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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 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Stabilization of posture by precision contact of the index finger

Postural sway during quiet stance increases if sight of the surroundings is denied. We studied how sensory-motor information about body displacement provided by contact of the index finger with a stationary bar can be used to stabilize balance in the absence of vision. Stabilization equivalent to the contribution conferred by vision was achieved at contact force levels less than 1 N. This value is much below that necessary to provide significant physical stabilization of the body. We interpret our findings in relation to tactile thresholds for motion detection, "precision grip," and proprioceptive and sensory-motor information about the configuration of the arm to the torso. In conditions allowing higher force levels at the fingertip (5-8 N), subjects assumed a passively stable state to stabilize their stance.

Non-NASA Center↗
NASA NTRS2005

New Species of Fire Discovered: Fingering Flamelets Form a Dynamic Population

Poets and artists have long used fire as a metaphor for life. At the NASA Glenn Research Center, recent experiments in a subcritical Rayleigh number flow channel demonstrated that this analogy holds up surprisingly well when tools developed to characterize a biological population are applied to a class of fire that occurs in near-extinction, weakly convective environments (such as microgravity) or in vertically confined spaces (such as our apparatus). Under these conditions, the flame breaks into numerous 'flamelets" that form a Turing-type reaction-diffusion fingering pattern as they spread across the fuel. It is standard practice on U.S. spacecraft for the astronaut crew to turn off the ventilation to help extinguish a fire, both to eliminate the fresh oxygen supply and to reduce the distribution of the smoke. When crew members think that the fire is fully extinguished, they reactivate the ventilation system to clear the smoke. However, some flamelets can survive, and our experiments have demonstrated that flamelets quickly grow into a large fire when ventilation increases.

Olson, Sandra L.↗
NASA NTRS2007

Some Numerical Simulations and an Experimental Investigation of Finger Seals

All seal types have been shown to lift effectively, and experience only minor wear during startup. .. The double pad design outperforms previous seals, providing lower operating temperatures, and less leakage at higher pressures. .. Future experimentation at higher pressures, temperatures, and operating speeds will show the full potential of finger sealing technology.

Braun, Minel J.↗
NASA NTRS2010

Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2.

Abdallah, Muhammad E.↗
NASA NTRS2004

Compact Tactile Sensors for Robot Fingers

Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

Martin, Toby B.↗
NASA NTRS2013

Robotic Finger Assembly

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Ihrke, Chris A.↗
NASA NTRS2014

Robotic Finger Assembly

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Ihrke, Chris A.↗
NASA NTRS2003

The zinc finger transcription factor Gfi1, implicated in lymphomagenesis, is required for inner ear hair cell differentiation and survival

Gfi1 was first identified as causing interleukin 2-independent growth in T cells and lymphomagenesis in mice. Much work has shown that Gfi1 and Gfi1b, a second mouse homolog, play pivotal roles in blood cell lineage differentiation. However, neither Gfi1 nor Gfi1b has been implicated in nervous system development, even though their invertebrate homologues, senseless in Drosophila and pag-3 in C. elegans are expressed and required in the nervous system. We show that Gfi1 mRNA is expressed in many areas that give rise to neuronal cells during embryonic development in mouse, and that Gfi1 protein has a more restricted expression pattern. By E12.5 Gfi1 mRNA is expressed in both the CNS and PNS as well as in many sensory epithelia including the developing inner ear epithelia. At later developmental stages, Gfi1 expression in the ear is refined to the hair cells and neurons throughout the inner ear. Gfi1 protein is expressed in a more restricted pattern in specialized sensory cells of the PNS, including the eye, presumptive Merkel cells, the lung and hair cells of the inner ear. Gfi1 mutant mice display behavioral defects that are consistent with inner ear anomalies, as they are ataxic, circle, display head tilting behavior and do not respond to noise. They have a unique inner ear phenotype in that the vestibular and cochlear hair cells are differentially affected. Although Gfi1-deficient mice initially specify inner ear hair cells, these hair cells are disorganized in both the vestibule and cochlea. The outer hair cells of the cochlea are improperly innervated and express neuronal markers that are not normally expressed in these cells. Furthermore, Gfi1 mutant mice lose all cochlear hair cells just prior to and soon after birth through apoptosis. Finally, by five months of age there is also a dramatic reduction in the number of cochlear neurons. Hence, Gfi1 is expressed in the developing nervous system, is required for inner ear hair cell differentiation, and its loss causes programmed cell death.

NASA Discipline Developmental Biology↗
DOE OSTI2024

Functional anatomy of zinc finger antiviral protein complexes

Abstract ZAP is an antiviral protein that binds to and depletes viral RNA, which is often distinguished from vertebrate host RNA by its elevated CpG content. Two ZAP cofactors, TRIM25 and KHNYN, have activities that are poorly understood. Here, we show that functional interactions between ZAP, TRIM25 and KHNYN involve multiple domains of each protein, and that the ability of TRIM25 to multimerize via its RING domain augments ZAP activity and specificity. We show that KHNYN is an active nuclease that acts in a partly redundant manner with its homolog N4BP1. The ZAP N-terminal RNA binding domain constitutes a minimal core that is essential for antiviral complex activity, and we present a crystal structure of this domain that reveals contacts with the functionally required KHNYN C-terminal domain. These contacts are remote from the ZAP CpG binding site and would not interfere with RNA binding. Based on our dissection of ZAP, TRIM25 and KHNYN functional anatomy, we could design artificial chimeric antiviral proteins that reconstitute the antiviral function of the intact authentic proteins, but in the absence of protein domains that are otherwise required for activity. Together, these results suggest a model for the RNA recognition and action of ZAP-containing antiviral protein complexes.

Science & Technology - Other Topics↗
NASA NTRS1975

Design for a Three-Fingered Hand

A general purpose end-effector for use on the space manipulator proposed for the shuttle program was developed. The end-effector has the capabilities of a human hand and peel-off value as a human prosthetic device. The design evolved through two mock-up stages. The final form contains four electric motors. While thumb and forefinger bend, their ultimate phalanges maintain a parallel stance to one another. The grip centerline is at 45 degrees to the mounting base.

Crossley, F. R. E.↗
NASA NTRS1977

Design for a three-fingered hand

This paper describes the construction of a prototype mechanical hand or 'end effector' for use on a remotely controlled robot, but with possible application as a prosthetic device. An analysis of hand motions is reported, from which it is concluded that the two most important manipulations (apart from grasps) are to be able to pick up a tool and draw it into a nested grip against the palm, and to be able to hold a pistol-grip tool such as an electric drill and pull the trigger. One of our models was tested and found capable of both these operations.

Crossley, F. R. E.↗
NASA NTRS1988

Planar and finger-shaped optical tactile sensors for robotic applications

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

Begej, Stefan↗
NASA NTRS1993

Let your fingers do the walking: The projects most invaluable tool

The barrage of information pertaining to the software being developed for a project can be overwhelming. Current status information, as well as the statistics and history of software releases, should be 'at the fingertips' of project management and key technical personnel. This paper discusses the development, configuration, capabilities, and operation of a relational database, the System Engineering Database (SEDB) which was designed to assist management in monitoring of the tasks performed by the Network Control Center (NCC) Project. This database has proven to be an invaluable project tool and is utilized daily to support all project personnel.

Zirk, Deborah A.↗
NASA NTRS2004

Non-Contacting Finger Seal Developments and Design Considerations

A three dimensional Navier-Stokes based code (CFD-ACE+/FEMSTRESS) was utilized to analyze the thermofluid behavior of a modified FS. The pressure patterns, mass flows and load carrying capabilities of this structure were assessed. It was found that even at a lower linear velocity of 216mps (708 fps) the geometry proposed has good lifting capability.

Proctor, Margaret P.↗