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At least 1,009 records · Page 56
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Sample Acquisition and Handling System from a Remote Platform

A system has been developed to acquire and handle samples from a suspended remote platform. The system includes a penetrator, a penetrator deployment mechanism, and a sample handler. A gravity-driven harpoon sampler was used for the system, but other solutions can be used to supply the penetration energy, such as pyrotechnic, pressurized gas, or springs. The deployment mechanism includes a line that is attached to the penetrator, a spool for reeling in the line, and a line engagement control mechanism. The penetrator has removable tips that can collect liquid, ice, or solid samples. The handling mechanism consists of a carousel that can store a series of identical or different tips, assist in penetrator reconfiguration for multiple sample acquisition, and deliver the sample to a series of instruments for analysis. The carousel sample handling system was combined with a brassboard reeling mechanism and a penetrator with removable tips. It can attach the removable tip to the penetrator, release and retrieve the penetrator, remove the tip, and present it to multiple instrument stations. The penetrator can be remotely deployed from an aerobot, penetrate and collect the sample, and be retrieved with the sample to the aerobot. The penetrator with removable tips includes sample interrogation windows and a sample retainment spring for unconsolidated samples. The line engagement motor can be used to control the penetrator release and reeling engagement, and to evenly distribute the line on the spool by rocking between left and right ends of the spool. When the arm with the guiding ring is aligned with the spool axis, the line is free to unwind from the spool without rotating the spool. When the arm is perpendicular to the spool axis, the line can move only if the spool rotates.

Badescu, Mircea↗
NASA NTRS2013

Calculating and Mitigating the Risk of a Cut Glove to a Space Walking Astronaut

One of the high risk operations on the International Space Station (ISS) is conducting a space walk, or an Extra Vehicular Activity (EVA). Threats to the space walking crew include airlock failures, space suit failures, and strikes from micro ]meteoroids and orbital debris (MM/OD). There are risks of becoming untethered from the space station, being pinched between the robotic arm and a piece of equipment, tearing your suit on a sharp edge, and other human errors that can be catastrophic. For decades NASA identified and tried to control sharp edges on external structure and equipment by design; however a new and unexpected source of sharp edges has since become apparent. Until recently, one of the underappreciated environmental risks was damage to EVA gloves during a spacewalk. The ISS has some elements which have been flying in the environment of space for over 14 years. It has and continues to be bombarded with MM/OD strikes that have created small, sharp craters all over the structure, including the dedicated EVA handrails and surrounding structure. These craters are capable of cutting through several layers of the EVA gloves. Starting in 2006, five EVA crewmembers reported cuts in their gloves so large they rendered the gloves unusable and in some cases cut the spacewalk short for the safety of the crew. This new hazard took engineers and managers by surprise. NASA has set out to mitigate this risk to safety and operations by redesigning the spacesuit gloves to be more resilient and designing a clamp to isolate MM/OD strikes on handrails, and is considering the necessity of an additional tool to repair strikes on non ]handrail surfaces (such as a file). This paper will address how the ISS Risk Team quantified an estimate of the MM/OD damage to the ISS, and the resulting likelihood of sustaining a cut glove in order to measure the effectiveness of the solutions being investigated to mitigate this risk to the mission and crew.

Castillo, Theresa↗
NASA NTRSDate not supplied

Intracranial Effects of Artificial Gravity: A 3T MRI Study

INTRODUCTION Spaceflight associated neuro-ocular syndrome (SANS) is characterized by the development of optic disc edema, posterior globe flattening, choroidal/retinal folds and hyperopic refractive errors1. SANS is hypothesized to be a result of headward fluid shifts that invariably occurs in the microgravity environment. As a countermeasure, artificial gravity (AG) through centrifugation has been proposed to reduce this headward fluid shift, however there is no current proof of benefit. The goal of this study was to determine if the application of AG can prevent or reduce known changes in brain volumetry, internal carotid artery (ICA) stroke volume and cerebral spinal fluid (CSF) flow velocity that occurs during simulated chronic headward fluid shift using head down tilt bed rest (HDTBR) methodology2 as an indicator of countermeasure efficacy. METHODS Healthy volunteers were recruited for an IRB approved HDTBR study performed at the German Aerospace Center in Cologne, Germany. Strict six-degree HDTBR was used as a spaceflight analog to induce a continuous headward fluid shift. HDTBR was carried out for 60 days for all subjects. Short-arm centrifugation was utilized to generate AG equating to ~0.3g of acceleration at the level of the eye. The subjects were divided equally into three groups: NoAG (control; n=8), daily intermittent AG (6 x 5 min iAG; n=8), and daily continuous 30 min (cAG; n=8). All studies were performed on a single dedicated 3T MRI Scanner. Pulse-gated MRI phase-contrast flow imaging was used to quantify ICA stroke volume and peak-to-peak CSF flow velocity in the mid cerebral aqueduct. 3D-SPGR was acquired for volumetric segmentation of the brain and CSF spaces. MRI acquisitions were obtained at baseline (BDC), 14 days into HDTBR (HDTBR14), 52 days into HDTBR (HDTBR52) and 3-5 days after HDTBR (recovery, R+3/5).The data were analyzed by the mixed model, which included intervention and time (BDC, HDTBR 14, HDTBR 52, R+3/5) as the fixed effects and included subject as the random effect.RESULTS24 healthy subject volunteers (16 men, 8 women, mean age = 33 years ± 9 [standard deviation] and mean BMI = 24.3 kg/m2 ± 2.0) successfully completed all phases of the study. Strict six-degree HDTBR was characterized by progressive and statistically significant (p<.01) increases in mean combined brain and CSF volumes and mean aqueductal CSF peak-to-peak flow velocity, as well as statistically significant (p<.01) progressive decrease in mean ICA stroke volume from baseline to 52 days post intervention (Figs. 1-3). Compared to baseline, only combined brain and CSF volumes did not return to baseline values in the recovery period (p=NS). Neither iAG nor cAG exerted any significant effects on the measured MRI brain parameters as compared to HDTBR alone (p=NS). CONCLUSION Our results indicate that HDTBR at 6-degrees was effective in producing alterations in ICA stroke volume, aqueductal CSF flow velocity, and combined brain and CSF volumetric change that is associated with chronic headward fluid shift. Short duration, 30-min daily exposure to either iAG or cAG appears to be insufficient in preventing or reducing the effects of chronic HDTBR and thus may not be a suitable countermeasure as currently deployed. AG protocol modifications, including increased duration and magnitude of exposure, should be considered for future research.

L A Kramer↗
NASA NTRS2002

Bird's Eye View - A 3-D Situational Awareness Tool for the Space Station

Even as space-qualified computer hardware lags well behind the latest home computers, the possibility of using high-fidelity interactive 3-D graphics for displaying important on board information has finally arrived, and is being used on board the International Space Station (ISS). With the quantity and complexity of space-flight telemetry, 3-D displays can greatly enhance the ability of users, both onboard and on the ground, to interpret data quickly and accurately. This is particularly true for data related to vehicle attitude, position, configuration, and relation to other objects on the ground or in-orbit Bird's Eye View (BEV) is a 3-D real-time application that provides a high degree of Situational Awareness for the crew. Its purpose is to instantly convey important motion-related parameters to the crew and mission controllers by presenting 3-D simulated camera views of the International Space Station (ISS) in its actual environment Driven by actual telemetry, and running on board, as well as on the ground, the user can visualize the Space Station relative to the Earth, Sun, stars, various reference frames, and selected targets, such as ground-sites or communication satellites. Since the actual ISS configuration (geometry) is also modeled accurately, everything from the alignment of the solar panels to the expected view from a selected window can be visualized accurately. A virtual representation of the Space Station in real time has many useful applications. By selecting different cameras, the crew or mission control can monitor the station's orientation in space, position over the Earth, transition from day to night, direction to the Sun, the view from a particular window, or the motion of the robotic arm. By viewing the vehicle attitude and solar panel orientations relative to the Sun, the power status of the ISS can be easily visualized and understood. Similarly, the thermal impacts of vehicle attitude can be analyzed and visually confirmed. Communication opportunities can be displayed, and line-of-sight blockage due to interference by the vehicle structure (or the Earth) can be seen easily. Additional features in BEV display targets on the ground and in-orbit, including cities, communication sites, landmarks, satellites, and special sites of scientific interest for Earth observation and photography. Any target can be selected and tracked. This gives the user a continual line-of-sight to the target of current interest, and real-time knowledge about its visibility. Similarly, the vehicle ground-track, and an option to show "visibility circles" around displayed ground sites, provide continuous insight regarding current and future visibility to any target BEV was designed with inputs from many disciplines in the flight control and operations community both at NASA and from the International Partners. As such, BEV is setting the standards for interactive 3-D graphics for spacecraft applications. One important contribution of BEV is a generic graphical interface for camera control that can be used for any 3-D applications. This interface has become part of the International Display and Graphics Standards for the 16-nation ISS partnership. Many other standards related to camera properties, and the display of 3-D data, also have been defined by BEV. Future enhancements to BEV will include capabilities related to simulating ahead of the current time. This will give the user tools for analyzing off-nominal and future scenarios, as well as for planning future operations.

Dershowitz, Adam↗
NASA NTRS2003

Some approaches to medical support for Martian expedition

Medical support in a Martian expedition will be within the scope of crew responsibilities and maximally autonomous. Requirements to the system of diagnostics in this mission include considerable use of means and methods of visualization of the main physiological parameters, telemedicine, broad usage of biochemical analyses (including "dry" chemistry), computerized collection, measurement, analysis and storage of medical information. The countermeasure system will be based on objective methods of crew fitness and working ability evaluation, individual selection of training regimens, and intensive use of computer controlled training. Implementation of the above principles implies modernization and refinement of the countermeasures currently used by space crews of long-term missions (LTM), and increases of the assortment of active and passive training devices, among them a short-arm centrifuge. The system of medical care with the functions of prevention, clinical diagnostics and timely treatment will be autonomous, too. The general requirements to medical care during the future mission are the following: availability of conditions and means for autonomous urgent and special medical aid and treatment of the most possible states and diseases, "a hospital", and assignment to the crew of one or two doctors. To ensure independence of medical support and medical care in an expedition to Mars an automated expert system needs to be designed and constructed to control the medical situation as a whole. c2003 Published by Elsevier Science Ltd.

Mars↗
DOE OSTI2026

Hydration-Controlled Proton Transport in Respiratory Complex I

Proton pumping by respiratory complex I is one essential element for generating the proton motive force that drives ATP synthesis in mitochondria. Although it is understood that electrons from NADH reduce ubiquinone at the peripheral arm and that four protons are transferred in the membrane domain, the mechanism by which this redox reaction initiates proton translocation remains unclear. A lateral pathway linking the quinone binding site to the membrane domain via ND1, ND3, and ND4L subunits has been proposed as a possible initial path of an excess proton. However, experimental structures indicate that the hydration connectivity between D66 ND3 and E34 ND4L is comparatively weaker than in neighboring segments, suggesting a potential regulatory point for proton transfer. Using multiscale reactive molecular dynamics (MS-RMD) and a water wire connectivity metric, we directly simulate proton transport through this region as coupled to the hydration by water molecules. Our results reveal that proton transfer is thermodynamically feasible when transient hydration aligns with the presence of an excess proton, revealing the strong coupling between hydration and proton transfer (PT) in this region of Complex I. These findings support a model where proton injection enhances local hydration, dynamically opening the pathway for proton transfer and regulating the onset of proton pumping in Complex I.

Chemical structure↗
DOE OSTI2020

Isolating Insecurely: A Call to Arms for the Security and Privacy Community During the Time of COVID-19

The privacy question is one that has only begun to be addressed. While on one hand, many of the staunchest privacy advocates have argued for relaxation of privacy controls in order to develop better tests, “back to work” protocols, and vaccines and other treatments, the same advocates point out that any loss of privacy for the public good should be temporary, transparent, necessary, proportionate, and follow a due process. What should solutions look like for data gathering, sharing, use, and disposal; or for protocols requiring strong individual identity verification and validation?

99 GENERAL AND MISCELLANEOUS↗
NASA NTRS1983

Robot arm geometric link parameter estimation

A general method for estimating serial link manipulator geometric parameter errors is proposed in this paper. The positioning accuracy of the end-effector may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately. The proposed method is applicable for serial link manipulators with any combination of revolute or prismatic joints, and is not limited to a specific measurement technique.

Hayati, S. A.↗
NASA NTRS1994

Hardware interface for isolation of vibrations in flexible manipulators: Development and applications

NASA's Langley Research Center (LaRC) is addressing the problem of isolating the vibrations of the Shuttle remote manipulator system (RMS) from its end-effector and/or payload by modeling an RMS flat-floor simulator with a dynamic payload. Analysis of the model can lead to control techniques that will improve the speed, accuracy, and safety of the RMS in capturing satellites and eventually facilitate berthing with the space station. Rockwell International Corporation, also involved in vibration isolation, has developed a hardware interface unit to isolate the end-effector from the vibrations of an arm on a Shuttle robotic tile processing system (RTPS). To apply the RTPS isolation techniques to long-reach arms like the RMS, engineers have modeled the dynamics of the hardware interface unit with simulation software. By integrating the Rockwell interface model with the NASA LaRC RMS simulator model, investigators can study the use of a hardware interface to isolate dynamic payloads from the RMS. The interface unit uses both active and passive compliance and damping for vibration isolation. Thus equipped, the RMS could be used as a telemanipulator with control characteristics for capture and berthing operations. The hardware interface also has applications in industry.

Manouchehri, Davoud↗
DOE OSTI2022

A bistable and reconfigurable molecular system with encodable bonds

Molecular systems with ability to controllably transform between different conformations play pivotal roles in regulating biochemical functions. Here, we report the design of a bistable DNA origami four-way junction (DOJ) molecular system that adopts two distinct stable conformations with controllable reconfigurability by using conformation-controlled base stacking. Exquisite control over DOJ’s conformation and transformation is realized by programming the stacking bonds (quasi–blunt-ends) within the junction to induce prescribed coaxial stacking of neighboring junction arms. A specific DOJ conformation may be achieved by encoding the stacking bonds with binary stacking sequences based on thermodynamic calculations. Dynamic transformations of DOJ between various conformations are achieved by using specific environmental and molecular stimulations to reprogram the stacking codes. This work provides a useful platform for constructing self-assembled DNA nanostructures and nanomachines and insights for future design of artificial molecular systems with increasing complexity and reconfigurability.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1978

Computerized system for translating a torch head

The system provides a constant travel speed along a contoured workpiece. It has a driven skate characterized by an elongated bed, with a pair of independently pivoted trucks connected to the bed for support. The trucks are mounted on a contoured track of arbitrary configuration in a mutually spaced relation. An axially extensible torch head manipulator arm is mounted on the bed of the carriage and projects perpendicular from the midportion. The torch head is mounted at its distal end. A real-time computerized control drive subsystem is used to advance the skate along the track of a variable rate for maintaining a constant speed for the torch head tip, and to position the torch axis relative to a preset angle to the workpiece.

Wall, W. A., Jr.↗
NASA NTRS1984

Changes in solidified microstructures

The properties and casting behavior of metals are significantly affected by their cast structure. This structure is optimized by producing columnar versus equiaxed grains and coarse versus fine grains by controlling solidification conditions. The transition from columnar to equiaxed grains is favored by: constitutional supercooling with effective nucleation of free dendrites; melting off and transport of dendrite tips and arms; mechanical vibration; falling down of free dendrites from a chilled top surface; and induced flow in the solidifying structure by oscillation of rotation.

Wallace, J. F.↗
NASA NTRS1987

A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Michalowski, S.↗
NASA NTRS1990

A modular telerobotic task execution system

A telerobot task execution system is proposed to provide a general parametrizable task execution capability. The system includes communication with the calling system, e.g., a task planning system, and single- and dual-arm sensor-based task execution with monitoring and reflexing. A specific task is described by specifying the parameters to various available task execution modules including trajectory generation, compliance control, teleoperation, monitoring, and sensor fusion. Reflex action is achieved by finding the corresponding reflex action in a reflex table when an execution event has been detected with a monitor.

Backes, Paul G.↗
NASA NTRS1996

STS-75 Mission Highlight Resource Tape

The flight crew of the STS-75 mission, Cmdr. Andrew M. Allen, Pilot Scott J. Horowitz, Payload Cmdr. Franklin R. Chang-Diaz, Mission Specialists Maurizio Cheli, Jeffrey A. Hoffman, and Claude Nicollier, and Payload Specialist Umberto Guidoni, present a video over-view of their mission. Images include: pre-launch activities such as eating the traditional breakfast, crew suit-up, and the ride out to the launch pad. Also, included are various panoramic views of the shuttle on the pad. The crew can be seen being readied in the white room' for their mission. After the closing of the hatch and arm retraction, launch activities are shown including countdown, engine ignition, launch, and the separation of the Solid Rocket Boosters (SRB). Also included are views of activities inside the Firing Control Room at KSC.

Source record↗
NASA NTRS2005

Prototype development of a Geostationary Synthetic Thinned Aperture Radiometer (GeoSTAR)

Weather prediction and hurricane tracking would greatly benefit of a continuous imaging capability of a hemisphere at millimeter wave frequencies. We are developing a synthetic thinned aperture radiometer (STAR) prototype operating from 50 to 56 GHz as a ground-based testbed to demonstrate the technologies needed to do full earth disk atmospheric temperature soundings from Geostationary orbit with very high spatial resolution. The prototype consists of a Y-array of 24 MMIC receivers that are compact units implemented with low noise InP MMIC LNAs, second harmonic I-Q mixers, low power IF amplifiers and include internal digital bias control with serial line communication to enable low cost testing and system integration. Furthermore, this prototype STAR includes independent LO and noise calibration signal phase switching circuitry for each arm of the Y-array to verify the operation and calibration of the system.

Millimeter wave low noise amplifiers↗
NASA NTRS2012

Benefits of a Single-Person Spacecraft for Weightless Operations

Historically, less than 20 percent of crew time related to extravehicular activity (EVA) is spent on productive external work.1 A single-person spacecraft with 90 percent efficiency provides productive new capabilities for maintaining the International Space Station (ISS), exploring asteroids, and servicing telescopes or satellites. With suits, going outside to inspect, service or repair a spacecraft is time-consuming, requiring pre-breathe time, donning a fitted space suit, and pumping down an airlock. For ISS, this is between 12.5 and 16 hours for each EVA, not including translation and work-site set up. The work is physically demanding requiring a day of rest between EVAs and often results in suit-induced trauma with frequent injury to astronauts fingers2. For maximum mobility, suits use a low pressure, pure oxygen atmosphere. This represents a fire hazard and requires pre-breathing to reduce the risk of decompression sickness (bends). With virtually no gravity, humans exploring asteroids cannot use legs for walking. The Manned Maneuvering Unit offers a propulsive alternative however it is no longer in NASA s flight inventory. FlexCraft is a single person spacecraft operating at the same cabin atmosphere as its host so there is no risk of the bends and no pre-breathing. This allows rapid, any-time access to space for repeated short or long EVAs by different astronauts. Integrated propulsion eliminates hand-over-hand translation or having another crew member operate the robotic arm. The one-size-fits-all FlexCraft interior eliminates the suit part inventory and crew time required to fit all astronauts. With a shirtsleeve cockpit, conventional displays and controls are used and because the work is not strenuous no rest days are required. Furthermore, there is no need for hand tools because manipulators are equipped with force multiplying end-effectors that can deliver the precise torque for the job.

Griffin, Brand N.↗
NASA NTRS2008

Force-Control Algorithm for Surface Sampling

A G-FCON algorithm is designed for small-body surface sampling. It has a linearization component and a feedback component to enhance performance. The algorithm regulates the contact force between the tip of a robotic arm attached to a spacecraft and a surface during sampling.

Acikmese, Behcet↗