hydrometeorological and agricultural applications.

54 ENVIRONMENTAL SCIENCES↗