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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.

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At least 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Integrated multi-sensory control of space robot hand

Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

Bejczy, A. K.↗
NASA NTRS1987

An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Bourgeois, B. J.↗
NASA NTRS1987

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

Bourgeois, B. J.↗
NASA NTRS2007

Effect of Head-Down Bed Rest and Artificial Gravity Countermeasure on Cardiac Autonomic and Advanced Electrocardiographic Function

To study the effects of 21 days of head-down bed rest (HDBR), with versus without an artificial gravity (AG) countermeasure, on cardiac autonomic and advanced electrocardiographic function. Fourteen healthy men participated in the study: seven experienced 21 days of HDBR alone ("HDBR controls") and seven the same degree and duration of HDBR but with approximately 1hr daily short-arm centrifugation as an AG countermeasure ("AG-treated"). Five minute supine high-fidelity 12-lead ECGs were obtained in all subjects: 1) 4 days before HDBR; 2) on the last day of HDBR; and 3) 7 days after HDBR. Besides conventional 12-lead ECG intervals and voltages, all of the following advanced ECG parameters were studied: 1) both stochastic (time and frequency domain) and deterministic heart rate variability (HRV); 2) beat-to-beat QT interval variability (QTV); 3) T-wave morphology, including signal-averaged T-wave residua (TWR) and principal component analysis ratios; 4) other SAECG-related parameters including high frequency QRS ECG and late potentials; and 5) several advanced ECG estimates of left ventricular (LV) mass. The most important results by repeated measures ANOVA were that: 1) Heart rates, Bazett-corrected QTc intervals, TWR, LF/HF power and the alpha 1 of HRV were significantly increased in both groups (i.e., by HDBR), but with no relevant HDBR*group differences; 2) All purely "vagally-mediated" parameters of HRV (e.g., RMSSD, HF power, Poincare SD1, etc.), PR intervals, and also several parameters of LV mass (Cornell and Sokolow-Lyon voltages, spatial ventricular activation times, ventricular gradients) were all significantly decreased in both groups (i.e., by HDBR), but again with no relevant HDBR*group differences); 3) All "generalized" or "vagal plus sympathetic" parameters of stochastic HRV (i.e., SDNN, total power, LF power) were significantly more decreased in the AG-treated group than in the HDBR-only group (i.e., here there was a relevant HDBR*group difference); and 4) QTV index was also significantly more changed (increased) in the AG-treated group than in the HDBR-only group, although this was clearly due to a greater decrease in generalized HRV and not to a greater increase in QTV proper because there was no relevant HDBR*group effect for either the SDNN or the RMSSD of QTV. Brief daily AG treatment by short-arm centrifuge during each of 21 days of HDBR does not appear to protect against HDBR-related losses of cardiac autonomic function or of LV mass as estimated by ECG.

Schlegel, T. T.↗
NASA NTRS2009

Telemetry Boards Interpret Rocket, Airplane Engine Data

For all the data gathered by the space shuttle while in orbit, NASA engineers are just as concerned about the information it generates on the ground. From the moment the shuttle s wheels touch the runway to the break of its electrical umbilical cord at 0.4 seconds before its next launch, sensors feed streams of data about the status of the vehicle and its various systems to Kennedy Space Center s shuttle crews. Even while the shuttle orbiter is refitted in Kennedy s orbiter processing facility, engineers constantly monitor everything from power levels to the testing of the mechanical arm in the orbiter s payload bay. On the launch pad and up until liftoff, the Launch Control Center, attached to the large Vehicle Assembly Building, screens all of the shuttle s vital data. (Once the shuttle clears its launch tower, this responsibility shifts to Mission Control at Johnson Space Center, with Kennedy in a backup role.) Ground systems for satellite launches also generate significant amounts of data. At Cape Canaveral Air Force Station, across the Banana River from Kennedy s location on Merritt Island, Florida, NASA rockets carrying precious satellite payloads into space flood the Launch Vehicle Data Center with sensor information on temperature, speed, trajectory, and vibration. The remote measurement and transmission of systems data called telemetry is essential to ensuring the safe and successful launch of the Agency s space missions. When a launch is unsuccessful, as it was for this year s Orbiting Carbon Observatory satellite, telemetry data also provides valuable clues as to what went wrong and how to remedy any problems for future attempts. All of this information is streamed from sensors in the form of binary code: strings of ones and zeros. One small company has partnered with NASA to provide technology that renders raw telemetry data intelligible not only for Agency engineers, but also for those in the private sector.

Source record↗
NASA NTRS2012

Possible Periodic Orbit Control Maneuvers for an eLISA Mission

This paper investigates the possible application of periodic orbit control maneuvers for so-called evolved-LISA (eLISA) missions, i.e., missions for which the constellation arm lengths and mean distance from the Earth are substantially reduced. We find that for missions with arm lengths of 106 km and Earth-trailing distance ranging from approx. 12deg to 20deg over the science lifetime, the occasional use of the spacecraft micro-Newton thrusters for constellation configuration maintenance should be able to essentially eliminate constellation distortion caused by Earth-induced tidal forces at a cost to science time of only a few percent. With interior angle variation kept to approx. +/-0:1deg, the required changes in the angles between the laser beam pointing directions for the two arms from any spacecraft could be kept quite small. This would considerably simplify the apparatus necessary for changing the transmitted beam directions.

Bender, Peter L.↗
NASA NTRS2017

Effects of Long-Duration Microgravity on Fine Motor Skills: ISS One-Year Mission

Fine motor skills will be critical in future long-duration missions, particularly those skills needed to interact with advanced technologies in next-generation vehicles, spacesuits, and habitats. Studies to date on the effects of microgravity and gravitational transitions on fine motor performance have not yielded conclusive results. Datasets are incomplete-timeline gaps in the microgravity data sessions. Studies have not focused on the fine motor actions that are likely to be required for interacting with software displays and controls (pointing, clicking, dragging, multi-touch/pinching). The majority of studies have used a joystick or arm reaching task. Touchscreen tablets are already in use on ISS, and at least one commercial partner is already planning a cockpit with touchscreens as the primary means of input. We must ensure that crewmembers are ready to perform with computer-based devices after a long-duration voyage and transition to surface operations.

Kritina Holden↗
NASA NTRSDate not supplied

Mars Commercial-Compatible Initial Human-Precursor Surveying and Instrument-Deployment Concepts

Water is a critical resource need for future human exploration and habitation of Mars and other planetary environments. An integral scientific question in the search for life outside of Earth is: What are the constraints on life in planetary environments? One of the most critical features of habitable environments is the availability of water - both as an environment for prebiotic chemistry, abiogenesis, and life; and as a vehicle for generating geo- and electro- chemical systems that can support metabolism. Seeking evidence of life prior to human arrival is important both to preserve signs of any existing or past evidence of Martian life, reducing the risks of unintentional forward contamination of Martian environments, and to potentially protect the health of any human crews. Looking forward towards Mars, future human exploration will require a rapid, but thorough, initial survey of any local “area of operations” on Mars to determine the spatial distribution, quantity, and quality (e.g., salt/mineral/organic content) of any local water, as well as to evaluate any signs of current or extinct life. We will discuss several candidate field survey methodologies, involving humans, a teamed instrument platform and a surveying/sampling rover. These are proposed to be validated in a given terrestrial Mars analog environment exhibiting varying distributions of water (ice, permafrost, rock-bound) to evaluate the constraints on life. Commercial space exploration brings the future possibility of unprecedented mass, power and in situ instrument capability, potentially enabling thorough exploration of the geology, hydrology and astrobiology of a km-radius study-zone around a future Mars human/commercial space landing site. We propose to study several representative planetary surface precursor-survey architectures and mission concepts (that are commercial-Mars-compatible), and to test and compare them in field application. We will examine some of the performance issues, using given metrics and controls, of spacesuited humans using handheld and standalone instruments, vs. a robotic human-tended rover/drill, robot arm and instruments. The latter rover-based architecture can in turn be viewed in terms of returned-to-base sample in-situ analyses vs sample analysis performed on a standalone instrument platform deployed away from the primary area of operations.

astrobiology↗
NASA NTRS2002

Androgynous, Reconfigurable Closed Loop Feedback Controlled Low Impact Docking System With Load Sensing Electromagnetic Capture Ring

The present invention relates to a fully androgynous, reconfigurable closed loop feedback controlled low impact docking system with load sensing electromagnetic capture ring. The docking system of the present invention preferably comprises two Docking- assemblies, each docking assembly comprising a load sensing ring having an outer face, one of more electromagnets, one or more load cells coupled to said load sensing ring. The docking assembly further comprises a plurality of actuator arms coupled to said load sensing ring and capable of dynamically adjusting the orientation of said load sensing ring and a reconfigurable closed loop control system capable of analyzing signals originating from said plurality of load cells and of outputting real time control for each of the actuators. The docking assembly of the present invention incorporates an active load sensing system to automatically dynamically adjust the load sensing ring during capture instead of requiring significant force to push and realign the ring.

Lewis, James L.↗
NASA NTRS2005

In Situ Fabrication Technologies

A manufacturing system is described that is internal to controlled cabin environments which will produce functional parts to net shape with sufficient tolerance, strength and integrity to meet application specific needs such as CEV ECLS components, robotic arm or rover components, EVA suit items, unforeseen tools, conformal repair patches, and habitat fittings among others. Except for start-up and shut-down, fabrication will be automatic without crew intervention under nominal scenarios. Off-nominal scenarios may require crew and/or Earth control intervention. System will have the ability to fabricate using both provisioned feedstock materials and feedstock refined from in situ regolith.

Rolin, Terry D.↗
DOE OSTI2024

Phase Behavior of Charged Star Block Copolymers at Fluids Interface

The phase behavior of block copolymers (BCPs) at the water-oil interface is influenced by the segmental interaction parameter (χ) and chain architecture. We synthesized a series of star block copolymers (s-BCPs) having polystyrene (PS) as core and poly(2-vinylpyridine) (P2VP) as corona. The interaction parameters of block-block (χ PS-P2VP ) and block-solvent (χ P2VP-solvent ) were varied by adjusting the pH of the aqueous solution. Lowering pH increased the fraction of quaternized-P2VP (Q-P2VP) with enhanced hydrophilicity. By transferring the equilibrated interfacial assemblies, morphologies ranging from bicontinuous films at pH of 7 and 3.1 to nanoporous and nanotubular structure at pH of 0.65 were observed. The nanoporous films formed hexagonally packed pores in s-BCP matrix, while nanotubes comprised Q-P2VP as corona and PS as core. Control over pore size, d-spacing between pores, and nanotube diameters was achieved by varying polymer concentration, molecular weight, volume fraction and arm number of s-BCPs. Large-scale nanoporous films were obtained by freeze-drying emulsions. Remarkably, the morphologies of linear BCPs were inverted, forming hexagonal-packed rigid spherical micelles with Q-P2VP as core and PS as corona in multilayer. Here, this work provides insights of phase behaviors of BCP at fluids interface and offer a facile approach to prepare nanoporous film with well-controlled pore structure.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1993

On identified predictive control

Self-tuning control algorithms are potential successors to manually tuned PID controllers traditionally used in process control applications. A very attractive design method for self-tuning controllers, which has been developed over recent years, is the long-range predictive control (LRPC). The success of LRPC is due to its effectiveness with plants of unknown order and dead-time which may be simultaneously nonminimum phase and unstable or have multiple lightly damped poles (as in the case of flexible structures or flexible robot arms). LRPC is a receding horizon strategy and can be, in general terms, summarized as follows. Using assumed long-range (or multi-step) cost function the optimal control law is found in terms of unknown parameters of the predictor model of the process, current input-output sequence, and future reference signal sequence. The common approach is to assume that the input-output process model is known or separately identified and then to find the parameters of the predictor model. Once these are known, the optimal control law determines control signal at the current time t which is applied at the process input and the whole procedure is repeated at the next time instant. Most of the recent research in this field is apparently centered around the LRPC formulation developed by Clarke et al., known as generalized predictive control (GPC). GPC uses ARIMAX/CARIMA model of the process in its input-output formulation. In this paper, the GPC formulation is used but the process predictor model is derived from the state space formulation of the ARIMAX model and is directly identified over the receding horizon, i.e., using current input-output sequence. The underlying technique in the design of identified predictive control (IPC) algorithm is the identification algorithm of observer/Kalman filter Markov parameters developed by Juang et al. at NASA Langley Research Center and successfully applied to identification of flexible structures.

Bialasiewicz, Jan T.↗
NASA NTRS1985

TRICCS: A proposed teleoperator/robot integrated command and control system for space applications

Robotic systems will play an increasingly important role in space operations. An integrated command and control system based on the requirements of space-related applications and incorporating features necessary for the evolution of advanced goal-directed robotic systems is described. These features include: interaction with a world model or domain knowledge base, sensor feedback, multiple-arm capability and concurrent operations. The system makes maximum use of manual interaction at all levels for debug, monitoring, and operational reliability. It is shown that the robotic command and control system may most advantageously be implemented as packages and tasks in Ada.

Will, R. W.↗
DOE OSTI2024

ARM Aerial Facility (AAF) - Unmanned Aircraft Systems, Cloud Droplet Probe with QC and lat/lon/alt

The Cloud Droplet Probe (CDP) is designed to measure cloud droplet size distribution from 2 µm to 50 µm. The CDP and an appropriate data system can also calculate various other parameters including particle concentrations, effective diameter (ED), Median Volume Diameter (MVD), and Liquid Water Content (LWC). The b1 level adds standard quality control flags, and merges in flight navigation data.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2002

Exploring Heart and Lung Function in Space: ARMS Experiments

The Advanced Respiratory Monitoring System (ARMS) is a suite of monitoring instruments and supplies used to study the heart, lungs, and metabolism. Many experiments sponsored by the European Space Agency (ESA) will be conducted using ARMS during STS-107. The near-weightless environment of space causes the body to undergo many physiological adaptations, and the regulation of blood pressure is no exception. Astronauts also experience a decrease in blood volume as an adaptation to microgravity. Reduced blood volume may not provide enough blood pressure to the head during entry or landing. As a result, astronauts often experience light-headedness, and sometimes even fainting, when they stand shortly after returning to Earth. To help regulate blood pressure and heart rate, baroreceptors, sensors located in artery walls in the neck and near the heart, control blood pressure by sending information to the brain and ensuring blood flow to organs. These mechanisms work properly in Earth's gravity but must adapt in the microgravity environment of space. However, upon return to Earth during entry and landing, the cardiovascular system must readjust itself to gravity, which can cause fluctuation in the control of blood pressure and heart rate. Although the system recovers in hours or days, these occurrences are not easily predicted or understood - a puzzle investigators will study with the ARMS equipment. In space, researchers can focus on aspects of the cardiovascular system normally masked by gravity. The STS-107 experiments using ARMS will provide data on how the heart and lungs function in space, as well as how the nervous system controls them. Exercise will also be combined with breath holding and straining (the Valsalva maneuver) to test how heart rate and blood pressure react to different stresses. This understanding will improve astronauts' cardiopulmonary function after return to Earth, and may well help Earthbound patients who experience similar effects after long-term bed rest.

Andre Kuipers↗
DOE OSTI2024

Atmospheric Radiation Measurement (ARM) airborne field campaign data products between 2013 and 2018

Airborne measurements are pivotal for providing detailed, spatiotemporally resolved information about atmospheric parameters and aerosol and cloud properties, thereby enhancing our understanding of dynamic atmospheric processes. For 30 years, the US Department of Energy (DOE) Office of Science supported an instrumented Gulfstream 1 (G-1) aircraft for atmospheric field campaigns. Data from the final decade of G-1 operations were archived by the Atmospheric Radiation Measurement (ARM) Data Center and made publicly available at no cost to all registered users. To ensure a consistent data format and to improve the accessibility of the ARM airborne data, an integrated dataset was recently developed covering the final 6 years of G-1 operations (2013 to 2018, https://doi.org/10.5439/1999133; Mei and Gaustad, 2024). The integrated dataset includes data collected from 236 flights (766.4 h), which covered the Arctic, the US Southern Great Plains (SGP), the US West Coast, the eastern North Atlantic (ENA), the Amazon Basin in Brazil, and the Sierras de Córdoba range in Argentina. These comprehensive data streams provide much-needed insight into spatiotemporal variability in the thermodynamic quantities and aerosol and cloud properties for addressing essential science questions in Earth system process studies. This paper describes the DOE ARM merged G-1 datasets, including information on the acquisition, data collection challenges and future potentials, and quality control processes. It further illustrates the usage of this merged dataset to evaluate the Energy Exascale Earth System Model (E3SM) with the Earth System Model Aerosol–Cloud Diagnostics (ESMAC Diags) package.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1969

Phase multiplying electronic scanning array

Scanning array was designed with properties of low RF loss and phase control. The array consists of a series of special waveguides, hybrids made up of two variable reactance branch arms for input signals, an edge slot for the difference port, and a sum arm for the unradiated signal.

Seaton, A. F.↗
NASA NTRS1985

Gradually Acting Shaft Stop

Mechanism brakes rotation with minimal shock. Balls rising on spiral ramp generate large axial force on brake friction plates, thereby generating large braking torque. Counter triggers rise of ball. Brake used to automatically stop control mechanisms on aircraft and ships. Serves as spindle brake on machine tool. On robot, prevents overtravel of arm or holds it in fixed position.

Lang, D. J.↗