Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Arms Control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Dual arm robotic system with sensory input

The need for dual arm robots in space station assembly and satellite maintainance is of increasing significance. Such robots will be in greater demand in the future when numerous tasks will be assigned to them to relieve the direct intervention of humans in space. Technological demands from these robots will be high. They will be expected to perform high speed tasks with a certain degree of autonomy. Various levels of sensing will have to be used in a sophisticated control scheme. Ongoing research in control, sensing and real-time software to produce a two-arm robotic system than can accomplish generic assembly tasks is discussed. The control hierarchy and the specific control approach are discussed. A decentralized implementation of model-reference adaptive control using Variable Structure controllers and the incorporation of tactile feedback is considered.

Ozguner, U.↗
NASA NTRS1975

Simulation of man-machine interaction on shuttle payload manipulator

The main objective of this simulation was to evaluate the feasibility of a simplified control system for a remote manipulator for space shuttle payloads. The motion commanded by the operator through the control system to the six degree of freedom manipulator approximates that of a backhoe. Compatibility of low arm damping, heavy payloads, small clearances in the shuttle cargo bay and stringent mission timelines were evaluated. The effects of various devices to enhance visual cues were evaluated. Phase I of the simulation was capture of a payload flying free in space relative to the shuttle. Phase II was simulation of cargo stowage into a mockup of the space shuttle cargo bay. A shuttle remote manipulator control station mockup including TV monitors and hand controllers is used in the simulation. Results evaluating various parameters of the control system and the task, including arm flexibility, are presented.

Hookway, R. O.↗
NASA NTRS1993

Controllable Optical Delay Line For Stellar Interferometry

Prototype optical delay line for use in Big Optical Array stellar interferometer developed by Naval Research Laboratory, is advanced version of Mark III stellar interferometer at Mt. Wilson. Several delay lines used in system; their purpose to equalize optical pathlengths from target star to beam combiner in interferometer via each of arms of interferometer. Features passive mechanical suppression of vibrations plus active control for tracking, slewing, and suppression of vibrations.

Colavita, Mark↗
DOE OSTI2018

The Green Ocean: Precipitation Insights from the GoAmazon2014/5 experiment

This study summarizes the precipitation properties collected during the GoAmazon2014/5 campaign near Manaus in central Amazonia, Brazil. Precipitation breakdowns, summary radar rainfall relationships and self-consistency concepts from a coupled disdrometer and radar wind profiler measurements are presented. The properties of Amazon cumulus and associated stratiform precipitation are discussed, including segregations according to seasonal (Wet/Dry regime) variability, 5 cloud echo-top height and possible aerosol influences on the apparent oceanic characteristics of the precipitation drop size distributions. Overall, we observe that the Amazon precipitation straddles behaviors found during previous U.S. Department of Energy Atmospheric Radiation Measurements program (ARM) tropical deployments, with distributions favoring higher concentrations of smaller drops than ARM continental examples. Oceanic type precipitation characteristics are predominantly observed during the Amazon Wet seasons. An exploration of the controls on Wet season precipitation properties reveals that 10 wind direction, as compared with other standard radiosonde thermodynamic parameters or aerosol count/regime classifications performed at the ARM site, provides a good indicator for those Wet season Amazon events having an oceanic character for their precipitation drop size distributions.

aerosol influences↗
DOE OSTI2026

Measurements of TRACER pre-convective conditions and mesoscale circulations using small unmanned aircraft systems (sUAS)

Improved comprehension of the physical processes governing convective cloud formation and lifecycle are of critical importance for understanding and predicting future climate states. The influence of these clouds on the planetary energy budget, including on precipitation, is significant. Things are particularly complex in coastal regimes, where gradients in aerosol particle properties, localized circulations such as sea breezes, and large population centers are found. To date, numerical models struggle to accurately represent these critical clouds and are therefore challenged to provide a realistic view on the planetary energy budget. Through the proposed research, we deployed two uncrewed aircraft systems (UAS) equipped with a variety of instruments alongside sensors deployed by the US Department of Energy Atmospheric Radiation Measurement (ARM) program for the TRACER (Tracking Aerosol Convection Interactions Experiment) field campaign. The two small UAS platforms consisted of a CU RAAVEN fixed-wing airplane and an OU CopterSonde system, with the copter collecting frequent vertical profiles of thermodynamic and kinematic variables such as temperature, pressure, wind and humidity. At the same time, the fixed-wing captured horizontal gradients of these quantities and aerosol size distribution. These systems were deployed south of the Houston metro area, in an area that is impacted by the Gulf of Mexico sea breeze on a daily basis. These observations offer enhanced and complementary perspectives to those provided by the DOE ARM Mobile Facility (AMF) which is was deployed in southeast Houston, and an ancillary site in a more rural location west of the urban Houston area. Quality-controlled versions of the UAS data were collected and posted on the DOE ARM data archive after the conclusion of the campaign where they are accessible by the research community and general public. The UAS perspective offers revolutionary insight into key spatial and temporal effects that have not been evaluated previously.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1993

Improved Circuit For Hot-Film Anemometer

Circuit suitable for automation or computer control of setup and operation. Hot-film or hot-wire anemometer circuit features individual current drives for two arms of wheatstone bridge, plus other features that provide improved calibration and automated or computer-controlled operation.

Gray, David L.↗
NASA NTRS2005

Factors Controlling the Properties of Multi-Phase Arctic Stratocumulus Clouds

The 2004 Multi-Phase Arctic Cloud Experiment (M-PACE) IOP at the ARM NSA site focused on measuring the properties of autumn transition-season arctic stratus and the environmental conditions controlling them, including concentrations of heterogeneous ice nuclei. Our work aims to use a large-eddy simulation (LES) code with embedded size-resolved aerosol and cloud microphysics to identify factors controlling multi-phase arctic stratus. Our preliminary simulations of autumn transition-season clouds observed during the 1994 Beaufort and Arctic Seas Experiment (BASE) indicated that low concentrations of ice nuclei, which were not measured, may have significantly lowered liquid water content and thereby stabilized cloud evolution. However, cloud drop concentrations appeared to be virtually immune to changes in liquid water content, indicating an active Bergeron process with little effect of collection on drop number concentration. We will compare these results with preliminary simulations from October 8-13 during MPACE. The sensitivity of cloud properties to uncertainty in other factors, such as large-scale forcings and aerosol profiles, will also be investigated. Based on the LES simulations with M-PACE data, preliminary results from the NASA GlSS single-column model (SCM) will be used to examine the sensitivity of predicted cloud properties to changing cloud drop number concentrations for multi-phase arctic clouds. Present parametrizations assumed fixed cloud droplet number concentrations and these will be modified using M-PACE data.

Fridlind, Ann↗
NASA NTRS1992

Testbed for remote telepresence research

The paper describes the design and implementation of a telepresence system, as well as its control hardware and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free-flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three-DOF platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Adnan, Sarmad↗
DOE OSTI2017

Long-Term Results of a Randomized Trial Comparing Iridium Implant Plus External Beam Radiation Therapy With External Beam Radiation Therapy Alone in Node-Negative Locally Advanced Cancer of the Prostate

Purpose: To determine the impact on long-term survival from the addition of brachytherapy to external beam radiation therapy (EBRT) in patients with prostate cancer. Methods and Materials: Between 1992 and 1997, 104 men with cT2-3, surgically staged node-negative prostate cancer were randomized to receive either EBRT (40 Gy/20 fractions) with iridium implant (35 Gy/48 hours) or EBRT alone (66 Gy/33 fractions) to the prostate. According to T stage, Gleason score, and prostate-specific antigen level, 60% of patients had high-risk disease. Substantial improvements in biochemical control at 8 years have previously been reported. Additional follow-up was collected on deaths and metastases. Results: Median follow-up was 14 years. Five patients were lost to follow-up. All other patients have been followed a minimum of 13 years. There have been 75 deaths, including 21 from prostate cancer and 25 from second cancers. No patients developing a second cancer have died from prostate cancer. There was no difference in overall survival between the 2 treatment groups: 34 deaths (67%) in the implant arm and 41 (77%) in the EBRT arm (hazard ratio [HR] 1.00, 95% confidence interval [CI] 0.63-1.59). Similarly, there was no difference in prostate cancer–specific deaths: 9 (18%) patients in the implant arm compared with 12 (23%) in the EBRT arm (HR 0.79, 95% CI 0.34-1.87). There was no statistically significant difference in the number of patients developing metastatic disease: 10 (20%) in the implant arm and 15 (28%) in the EBRT arm (HR 0.70, 95% CI 0.32-1.57). Improvements in biochemical control were maintained (HR 0.53, 95% CI 0.31-0.88). Conclusions: Despite a dramatic reduction of biochemical recurrence rates, the addition of iridium implant to EBRT did not translate into improved overall survival or prostate cancer–specific survival.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2021

Self-Assembly of Metallo-Supramolecules with Dissymmetrical Ligands and Characterization by Scanning Tunneling Microscopy

Asymmetrical and dissymmetrical structures are widespread and play a critical role in nature and life systems. In the field of metallo-supramolecular assemblies, it is still in its infancy for constructing artificial architectures using dissymmetrical building blocks. Herein, we report the self-assembly of supramolecular systems based on two dissymmetrical double-layered ligands. With the aid of ultra-high-vacuum, low-temperature scanning tunneling microscopy (UHV-LT-STM), we were able to investigate four isomeric structures corresponding to four types of binding modes of ligand LA with two major conformations complexes A. The distribution of isomers measured by STM and total binding energy of each isomer obtained by density functional theory (DFT) calculations suggested that the most abundant isomer could be the most stable one with highest total binding energy. Lastly, through shortening the linker between inner and outer layers and the length of arms, the arrangement of dissymmetrical ligand LB could be controlled within one binding mode corresponding to the single conformation for complexes B.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2015

Wiggle instability of galactic spiral shocks: Effects of magnetic fields

It has been suggested that the wiggle instability (WI) of spiral shocks in a galactic disk is responsible for the formation of gaseous feathers observed in grand-design spiral galaxies. We perform both a linear stability analysis and numerical simulations to investigate the effect of magnetic fields on the WI. The disk is assumed to be infinitesimally thin, isothermal, and non-self-gravitating. We control the strengths of magnetic fields and spiral-arm forcing using the dimensionless parameters β and F, respectively. By solving the perturbation equations as a boundary-eigenvalue problem, we obtain dispersion relations of the WI for various values of β=1−∞ and F=5% and 10%. We find that the WI arising from the accumulation of potential vorticity at disturbed shocks is suppressed, albeit not completely, by magnetic fields. The stabilizing effect of magnetic fields is not from the perturbed fields but from the unperturbed fields that reduce the density compression factor in the background shocks. When F=5% and β≲10 or F=10% and β ∼ 5–10, the most unstable mode has a wavelength of ∼0.1–0.2 times the arm-to-arm separation, which appears consistent with a mean spacing of observed feathers.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

A Neural Network-Based Power Mismatch Elimination Strategy for Integrated Solar and ESS AC/DC Systems (MARS)

The multiport autonomous reconfigurable solar power plant (MARS) is a promising concept for the integration of photovoltaic (PV) and energy storage system (ESS) to the transmission ac grid and a high-voltage direct current (HVdc) link. The presence of PV and ESS in each arm of the MARS results in uneven distribution of active power among different submodules (SMs), thereby leading to unbalanced SM capacitor voltages and potentially compromising the system stability. Moreover, in the case of partial shadings, shaded PV SMs will suffer from decreased power injections causing power mismatch in the MARS system. To address this issue, a neural-network-based power mismatch elimination (NNPME) strategy is proposed in this article. The proposed NNPME strategy optimizes ESS usage and leverages both dc and ac circulating currents to facilitate power transfer among the SMs, arms, and phases of the MARS system. Simulation and control hardware-in-the-loop (cHIL) experiments demonstrate the effectiveness of the proposed NNPME strategy. Compared with the traditional approaches, the proposed NNPME strategy can significantly enhance system efficiency and ensure stable and continuous operation, even in the presence of uneven power distribution within the MARS system.

14 SOLAR ENERGY↗
DOE OSTI2022

New insights on the prevalence of drizzle in marine stratocumulus clouds based on a machine learning algorithm applied to radar Doppler spectra

Abstract. The detection of the early growth of drizzle particles in marine stratocumulus clouds is important for studying the transition from cloud water to rainwater. Radar reflectivity is commonly used to detect drizzle; however, its utility is limited to larger drizzle particles. Alternatively, radar Doppler spectrum skewness has proven to be a more sensitive quantity for the detection of drizzle embryos. Here, a machine learning (ML)-based technique that uses radar reflectivity and skewness for detecting small drizzle particles is presented. Aircraft in situ measurements are used to develop and validate the ML algorithm. The drizzle detection algorithm is applied to three Atmospheric Radiation Measurement (ARM) observational campaigns to investigate the drizzle occurrence in marine boundary layer clouds. It is found that drizzle is far more ubiquitous than previously thought; the traditional radar-reflectivity-based approach significantly underestimates the drizzle occurrence, especially in thin clouds with liquid water paths lower than 50 g m−2. Furthermore, the drizzle occurrence in marine boundary layer clouds differs among the three ARM campaigns, indicating that the drizzle formation, which is controlled by the microphysical process, is regime dependent. A complete understanding of the drizzle distribution climatology in marine stratocumulus clouds calls for more observational campaigns and continuing investigations.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1973

Preliminary design and simulations of a Shuttle-Attached Manipulator System.

The preliminary design of a Shuttle-Attached Manipulator System is based on two arms that are articulated at shoulder, elbow, and wrist. Details of manipulator design are considered, giving attention to arm reach, velocity, acceleration, torque, joint angular travel limits, control, crew systems and man-machine interface, and telecommunications. The results of man-in-the-loop simulations show the feasibility of grappling a representative space payload from the Shuttle using a long boom manipulator system. The task, however, is sufficiently difficult to require the full concentration of one operator who should be relieved of any other tasks while performing operations with the manipulator system.

Brodie, S. B.↗
NASA NTRS1974

Autonomous manipulation on a robot: Summary of manipulator software functions

A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived. Arm trajectories using sequences of third-degree polynomials to describe the time history of each joint variable are presented and two approaches to the avoidance of obstacles are given. The equations of motion for the arm are derived and then decomposed into time-dependent factors and time-independent coefficients. Several new and simplifying relationships among the coefficients are proven. Two sample trajectories are analyzed in detail for purposes of determining the most important contributions to total force in order that relatively simple approximations to the equations of motion can be used.

Lewis, R. A.↗
NASA NTRS1980

Upgrading the free flying rendezvous and docking simulator and the orbital servicer system

Recommendations are made for upgrading two teleoperator/robotics test and simulation systems based upon a review of latest technology advances in the involved disciplines. A second generation Free Flying Mobility Unit is recommended which adds a sixth degree of freedom and incorporates other improvements which greatly expand the center's capability to perform evaluation tests and demonstrations of advanced systems concepts for rendezvous and docking in support of the Teleoperator Maneuvering System (TMS) Program. The Orbital Servicer System provides the capability for testing and demonstrating concepts for on orbit servicing of compatibly designed satellites/payloads. The TMS is to be the transporting vehicle for the servicer. The manipulator arm of the Orbital service System is presently computer controlled in the trajectory portion of the module transfer operation. The ultimate objective is to fully automte its operation requiring additional capabilities in sensors, artificial intelligence, image analysis, communications, computer programming, pattern recognition, kinematics, and manipulator design. It is recommended that the Electronics and Control Laboratory move to acquire the basic competencies in robotics necessary to achieve full automation.

Eastman, R. M.↗