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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 NTRS1987

Computer hardware and software for robotic control

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems.

Davis, Virgil Leon↗
NASA NTRS2004

The Role of Satellite Earth Observation Data in Monitoring and Verifying International Environmental Treaties

The term verification implies compliance verification in the language of treaty negotiation and implementation, particularly in the fields of disarmament and arms control. The term monitoring on the other hand, in both environmental and arms control treaties, has a much broader interpretation which allows for use of supporting data sources that are not necessarily acceptable or adequate for direct verification. There are many ways that satellite Earth observation (EO) data can support international environmental agreements, from national forest inventories to use in geographic information system (GIs) tools. Though only a few references to satellite EO data and their use exist in the treaties themselves, an expanding list of applications can be considered in support of multilateral environmental agreements (MEAs). This paper explores the current uses of satellite Earth observation data which support monitoring activities of major environmental treaties and draws conclusions about future missions and their data use. The scope of the study includes all phases of environmental treaty fulfillment - development, monitoring, and enforcement - and includes a multinational perspective on the use of satellite Earth observation data for treaty support.

Johnston, Shaida↗
DOE OSTI2025

Reconceptualizing Off-Ramps as a Tool of U.S.-China Escalation Management

Great power rivalry, at any point on the competition spectrum, involves assessments of risks and decisions on where to take them. Assessing risk versus reward is also integral to the decision to cooperate in the form of arrangements like arms control. As Donald Brennan wrote more than sixty years ago, the value in arms control lies in whether it “reduce[s] the hazards of the present armament policies by a factor greater than the amount of risk introduced by the control measures themselves.” 2 States can assume in peacetime the risks inherent in cooperating with an adversary, to attempt to mitigate risks likely to arise in crisis or conflict. Or they can choose to forgo cooperation and assume risks later, which will complicate their ability to manage crises, war, and war termination.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS1983

Pilot controls and SPIRF flight

A study was performed to determine the relative advantages and disadvantages of four candidate pilot control devices for use by a single pilot flying a general aviation aircraft in instrument meteorological conditions. Only the pitch and roll axes were considered. The control devices examined were the wheel-yoke, center-stick, Brolley handles, and side-arm controller. Qualitative evaluation criteria were established that included instrument panel visibility, control sensitivity, pilot comfort, and space requirement behind the instrument panel. The results of the study indicated that the side-arm controller offered the possibility of an improvement, but further research was necessary to determine its feasibility.

Downing, D. R.↗
NASA NTRS1996

Adaptive Control Strategies for Flexible Robotic Arm

The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

Bialasiewicz, Jan T.↗
NASA NTRS1973

Touch sensors and control.

Description of the equipment employed and results obtained in experiments with tactile feedback and different levels of automatic control. In the experiments described tactile feedback was investigated by incorporating a touch sensing and touch display system into a teleoperator, while the levels of automatic control were investigated by incorporating supervisory control features in the teleoperator control system. In particular, a hand contact system which senses and reproduces to the operator the contact between the end-effector and the object being touched or manipulated is described, as well as a jaw contact system which senses and reproduces to the operator the shape and location of the object held in the remote jaws, and an arm control system consisting of a control station where the operator controls the motion of the arm by transmitting commands, a remote station that accepts the commands and uses them, and a communications link that limits information flow. In addition, an algorithmic language for remote manipulation is described, and the desired features that an automatic arm controller should possess are reviewed.

Hill, J. W.↗
DOE OSTI2020

Confirming the absence of nuclear warheads via passive gamma-ray measurements

Arms-control agreements between the United States and Russia negotiated after the end of the Cold War have imposed limits on the number of deployed strategic nuclear weapons. Verification of these agreements has relied on onsite inspections, sometimes supported by radiation detection techniques to confirm the absence of a nuclear warhead when ambiguities arise. So far, these measurements have sought to detect neutron emissions associated with the presence of plutonium, but they would be inadequate for uranium devices. In an effort to offer instruments that could be used to confirm the absence of both plutonium and uranium weapons, here we propose an inspection system that uses only passive gamma radiation detection techniques. Such a system would be particularly valuable for next-generation arms-control agreements that limit total numbers of weapons and would involve containerized items in storage. We conducted extensive Monte Carlo simulations to support the development of a verification protocol and detection algorithm. Here, we demonstrate the viability of the technique using standard laboratory check sources and MCNP simulations for simplified configurations of special nuclear material.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2021

Radiation Detection Technologies

When governing bodies seek to reduce the spread and development of nuclear material and weapons, arms control and safeguards technologies play an important role in preventing proliferation within a state that has already developed a nuclear weapon. Arms control treaties work to control the development, production, stockpiling, proliferation, distribution, or the usage of a certain weapon type or delivery system. Treaty guidelines are met using combinations of monitoring, detection, and verification technologies. 1 To verify compliance, a country must determine if the activities of another country are within the limits and obligations established by the treaty. A verifiable treaty contains an interlocking web of constraints and provisions designed to deter cheating, to make cheating more complicated and more expensive, or to make its detection timelier. In the past, the U.S. has deemed treaties to be effectively verifiable if there is confidence that significant violations can be detected in time to respond and offset any threat that the violation may create for the U.S.

61 RADIATION PROTECTION AND DOSIMETRY↗
NASA NTRS1996

Biomechanically Induced and Controller Coupled Oscillations Experienced on the F-16XL Aircraft During Rolling Maneuvers

During rapid rolling maneuvers, the F-16 XL aircraft exhibits a 2.5 Hz lightly damped roll oscillation, perceived and described as 'roll ratcheting.' This phenomenon is common with fly-by-wire control systems, particularly when primary control is derived through a pedestal-mounted side-arm controller. Analytical studies have been conducted to model the nature of the integrated control characteristics. The analytical results complement the flight observations. A three-degree-of-freedom linearized set of aerodynamic matrices was assembled to simulate the aircraft plant. The lateral-directional control system was modeled as a linear system. A combination of two second-order transfer functions was derived to couple the lateral acceleration feed through effect of the operator's arm and controller to the roll stick force input. From the combined systems, open-loop frequency responses and a time history were derived, describing and predicting an analogous in-flight situation. This report describes the primary control, aircraft angular rate, and position time responses of the F-16 XL-2 aircraft during subsonic and high-dynamic-pressure rolling maneuvers. The analytical description of the pilot's arm and controller can be applied to other aircraft or simulations to assess roll ratcheting susceptibility.

Smith, John W.↗
DOE OSTI2021

History of and Aftermath from the Withdrawal of the Intermediate-Range Nuclear Forces Treaty

On February 1, 2019, the United States and Russia withdrew from the three-decades old Intermediate-Range Nuclear Forces (INF) treaty. Events precipitating the withdrawal were allegations by both the United States and Russia of a variety of treaty violations. Until that point, the treaty had been a centerpiece of arms control and a key agreement of the global security architecture. The absence of such a pillar has the potential destabilize the status quo of arms control, creating significant uncertainty in global nuclear stability and security. In this paper, we present a historical review as overture to an analysis on the impacts of this development on force structure. This analysis examines the changes in U.S., Russian, and Chinese nuclear forces which may occur as a result of the treaty's demise. The article concludes with commentary on potential actions to preserve stability in a post-INF world.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS2011

Robotic-Movement Payload Lifter and Manipulator

A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Doggett, William R.↗
NASA NTRS2012

Detachment of Tertiary Dendrite Arms during Controlled Directional Solidification in Aluminum - 7 wt Percent Silicon Alloys: Observations from Ground-based and Microgravity Processed Samples

Electron Back Scattered Diffraction results from cross-sections of directionally solidified aluminum 7wt% silicon alloys unexpectedly revealed tertiary dendrite arms that were detached and mis-oriented from their parent arm. More surprisingly, the same phenomenon was observed in a sample similarly processed in the quiescent microgravity environment aboard the International Space Station (ISS) in support of the joint US-European MICAST investigation. The work presented here includes a brief introduction to MICAST and the directional solidification facilities, and their capabilities, available aboard the ISS. Results from the ground-based and microgravity processed samples are compared and possible mechanisms for the observed tertiary arm detachment are suggested.

Grugel, Richard N.↗
DOE OSTI2021

Defending Weapons Inspections from the Effects of Disinformation

The intentional spread of disinformation is not a new challenge for the scientific world. We have seen it perpetuate the idea of a flat earth, convince communities that vaccines are more dangerous than helpful, and even suggest a connection between the “5G” communication infrastructure and COVID-19. Nor is disinformation a new phenomenon in the weapons inspection arena. Weapons inspectors themselves are often forced to sift through alternative narratives of events and inconsistent reporting, and they regularly see their credibility and conclusions questioned in the face of government politics or public biases. But certain recent disinformation campaigns have become so overwhelmingly comprehensive and effective that they constitute a new kind of threat. By preventing accountability for clear violations of international law, these campaigns have created a challenge to the survival of arms control treaties themselves. If weapons inspectors cannot regain the trust of the international community in the face of this challenge, it will be increasingly difficult to ensure compliance with arms control and disarmament treaties going forward. In this essay, I will briefly discuss one of the most comprehensive disinformation efforts of the past decade: the disinformation campaign used to prevent accountability for Syria's repeated use of chemical weapons. After this discussion, I will propose one possible approach to help protect the credibility of disarmament experts and weapons inspectors in the face of pervasive disinformation. This approach will require a concerted effort to connect and support compliance experts and to understand and explain their expertise across cultural, political, national, economic, and religious divides.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS1993

Gravitoinertial force level influences arm movement control

1. The ability to move the forearm between remembered elbow joint angles immediately after rapid increases or decreases of the background gravitoinertial force (G) level was measured. The movements had been well-practiced in a normal 1G environment before the measurements in high-(1.8G) and low-force (0G) environments. The forearm and upper arm were always unsupported to maximize the influence of altered G-loading and to minimize extraneous cues about arm position. 2. Horizontal and vertical movement planes were studied to measure the effects of varying the G load in the movement plane within a given G background. Rapid and slow movements were studied to assess the role of proprioceptive feedback. 3. G level did not affect the amplitude of rapid movements, indicating that subjects were able to plan and to generate appropriate motor commands for the new G loading of the arm. The amplitude of slow movements was affected by G level, indicating that proprioceptive feedback is influenced by G level. 4. The effects of G level were similar for horizontal and vertical movements, indicating that proprioceptive information from supporting structures, such as the shoulder joint and muscles, had a role in allowing generation of the appropriate motor commands. 5. The incidence and size of dynamic overshoots were greater in 0G and for rapid movements. This G-related change in damping suggests a decrease in muscle spindle activity in 0G. A decrease in muscle spindle activity in 0G and an increase in 1.8G are consistent with the results of our prior studies on the tonic vibration reflex, locomotion, and perception of head movement trajectory in varying force backgrounds.

NASA Program Space Physiology and Countermeasures↗
DOE OSTI2022

Adapting to a Changing World: Managing the Promise and Peril of Emerging Technologies and the Nuclear Nexus

This paper is focused on emerging technologies in three areas: outer space, cyberspace, and artificial intelligence. Technologies in each of these areas share a number of characteristics that make them a challenge for legally-binding approaches to arms control. For example, they each have significant definitional challenges. They are also dual use and within the reach of non-state actors. Verifying compliance with any legally-binding agreements in these areas poses significant challenges, at least at this time. Moreover, the rapid pace of technological change also contributes to the difficulty of crafting legally-binding arms control measures. The United States has generally championed a more normative approach to the governance of emerging technologies—the idea being that international agreement on norms serves as the basis for collective action to respond to activities that deviate from those norms.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
DOE OSTI2020

Feasibility study of a compact neutron resonance transmission analysis instrument

Neutron Resonance Transmission Analysis (NRTA) uses resonant absorption of neutrons to infer the absolute isotopic composition of a target object, enabling applications in a broad range of fields such as archaeology, enrichment analysis of nuclear fuel, and arms control treaty verification. In the past, NRTA involved large user facilities and complex detector systems. However, recent advances in the intensity of compact neutron sources have made compact neutron imaging designs increasingly feasible. This work describes the Monte Carlo (MC) based design of a compact epithermal NRTA radiographic instrument which uses a moderated, compact deuterium-tritium (DT) neutron source and an epithermal neutron detector. Such an instrument would have a wide range of applications, and would be especially impactful for such scenarios as nuclear inspection and arms control verification exercises, where system complexity and mobility may be of critical importance. The MC simulations presented in this work demonstrate accurate time-of-flight (TOF) reconstructions for transmitted neutron energies, capable of differentiating isotopic compositions of nuclear material with high levels of accuracy. A new generation of miniaturized and increasingly more intense neutron sources will allow this technique to achieve measurements with greater precision and speed, with significant impact on a variety of engineering and societal problems.

47 OTHER INSTRUMENTATION↗
NASA NTRS1989

Dual arm coordination and control

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface allows for control gain adjustments. The results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object are offered. The system is further developed to achieve a so-called shared control mode in which an operator specifies the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.

Hayati, Samad↗
DOE OSTI2023

Connecting Nuclear Security to International Frameworks on Gender and Security

The international community is slowly beginning to recognize the intersections between the law and policy on international security – particularly arms control, non-proliferation, and disarmament – and the body of human rights law that addresses gender equality. Notably absent from this discussion is the field of nuclear security. Despite its historical underpinnings as an inherently domestic activity, nuclear security is thoroughly grounded in international treaty law. Yet, nuclear security is often overlooked in the international security context and has not been well situated with international instruments that address gender equality. We argue that gender equality in nuclear security should be understood as an important component of broader efforts to achieve equal opportunities for women in work and critical to ensuring women are included in conflict prevention efforts. Linking nuclear security to broader international efforts to increase gender equality in security and conflict prevention will provide a clearer structure and framework for gender equality initiatives in the nuclear security field. This is critically important given that estimates indicate that women comprise only twenty percent of the nuclear security workforce. Moreover, situating nuclear security in a broader international legal framework will simultaneously help states meet their gender equality commitments emanating from other instruments. This paper will first analyze the relationship between nuclear security and broader international security efforts, in particular arms control treaties and non-proliferation regimes. It will then survey the relevant international and regional frameworks for gender equality, particularly those that have applicability in the security context. This paper will next explore the relationship between nuclear security and these frameworks on gender. We find that some instruments provide support for gender equality initiatives in nuclear security because of their mandate to states to provide structural gender equality, and others are particularly relevant where they call for women's participation in conflict prevention. This paper concludes with recommendations to states that are concerned about the underrepresentation of women in nuclear security.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗