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In October 1996, a research and development task was initiated at JPL to develop and demonstrate nolinear contact control schemes for the dexterous robitc arms planned for the space station. This paper reports on the progress made to-date in this task.
The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments.
The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station, the Crew and Thermal Systems Division at NASA JSC was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms in a simulated space environment versus testing with a full suit. The Dual Glove Box (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 10^-5 Torr with roughing and cryogenic pumps, and a wide range of shroud temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater plates. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through the development of 2 temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.
The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station (ISS), the Crew and Thermal Systems Division (CTSD) at NASA Johnson Space Center (JSC) was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms and gloves in a simulated space environment versus testing with a full suit. The Dual Glovebox (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 5x10-4 Torr (0.066 Pa) with roughing and cryogenic pumps, and a wide range of temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater cables. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through two temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.
The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station (ISS), the Crew and Thermal Systems Division (CTSD) at NASA Johnson Space Center (JSC) was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms and gloves in a simulated space environment versus testing with a full suit. The Dual Glovebox (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 5x10-4 Torr (0.066 Pa) with roughing and cryogenic pumps, and a wide range of temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater cables. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through two temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.
The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station (ISS), the Crew and Thermal Systems Division (CTSD) at NASA Johnson Space Center (JSC) was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms and gloves in a simulated space environment versus testing with a full suit. The Dual Glovebox (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 5x10-4 Torr (0.066 Pa) with roughing and cryogenic pumps, and a wide range of temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater cables. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through two temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.
Results of the ARM Madden-Julian Oscillation (MJO) Investigation Experiment (AMIE) field campaign are contributing significantly to concurrent national and international research efforts addressing questions about how the MJO initiates and changes as it passes phenomenon differs in observations versus models.
The goal of the research is to improve understanding of cloud, radiation and precipitation processes and their representation in numerical models for weather and climate using observations from the ARM/ASR program. Global models need to represent all cloud types across different weather regimes from the tropics to the poles and ARM provides long-term observations at different geographical sites that cover these different regimes. Combined with satellite data to give a global context, the observations are used to evaluate the systematic errors in a global model for predictions of cloud, radiation and precipitation. The focus is on understanding the links to underlying physical processes to pinpoint the sources of error and improve the model representation of these processes. The research covers boundary layer cloud over the continental U.S., marine stratocumulus and shallow cumulus in the subtropics, mixed-phase clouds over the Arctic and Southern Ocean, and high-altitude cirrus ice clouds in the tropics. The model used is the operational global weather prediction system at the European Centre for Medium-range Weather Forecasts (ECMWF). The research has led to numerous developments, several of which have been implemented operationally leading to improvements in everyday forecasts. Many of the systematic errors are common across different modelling systems and the wider implications from the research for other weather and climate models are highlighted.
The US, UK, Sweden and Norway have formed the Quad Nuclear Verification Partnership and have been working together as the ‘Quad’ to ensure non-nuclear weapon states (NNWS) and nuclear weapon states (NWS) participate to overcome the challenge of nuclear arms control verification. The Quad aims to complement and inform the work of other multinational initiatives such as the International Partnership for Nuclear Disarmament Verification (IPNDV). The initial engagement of the Quad was the development and execution of a role-playing, in-field verification simulation, named LETTERPRESS. A benefit of role-playing events is the capacity they have to allow researchers to engage critically with a challenge from multiple perspectives. This paper will introduce LETTERPRESS and the process the Quad followed to develop and execute the multilateral simulation. The paper will highlight the in-play objectives of the verification regime, the site hosting the on-site inspection, and the verification technologies and their roles with respect to the objectives. The paper will include lessons learned from LETTERPRESS, focusing on the in-play objectives and technologies and their contribution to a successful monitoring result. The paper will conclude by highlighting the in-play success of a multilateral verification body and the ability of both NNWS and NWS to contribute to the verification process within LETTERPRESS.
The next step in arms control reductions will deal with both strategic and non-strategic weapons, presenting new and hard challenges for verification. One verification approach that might be used in support of these reductions is the concept of deferred verification, which forgoes inspections at sensitive nuclear sites and relies on an inspection regime having access to the open segment of a State's nuclear sector, in "monitored transfer zones." A component of this approach is the anticipated need for an instrument suite capable of detecting well-shielded highly-enriched uranium or plutonium where it isn't supposed to be. This specific need was recently identified by the United Nations Institute for Disarmament Research in an enabling operating concept they call "contain and dispose." At the foundation of this approach is the idea that items declared as "not nuclear" are, by definition, not treaty limited and are thus "fair-game" for inspection and questioning. Active Neutron Interrogation (ANI), using beta-delayed neutron emissions as the signature for special nuclear material (SNM) detection, is a promising method to address this challenge. The method is quick, has high sensitivity and high specificity for detecting shielded SNM, is robust against changing background radiation environments, is robust against the presence of unknown shielding, and avoids the use of gamma-ray spectrometry which may introduce complications due to the potential release of sensitive information. This paper will present recent research activities exploring technical aspects of using ANI as a FAIRGAME verification method and discuss future prospects and research needs
In this study, six deep convective systems (DCSs) with a total of 5589 five-second samples and a range of temperatures from -41°C to 0°C during the Midlatitude Continental Convective Clouds Experiment (MC3E) were selected to investigate the ice cloud microphysical properties of DCSs over the Department of Energy Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) site. The ice cloud measurements of the DCS cases were made by the University of North Dakota Citation II research aircraft, and the ice cloud properties were derived through the following processes. First, the instances of supercooled liquid water in the ice-dominated cloud layers of DCSs have been eliminated using multisensor detection, including the Rosemount Icing Detector, King and Cloud Droplet Probes, as well as 2DC and Cloud Imaging Probe images. Then the Nevzorov-measured ice water contents (IWCs) at maximum diameter D max < 4000 µm are used as the best estimation to determine a new mass-dimensional relationship. Finally, the newly derived mass-dimensional relationship (a = 0.00365, b = 2.1) has been applied to a full spectrum of particle size distributions (PSDs, 120–30,000 µm) constructed from both 2DC and High-Volume Precipitation Spectrometer measurements to calculate the best-estimated IWCs of DCSs during MC3E. The averages of the total number concentrations (N t ), median mass diameter (D m ), maximum diameter (D max ), and IWC from six selected cases are 0.035 cm -3 , 1666 µm, 8841 µm, and 0.45 g m -3 , respectively. The gamma-type-size distributions are then generated matching the observed PSDs (120–30,000 µm), and the fitted gamma parameters are compared with the observed PSDs through multimoment assessments including first moment (D m ), third moment (IWC), and sixth moment (equivalent radar reflectivity, Z e ). Lastly, for application of observed PSDs to the remote sensing community, a series of empirical relationships between fitted parameters and Z e values has been derived, and the bullet rosette ice crystal backscattering relationship has been suggested for ground-based remote sensing.
To assess marine boundary layer (MBL) cloud simulations in three versions of the Community Atmosphere Model (CAM), three sets of short-term global hindcasts are performed and compared to Atmospheric Radiation Measurement Program (ARM) observations on Graciosa Island in the Azores from June 2009 to December 2010. Here, the three versions consist of CAM5.3 with default schemes (CAM5.3), CAM5.3 with Cloud Layers Unified By Binormals (CLUBB-MG1), and CAM5.3 with CLUBB and updated microphysics scheme (CLUBB-MG2). Our results show that relative to CAM5.3 default schemes, simulations with CLUBB better represent MBL cloud base height, the height of the major cloud layer, and the daily cloud cover variability. CLUBB also better simulates the relationship of cloud fraction to cloud liquid water path (LWP) most likely due to CLUBB's consistent treatment of these variables through a probability distribution function (PDF) approach. Subcloud evaporation of precipitation is substantially enhanced in simulations with CLUBB-MG2 and is more realistic based on the limited observational estimate. Despite these improvements, all model versions underestimate MBL cloud cover. CLUBB-MG2 reduces biases in in-cloud LWP (clouds are not too bright) but there are still too few of MBL clouds due to an underestimate in the frequency of overcast scenes. Thus, combining CLUBB with MG2 scheme better simulates MBL cloud processes, but because biases remain in MBL cloud cover CLUBB-MG2 does not improve the simulation of the surface shortwave cloud radiative effect (CRE SW ).
Millimeter Wavelength Cloud Radar (MMCR) data from December 1996 to December 2010, collected at the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) program Southern Great Plains (SGP) site, are used to examine the diurnal cycle of hydrometeor occurrence. These data are categorized into clouds (-40 dBZ e ≤ reflectivity < -10 dBZ e ), drizzle and light precipitation (-10 dBZ e ≤ reflectivity < 10 dBZ e ), and heavy precipitation (reflectivity ≥ 10 dBZ e ). The same criteria are implemented for the observation-equivalent reflectivity calculated by feeding outputs from a Multiscale Modeling Framework (MMF) climate model into a radar simulator. The MMF model consists of the National Center for Atmospheric Research Community Atmosphere Model with conventional cloud parameterizations replaced by a cloud-resolving model. We find that a radar simulator combined with the simple reflectivity categories can be an effective approach for evaluating diurnal variations in model hydrometeor occurrence. It is shown that the MMF only marginally captures observed increases in the occurrence of boundary layer clouds after sunrise in spring and autumn and does not capture diurnal changes in boundary layer clouds during the summer. Above the boundary layer, the MMF captures reasonably well diurnal variations in the vertical structure of clouds and light and heavy precipitation in the summer but not in the spring.
Several independent measurements of warm-season soil moisture and surface atmospheric variables recorded at the ARM Southern Great Plains (SGP) research facility are used to estimate the terrestrial component of land-atmosphere coupling (LAC) strength and its regional uncertainty. The observations reveal substantial variation in coupling strength, as estimated from three soil moisture measurements at a single site, as well as across six other sites having varied soil and land cover types. The observational estimates then serve as references for evaluating SGP terrestrial coupling strength in the Community Atmospheric Model coupled to the Community Land Model. These coupled model components are operated in both a free-running mode and in a controlled configuration, where the atmospheric and land states are reinitialized daily, so that they do not drift very far from observations. Although the controlled simulation deviates less from the observed surface climate than its free-running counterpart, the terrestrial LAC in both configurations is much stronger and displays less spatial variability than the SGP observational estimates. Preliminary investigation of vegetation leaf area index (LAI) substituted for soil moisture suggests that the overly strong coupling between model soil moisture and surface atmospheric variables is associated with too much evaporation from bare ground and too little from the vegetation cover. Lastly, these results imply that model surface characteristics such as LAI, as well as the physical parameterizations involved in the coupling of the land and atmospheric components, are likely to be important sources of the problematical LAC behaviors.
Long–term reflectivity data collected by a millimeter cloud radar at the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) site are used to examine the diurnal cycle of clouds and precipitation and are compared with the diurnal cycle simulated by a Multiscale Modeling Framework (MMF) climate model. The study uses a set of atmospheric states that were created specifically for the SGP and for the purpose of investigating under what synoptic conditions models compare well with observations on a statistical basis (rather than using case studies or seasonal or longer time scale averaging). Differences in the annual mean diurnal cycle between observations and the MMF are decomposed into differences due to the relative frequency of states, the daily mean vertical profile of hydrometeor occurrence, and the (normalized) diurnal variation of hydrometeors in each state. Here the hydrometeors are classified as cloud or precipitation based solely on the reflectivity observed by a millimeter radar or generated by a radar simulator. The results show that the MMF does not capture the diurnal variation of low clouds well in any of the states but does a reasonable job capturing the diurnal variations of high clouds and precipitation in some states. In particular, the diurnal variations in states that occur during summer are reasonably captured by the MMF, while the diurnal variations in states that occur during the transition seasons (spring and fall) are not well captured. Overall, the errors in the annual composite are due primarily to errors in the daily mean of hydrometeor occurrence (rather than diurnal variations), but errors in the state frequency (that is, the distribution of weather states in the model) also play a significant role.
PurposeTo assess the feasibility and diagnostic performance of contrast-enhanced, C-arm computed tomography (CACT) of the pulmonary arteries compared to digital subtraction angiography (DSA) in patients suffering from chronic thromboembolic pulmonary hypertension (CTEPH).MaterialsFifty-two patients with CTEPH underwent ECG-gated DSA and contrast-enhanced CACT. Two readers (R1, R2) independently evaluated pulmonary artery segments and their sub-segmental branching using DSA and CACT for optimal image quality. Afterwards, the diagnostic findings, i.e., intraluminal filling defects, stenosis, and occlusion, were compared. Inter-modality and inter-observer agreement was calculated, and subsequently consensus reading was done and correlated to a reference standard representing the overall consensus of both modalities. Fisher’s exact test and Cohen’s Kappa were applied.ResultsA total of 1352 pulmonary segments were evaluated, of which 1255 (92.8 %) on DSA and 1256 (92.9 %) on CACT were rated to be fully diagnostic. The main causes of the non-diagnostic image quality were motion artifacts on CACT (R1:37, R2:78) and insufficient contrast enhancement on DSA (R1:59, R2:38). Inter-observer agreement was good for DSA (κ = 0.74) and CACT (κ = 0.75), while inter-modality agreement was moderate (R1: κ = 0.46, R2: κ = 0.47). Compared to the reference standard, the inter-modality agreement for CACT was excellent (κ = 0.96), whereas it was inferior for DSA (κ = 0.61) due to the higher number of abnormal consensus findings read as normal on DSA.ConclusionCACT of the pulmonary arteries is feasible and provides additional information to DSA. CACT has the potential to improve the diagnostic work-up of patients with CTEPH and may be particularly useful prior to surgical or interventional treatment.
PurposeTo compare the effective doses of needle biopsies based on dose measurements and simulations using adult and pediatric phantoms, between cone beam c-arm CT (CBCT) and CT.MethodEffective doses were calculated and compared based on measurements and Monte Carlo simulations of CT- and CBCT-guided biopsy procedures of the lungs, liver, and kidney using pediatric and adult phantoms.ResultsThe effective doses for pediatric and adult phantoms, using our standard protocols for upper, middle and lower lungs, liver, and kidney biopsies, were significantly lower under CBCT guidance than CT. The average effective dose for a 5-year old for these five biopsies was 0.36 ± 0.05 mSv with the standard CBCT exposure protocols and 2.13 ± 0.26 mSv with CT. The adult average effective dose for the five biopsies was 1.63 ± 0.22 mSv with the standard CBCT protocols and 8.22 ± 1.02 mSv using CT. The CT effective dose was higher than CBCT protocols for child and adult phantoms by 803 and 590 % for upper lung, 639 and 525 % for mid-lung, and 461 and 251 % for lower lung, respectively. Similarly, the effective dose was higher by 691 and 762 % for liver and 513 and 608 % for kidney biopsies.ConclusionsBased on measurements and simulations with pediatric and adult phantoms, radiation effective doses during image-guided needle biopsies of the lung, liver, and kidney are significantly lower with CBCT than with CT.
PurposePortal vein embolization (PVE) is applied in patients with extended oncologic liver disease to induce hyperplasia of the future liver remnant and make resection feasible. Ultrasound (US) guidance is the gold standard for percutaneous portal vein access. This study evaluated feasibility and safety of C-arm cone beam computed tomography (CBCT) for needle guidance.Materials and MethodsIn 10 patients, puncture was performed under 3D needle guidance in a CBCT data set. Contrast-enhanced (CE) CBCT was generated (n = 7), or native CBCT was registered to pre-examination CE-CT via image fusion (n = 3). Technical success, number of punctures, puncture time (time between CBCT acquisition and successful portal vein access), dose parameters and safety were evaluated. For comparison, 10 patients with PVE under US guidance were analyzed retrospectively. Study and control group were matched for age, BMI, INR, platelets, portal vein anatomy.ResultsAll interventions were technically successful without intervention-related complications. In the study group, the mean number of puncture attempts was 3.1 ± 2.5. Mean puncture time was 12 min (±10). Mean total dose area product (DAP) was 288 Gy cm{sup 2} (±154). The mean relative share of CBCT-related radiation exposure was 6% (±3). Intervention times and DAP were slightly higher compared to the control group without reaching significance.ConclusionCBCT-guided PVE is feasible and safe. The relative dose of CBCT is low compared to the overall dose of the intervention. This technique may be a promising approach for difficult anatomic situations that limit the use of US for needle guidance.