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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 973 records · Page 54
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Using Electrostriction to Manipulate Ullage in Microgravity

A report proposes to use electrostriction to manipulate the ullage in a tank containing a dielectric liquid in a microgravitational environment. In the original intended application, the liquid would be a spacecraft propellant and the goal would be to force the ullage (comprising bubbles of noncondensible gas) to coalesce at one end of the tank, to enable use of one of the established means of (1) measuring the position of the gas/liquid interface and (2) inferring the quantity of liquid from the measurement. Electrically insulated wires would be installed in the tank, shaped and positioned so that application of a suitably high potential (e.g., 1 kV) between adjacent wires in successive pairs would give rise to a sufficient electric field gradient along the tank. The resulting electrostriction in the liquid would give rise to a pressure gradient that would force the ullage toward the low-electric-field-magnitude end of the tank. The feasibility of this proposal was demonstrated in an experiment in a tank containing liquid helium aboard an airplane flying a low-gravity arc. The ullage-segregating electrostrictive effect is expected to be considerably greater in other liquids.

Chui, Talso↗
NASA NTRS2012

Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

Park, Yong-Lae↗
NASA NTRS2012

Low Lunar Orbit Design via Graphical Manipulation of Eccentricity Vector Evolution

Low lunar orbits, such as those used by GRAIL and LRO, experience predictable variations in the evolution of their eccentricity vectors. These variations are nearly invariant with respect to the initial eccentricity and argument of periapse and change only in the details with respect to the initial semi-major axis. These properties suggest that manipulating the eccentricity vector evolution directly can give insight into orbit maintenance designs and can reduce the number of propagations required. A trio of techniques for determining the desired maneuvers is presented in the context of the GRAIL extended mission.

techniques↗
NASA NTRS2015

Injury Risk Assessment of Extravehicular Mobility Unit (EMU) Phase VI and Series 4000 Gloves During Extravehicular Activity (EVA) Hand Manipulation Tasks

Functional Extravehicular Mobility Units (EMUs) with high precision gloves are essential for the success of Extravehicular Activity (EVA). Previous research done at NASA has shown that total strength capabilities and performance are reduced when wearing a pressurized EMU. The goal of this project was to characterize the human-space suit glove interaction and assess the risk of injury during common EVA hand manipulation tasks, including pushing, pinching and gripping objects. A custom third generation sensor garment was designed to incorporate a combination of sensors, including force sensitive resistors, strain gauge sensors, and shear force sensors. The combination of sensors was used to measure the forces acting on the finger nails, finger pads, finger tips, as well as the knuckle joints. In addition to measuring the forces, data was collected on the temperature, humidity, skin conductance, and blood perfusion of the hands. Testing compared both the Phase VI and Series 4000 glove against an ungloved condition. The ungloved test was performed wearing the sensor garment only. The project outcomes identified critical landmarks that experienced higher workloads and are more likely to suffer injuries. These critical landmarks varied as a function of space suit glove and task performed. The results showed that less forces were acting on the hands while wearing the Phase VI glove as compared to wearing the Series 4000 glove. Based on our findings, the engineering division can utilize these methods for optimizing the current space suit glove and designing next generation gloves to prevent injuries and optimize hand mobility and comfort.

Kilby, Melissa↗
NASA NTRS2015

End of Life Disposal for Three Libration Point Missions through Manipulation of the Jacobi Constant and Zero Velocity Curves

The aim of this investigation is to determine the feasibility of mission disposal by inserting the spacecraft into a heliocentric orbit along the unstable manifold and then manipulating the Jacobi constant to prevent the spacecraft from returning to the Earth-Moon system. This investigation focuses around L1 orbits representative of ACE, WIND, and SOHO. It will model the impulsive delta-V necessary to close the zero velocity curves after escape through the L1 gateway in the circular restricted three body model and also include full ephemeris force models and higher fidelity finite maneuver models for the three spacecraft.

Wind↗
NASA NTRS2016

Covariance Manipulation for Conjunction Assessment

Use of probability of collision (Pc) has brought sophistication to CA. Made possible by JSpOC precision catalogue because provides covariance. Has essentially replaced miss distance as basic CA parameter. Embrace of Pc has elevated methods to 'manipulate' covariance to enable/improve CA calculations. Two such methods to be examined here; compensation for absent or unreliable covariances through 'Maximum Pc' calculation constructs, projection (not propagation) of epoch covariances forward in time to try to enable better risk assessments. Two questions to be answered about each; situations to which such approaches are properly applicable, amount of utility that such methods offer.

Probability↗
NASA NTRS2016

Apparatus, Systems, and Methods for Reconfigurable Robotic Manipulator and Coupling

A robotic manipulator arm is disclosed. The arm includes joints that are attachable and detachable in a tool-free manner via a universal mating adapter. The universal mating adapter includes a built-in electrical interface for an operative electrical connection upon mechanical coupling of the adapter portions. The universal mating adapter includes mechanisms and the ability to store and communicate parameter configurations such that the joints can be rearranged for immediate operation of the arm without further reprogramming, recompiling, or other software intervention.

Burridge, Robert Raven↗
NASA NTRS2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Hebert, Paul↗
NASA NTRS2020

Assemblers: A Modular, Reconfigurable Manipulator for Autonomous in-Space Assembly

This paper presents a modular, reconfigurable robotic manipulator for autonomous in-space assembly. On-orbit and planetary surface assembly is a challenging domain that encompasses various technological thrusts to support human exploration, science, and technology demonstration missions. The system architecture presented here addresses the need for robotic assembly of structures in locations that prohibit constant human oversight and/or teleoperation. This system is capable of scheduling, reconfiguring itself, and executing structural assembly tasks with the ability to assess construction and correct errors during the assembly as needed. An example concept of operations is presented. Details of the mechanical and electrical design of the robotic modules as well as the dynamic modeling approach, control algorithms, and sensing and perception systems are also provided.

robotics↗
NASA NTRS1994

Commercialization of JPL Virtual Reality Calibration and Redundant Manipulator Control Technologies

Within NASA's recent thrust for industrial collaboration, JPL has recently established two technology cooperation agreements in the robotics area: one on virtual reality calibration with Deneb Robotics, Inc., and the other on redundant manipulator control with Robotics Research Corporation (RRC). These technology transfer tasks will enable both Deneb and RRC to commercialize an upgraded version of their products that will greatly benefit both space and terrestrial telerobotic applications.

Robotics↗
NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators for Outfitting a Tall Lunar Tower and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C2M2) for outfitting and other servicing tasks. Mobile robotic systems traversing truss structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The C2M2 is designed to provide access to the structure through collaborative mobile robotics. A series of gaits are developed allowing the robot to reach any point on the structure and validate the capabilities of the joint configuration. Scaling the system during the design phase is a necessary process given the wide range of trusses in development and payloads which are required for outfitting. The variable features of the system are the actuators and the length of the links connecting the two-degrees of freedom (DOF) modules. A scaling method was developed for determining the range of usable link lengths for a selected actuator in a design environment. The focus of the design is on a six-DOF robot arranged with two-DOF at each end and at the center. Two grippers are mounted at each end for grappling on the truss and holding cargo.

Collaborative Robotics↗
NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators (C2M2) for Outfitting a Tall Lunar Tower (TLT) and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C-CMMs) for outfitting and other servicing tasks. Mobile robotic systems traversing these structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The robotic system described in the proposed paper is designed to provide access to the structure through collaborative mobile robotics. The paper will provide a method to constrain the design of such a robot via the geometry of the truss structure and the controlling joint torques across various gaits. The focus of the design is on a six-degree of freedom (DOF) robot arranged with two-DOF at each end and at the center. The variable features of this system are the actuators and the length of the links connecting the two-DOF modules. The result of the analysis is a link sizing range which the robot can be designed within to ensure functionality on the truss structure. A C-CMM will be designed using the scaling utility and several constructed to demonstrate operating both independently and collaboratively.

in-space assembly↗
NASA NTRS2023

Transformable Linkage-Based Gripper for Multi-Mode Grasping and Manipulation

Gripper hardware design often involves a trade-off between distinct and sometimes opposing goals (e.g., high grasping force vs. gentleness). To address this trade-off within a single device, we present a multi-mode gripper with fingers that are scissor linkages, that can actively transform between three distinct modes by varying the number and locations of mechanical singularities. Each of these modes has properties that are suitable for specific needs. Mode 1 provides high grip strength, using a short lever arm and rigid structure. Mode 2 allows precise finger positioning and in-hand manipulation, using two independently controlled DOFs per finger. Mode 3 provides underactuated grasping that can passively adapt to delicate or irregularly shaped objects, with four DOFs per finger. The kinematic relationships, joint torques, and fingertip forces are derived analytically for each of the three modes. Gripper performance and the kinematic model are verified experimentally.

Junghan Kwon↗
DOE OSTI2020

Tension stiffened and tendon actuated manipulator

A manipulator includes first and second link arms which are connected together by a hinge. A cable actuation and tensioning system is provided between the link arms and includes a spreader arm, a driven element attached to each link arm and a cable engaged with the respective driven element and attached to the spreader arm. At least one of the arms, or all of the arms, can telescope to shorten or lengthen the arm(s) by movement of the system. The spreader arm may also be configured to slide relative to the first and second link arms to change the position of the spreader arm relative to the first and second link arms.

42 ENGINEERING↗
DOE OSTI2020

Frequency modulated radio frequency electric field for ion manipulation

A method of manipulating ions comprises injecting ions between a first surface and a second surface positioned parallel to and spaced apart from each other and defining a central axis therebetween, wherein the first surface comprises first outer electrodes coupled to the first surface and a first inner array of electrodes coupled to the first surface and positioned between the first outer electrodes, wherein the second surface comprises second outer electrodes coupled to the second surface and a second inner array of electrodes coupled to the second surface and positioned between the second outer electrodes, and applying a frequency modulated RF voltage to at least one electrode of the first inner array of electrodes or the second inner array of electrodes to confine ions between the first surface and the second surface and to guide ions between the first surface and the second surface along the central axis.

42 ENGINEERING↗
DOE OSTI2020

Methods of particle manipulation and analysis

Methods described herein, in some embodiments, permit extraction of particle structural and/or surface charge data from gradient induced particle motion in channels. In one aspect, a method of manipulating particle motion comprises introducing a fluid into a channel, the fluid comprising particles, and driving particle accumulation to a preselected location in the channel by setting advective velocity of the fluid to offset diffusiophoretic mobility of the particles at the preselected location.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2021

Manipulating the circadian clock to increase gene expression

A method of increasing gene expression by manipulating the circadian clock is described that includes transforming a photosynthetic organism to include an expression control sequence that modulates the expression of a clock gene to increase expression of a target gene. Photosynthetic organism having a modified circadian cycle reflecting this method are also described.

Johnson, Charles Hirschie↗
DOE OSTI2021

Digital microfluidic systems with electrode bus and methods for droplet manipulation

The present disclosure relates to digital microfluidic systems having an electrode bus controlled by a single actuation input, and methods for droplet manipulation using the electrode bus. Particularly, aspects are directed to a digital microfluidic system including a first group of droplet actuation electrodes formed in a substrate, a first wiring bus formed in the substrate and connected to each electrode in the first group of droplet actuation electrodes, and a first single point of actuation connected to the first wiring bus; and a second group of droplet actuation electrodes formed in the substrate, a second wiring bus formed in the substrate and connected to each electrode in the second group of droplet actuation electrodes, and a second single point of actuation connected to the second wiring bus.

Gach, Philip↗