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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 1,045 records · Page 58
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Primary arm spacing in chill block melt spun Ni-Mo alloys

Chill block melt spun ribbons of Ni-Mo binary alloys containing 8.0 to 41.8 wt pct Mo have been prepared under carefully controlled processing conditions. The growth velocity has been determined as a function of distance from the quench surface from the observed ribbon thickness dependence on the melt puddle residence time. Primary arm spacing measured at the midribbon thickness locations show a dependence on growth velocity and alloy composition which is expected from dendritic growth models for binary alloys directionally solidified in a positive temperature gradient.

Tewari, S. N.↗
NASA NTRS2010

Toolkits Control Motion of Complex Robotics

That space is a hazardous environment for humans is common knowledge. Even beyond the obvious lack of air and gravity, the extreme temperatures and exposure to radiation make the human exploration of space a complicated and risky endeavor. The conditions of space and the space suits required to conduct extravehicular activities add layers of difficulty and danger even to tasks that would be simple on Earth (tightening a bolt, for example). For these reasons, the ability to scout distant celestial bodies and perform maintenance and construction in space without direct human involvement offers significant appeal. NASA has repeatedly turned to complex robotics for solutions to extend human presence deep into space at reduced risk and cost and to enhance space operations in low Earth orbit. At Johnson Space Center, engineers explore the potential applications of dexterous robots capable of performing tasks like those of an astronaut during extravehicular activities and even additional ones too delicate or dangerous for human participation. Johnson's Dexterous Robotics Laboratory experiments with a wide spectrum of robot manipulators, such as the Mitsubishi PA-10 and the Robotics Research K-1207i robotic arms. To simplify and enhance the use of these robotic systems, Johnson researchers sought generic control methods that could work effectively across every system.

Source record↗
NASA NTRS1990

Analysis and design of sidestick controller systems for general aviation aircraft

A method to design sidestick controllers for general aviation aircraft with reversible flight controls is proposed. The use of a sidestick in this type of flight vehicle generally increases the stick forces required for maneuvering; this is due to a reduction in the moment arm of application of the force. In the present study, the reduction of stick forces is achieved by incorporating geared tabs in the control-surface design. A complete analysis using the rigid-body aircraft longitudinal equations of motion and stick-force equation in coupled form is carried out. Lateral stick forces are predicted by solving the single-degree-of-freedom roll approximation and aileron stick-force equations. Data are presented for configurations with various tab areas and a wide range of gearing ratios. The results indicate that the method can be used successfully for geared-tab design and stick-force prediction. It is shown that gearing-ratio selection is critical but that tab area does not have a significant impact on the magnitude of stick forces and stick force to stick deflection gradients.

Martin, Daniel M.↗
DOE OSTI2026

Final DOE-ASR Report for the Project “Using LASSO to bridge the gap between model and observations and to learn about atmospheric convection”

Atmospheric convection spans a wide range of spatial and temporal scales and involves complex interactions with the surrounding dynamic and thermodynamic environment, particularly over tropical continental regions. These processes remain a major source of uncertainty in weather and climate models, including persistent biases in the diurnal cycle of convective precipitation that directly affect estimates of climate sensitivity. Addressing these challenges requires the combined use of high-resolution observations and cloud-resolving modeling frameworks. In this context, the DOE Atmospheric Radiation Measurement (ARM) program’s Large-Eddy Simulation ARM Symbiotic Simulation and Observation (LASSO) activity provides a powerful platform that pairs comprehensive observations with numerical simulations to enable process-level understanding of atmospheric convection. Within this context, this Research and Development Partnership Pilot (RDPP) project was designed to initiate and expand DOE ARM/ASR research capacity at minority-serving institutions, while advancing scientific understanding of convective processes over the Amazon rainforest. Consistent with the RDPP mission, the project emphasized partnership development, training, and workforce capacity building alongside exploratory research activities. On the scientific side, the project produced two peer-reviewed journal articles, and one manuscript currently under review (see list in section 3.1). Together, these studies combine long-term ARM observations and cloud-resolving and convection-permitting modeling to investigate the environmental controls on the shallow-to-deep convective transition during the Amazon wet season. The results demonstrate the central role of early-day moisture preconditioning and large-scale dynamical forcing in regulating isolated deep convection, provide mechanistic insight into convective evolution, and establish physically informed modeling frameworks for future sensitivity experiments. These scientific outcomes are described in sections 2.1 to 2.3 and were disseminated in 8 conference presentations (see section 3.2) and 5 invited talks (see section 3.3), reflecting broad engagement with our community. Equally important, the project achieved its RDPP capacity-building objectives (see section 2.4). A sustained research partnership was established among the University of Maryland, Baltimore County (UMBC), Morgan State University (MSU), and Howard University (HU), and extended to include collaboration with Pacific Northwest National Laboratory (PNNL). The project organized multiple multi-day training events focused on ARM data, LASSO simulations, and quantitative analysis methods, directly engaging students, postdoctoral researchers, and faculty across institutions. These activities broadened participation in ASR research and led to independent adoption of LASSO workflows by students beyond the immediate project team. Finally, the project successfully positioned the participating institutions to pursue future DOE research. Preliminary scientific results, coupled with strengthened partnerships and technical capacity, enabled the submission of follow-on proposals to DOE ASR funding opportunities. In this way, the project fulfilled the RDPP goal of seeding durable research capacity and laying the foundation for larger-scale, sustained engagement with DOE ARM and ASR programs.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1985

External Tank GH2 Vent Arm

Because the venting of free hydrogen gas to the atmosphere presents an extremely hazardous situation, it was necessary to devise a means for safe, controlled venting of the shuttle external tank gaseous hydrogen during and after liquid hydrogen tank loading. Several design concepts that were considered initially were discarded as unfeasible because of vehicle weight restrictions, high cost, and because the proposed structure was itself deemed a hazard due to the vehicle's nonvertical launch trajectory. These design concepts are discussed. A design employing a support structure/access arm attached to the fixed service structure was finally selected. The various design problems resolved included vent arm disconnect/drop interference, minimizing refurbishment due to launch damage, disconnect reliability, vehicle movement tracking, minimizing vent line pressure drop, and the presence of other vehicle services at the same centralized supply area. Six launches have proven the system to be reliable, efficient, and of nearly zero refurbishment cost.

Reichle, G. E.↗
DOE OSTI2021

Upregulation of PPPDE1 contributes to anorectal malformations via the mitochondrial apoptosis pathway during hindgut development in rats

Congenital anorectal malformations (ARMs) are among the most prominent deformities of the gastrointestinal tract; however, their precise aetiology remains obscure. Immunohistochemistry demonstrated that, in the ARM group, the PPPDE1-positive cells were widely distributed in the hindgut epithelial tissue from GD13 to GD16. Immunofluorescence revealed that most TUNEL-, Bax-, and Cytochrome C (Cyt C)-positive cells overlapped with PPPDE1-positive cells in the urorectal septum (URS). Western blotting and quantitative real-time RT-PCR revealed that PPPDE1 levels were significantly higher in the ARM group from GD13 to GD14 (p < 0.05). IEC-6 cells were transfected with PPPDE1 overexpression plasmid/NC (negative control) or si-PPPDE1/si-NC. Flow cytometry analysis and CCK-8 assay (used to detect apoptosis and proliferation, respectively), as well as western blotting, showed that the levels of PPPDE1 were positively correlated with the pro-apoptotic molecules Bax and Cyt C. Accordingly, aberrantly high expression of PPPDE1 caused a spatiotemporal imbalance in foetal rats with ARMs during hindgut development. Therefore, the upregulation of PPPDE1 may promote epithelial apoptosis and reduce proliferation in the hindgut via the mitochondrial apoptotic pathway. This could affect the fusion of the URS and cloacal membrane, ultimately inhibiting the hindgut development and resulting in ARMs.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1997

Simulation of the Predictive Control Algorithm for Container Crane Operation using Matlab Fuzzy Logic Tool Box

This research has investigated the use of fuzzy logic, via the Matlab Fuzzy Logic Tool Box, to design optimized controller systems. The engineering system for which the controller was designed and simulate was the container crane. The fuzzy logic algorithm that was investigated was the 'predictive control' algorithm. The plant dynamics of the container crane is representative of many important systems including robotic arm movements. The container crane that was investigated had a trolley motor and hoist motor. Total distance to be traveled by the trolley was 15 meters. The obstruction height was 5 meters. Crane height was 17.8 meters. Trolley mass was 7500 kilograms. Load mass was 6450 kilograms. Maximum trolley and rope velocities were 1.25 meters per sec. and 0.3 meters per sec., respectively. The fuzzy logic approach allowed the inclusion, in the controller model, of performance indices that are more effectively defined in linguistic terms. These include 'safety' and 'cargo swaying'. Two fuzzy inference systems were implemented using the Matlab simulation package, namely the Mamdani system (which relates fuzzy input variables to fuzzy output variables), and the Sugeno system (which relates fuzzy input variables to crisp output variable). It is found that the Sugeno FIS is better suited to including aspects of those plant dynamics whose mathematical relationships can be determined.

Richardson, Albert O.↗
NASA NTRS1989

The JPL telerobot operator control station. Part 1: Hardware

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The hardware design, system architecture, and its integration and interface with the rest of the Telerobot Demonstrator System are discussed.

Kan, Edwin P.↗
NASA NTRS1989

The JPL telerobot operator control station. Part 2: Software

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The software design of the operator control system is discussed.

Kan, Edwin P.↗
DOE OSTI2015

Neuropsychological Outcome of Children Treated for Standard Risk Medulloblastoma in the PNET4 European Randomized Controlled Trial of Hyperfractionated Versus Standard Radiation Therapy and Maintenance Chemotherapy

Purpose: In the European HIT-SIOP PNET4 randomized controlled trial, children with standard risk medulloblastoma were allocated to hyperfractionated radiation therapy (HFRT arm, including a partially focused boost) or standard radiation therapy (STRT arm), followed, in both arms, by maintenance chemotherapy. Event-free survival was similar in both arms. Previous work showed that the HFRT arm was associated with worse growth and better questionnaire-based executive function, especially in children <8 years of age at diagnosis. Therefore, the aim of this study was to compare performance-based cognitive outcomes between treatment arms. Methods and Materials: Neuropsychological data were collected prospectively in 137 patients. Using the Wechsler Intelligence Scales, Kaufman Assessment Battery for Children, and Raven's Progressive Matrices, we estimated full-scale intelligence quotient (FSIQ) and, when available, verbal IQ (VIQ), performance IQ (PIQ), working memory index (WMI), and processing speed index (PSI). Results: Among the 137 participants (HFRT arm n=71, STRT arm n=66, 63.5% males), mean (±SD) ages at diagnosis and assessment respectively were 9.3 (±3.2) years of age (40.8% < 8 years of age at diagnosis) and 14.6 (±4.3) years of age. Mean (±SD) FSIQ was 88 (±19), and mean intergroup difference was 3.88 (95% confidence interval: −2.66 to 10.42, P=.24). No significant differences were found in children >8 years of age at diagnosis. In children <8 years of age at diagnosis, a marginally significant trend toward higher VIQ was found in those treated in the HFRT arm; a similar trend was found for PSI but not for PIQ, WMI, or FSIQ (mean intergroup differences were: 12.02 for VIQ [95% CI: 2.37-21.67; P=.02]; 3.77 for PIQ [95% CI: −5.19 to 12.74; P>.10]; 5.20 for WMI [95% CI: −2.07 to 12.47; P>.10]; 10.90 for PSI [95% CI: −1.54 to 23.36; P=.08]; and 5.28 for FSIQ [95% CI: −4.23 to 14.79; P>.10]). Conclusions: HFRT was associated with marginally higher VIQ in children <8 years of age at diagnosis, consistent with a previous report using questionnaire-based data. However, overall cognitive ability was not significantly different.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2019

Major improvements on the longwave radiative interactions between surface and clouds in the polar regions in atmospheric global circulation model

Motivations: One of the most important tasks in the study of physical and socioeconomic aspects of climate change is the simulation of polar climate and how it changes in response to global warming. One import component of the polar energy budget (and thus of polar climate) is the radiative interaction between surface and clouds. As of today, the vast majority of state-of-the-art global climate models (GCMs), including all three US flagship GCMs (NCAR CESM, GFDL CM3, and GISS E2-H/E2-R), still assume constant surface emissivity overall spectral bands in their longwave radiation treatment. Similarly, a majority of state-of-the-art GCMs assume non-scattering clouds in the longwave spectrum, including both the NCAR CESM and GFDL CM3. The issues of ignoring spectral variation in surface emissivity and scattering by clouds manifest themselves in the far-infrared (IR) over the polar continents because (1) there is so little water vapor in such areas that surface far-IR emission can reach clouds; and (2) the imaginary part of the refractive index of ice has a local minimum over 350-550 cm-1, which implies possible strong scattering effects over this spectral region both within and between the snow surface and ice clouds. Our sensitivity studies using CloudSat-retrieved hydrometeor profiles over the high-elevation Antarctic continent show that, in winter, an appropriate inclusion of snow surface spectral emissivity and ice cloud scattering in radiative transfer calculations can noticeably reduce the monthly-mean surface net downward far-IR flux and net atmospheric far-IR emission over the entire region. For the far-IR alone, the magnitude of these effects is ~1Wm-2 or even larger. Projection Objectives: We propose to carry out the following studies: (1) Develop or update schemes that can be used in the CESM to compute the optical properties of the snow surface and ice clouds consistently across the longwave and the shortwave spectrum; (2) Modify the longwave radiation scheme in the CESM such that it can incorporate surface spectral emissivity and scattering of clouds; (3) Validate schemes developed for (1) and (2) against measurements or benchmark models; (4) Evaluate the effects of these new treatments on the simulated polar energy budget and climate by the CESM. Technical Approaches:1.Use a detailed snowpack radiative transfer model to simulate spectrally resolved emissivity of snow surfaces as a function of snow effective radius. The model will be validated against available high spectral-resolution measurements of snow spectral emissivity (ASTER spectra library v2.0). Currently the CESM prognoses vertically-resolved snow effective radius, and snow shortwave albedo is parameterized based on snow effective radius. Our treatment of snow spectral emissivity here will be consistent with the treatment of snow albedo in the shortwave and seamlessly connected with the snow physical module in the CESM. 2. Update the parameterization of ice cloud optical properties in the CESM, for both longwave and shortwave, based on the latest ice-cloud scattering database developed by co-I Prof. Yang. 3. Modify RRTMG_LW, the current longwave radiation scheme in the CESM, to include the surface spectral emissivity and the scattering of clouds in the longwave calculation. Validate modified scheme against a line-by-line radiative transfer model with multiple scattering capability (LBLRTM/CHARTS). 4. Implement products from Steps 1-3 into the CESM and conduct simulations to evaluate their effects on the simulated polar climate and energy budget. These runs will be compared to control runs and evaluated using routine model-observation diagnostics, including data from the ARM NSA (North Slope of Alaska) site. Moreover, a novel aspect in this step is that we will evaluate the simulated longwave band-by-band fluxes and cloud radiative effect against observational counterparts over both polar continents, using a product recently derived by the lead PI Prof. Huang from collocated AIRS and CERES satellite observations from 2002 to 2013. Benefits and outcomes: This project will significantly improve the longwave radiation scheme in the CESM and its successors and provide more realistic treatment of radiative interactions between polar surfaces and clouds. In the future, it will also be straightforward to extend this framework to include spectral emissivity of all surface types. This is responsive to identified DoE Earth System Modeling Science Drivers to improve the performance of the fully coupled climate system modeling and to help address questions on how rapid changes in cryospheric systems interact with the climate system.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1973

Master/slave manipulator system

System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

Vykukal, H. C.↗
NASA NTRS1975

Skylab task and work performance /Experiment M-151 - Time and motion study/

The primary objective of Experiment M151 was to study the inflight adaptation of Skylab crewmen to a variety of task situations involving different types of activity. A parallel objective was to examine astronaut inflight performance for any behavioral stress effects associated with the working and living conditions of the Skylab environment. Training data provided the basis for comparison of preflight and inflight performance. Efficiency was evaluated through the adaptation function, namely, the relation of performance time over task trials. The results indicate that the initial changeover from preflight to inflight was accompanied by a substantial increase in performance time for most work and task activities. Equally important was the finding that crewmen adjusted rapidly to the weightless environment and became proficient in developing techniques with which to optimize task performance. By the end of the second inflight trial, most of the activities were performed almost as efficiently as on the last preflight trial. The analysis demonstrated the sensitivity of the adaptation function to differences in task and hardware configurations. The function was found to be more regular and less variable inflight than preflight. Translation and control of masses were accomplished easily and efficiently through the rapid development of the arms and legs as subtle guidance and restraint systems.

Kubis, J. F.↗
NASA NTRS1981

The laboratory module

Of the five modules comprising the Orbiting Quarantine Facility, the Laboratory Module must provide not only an extensive research capability to permit execution of the protocol, but also the flexibility to accommodate second-order testing if nonterrestrial life is discovered in the sample. The biocontainment barriers that protect the sample and the researchers from cross contamination are described. Specifically, the laboratory layout, laboratory equipment, the environmental control and life support system, and containment assurance procedures are discussed. The metal manipulation arm proposed for use within the biocontainment cabinets is described. Sample receipt and processing procedures are outlined.

Source record↗
NASA NTRS1986

The investigation of tethered satellite system dynamics

The analysis of the rotational dynamics of the satellite was focused on the rotational amplitude increase of the satellite, with respect to the tether, during retrieval. The dependence of the rotational amplitude upon the tether tension variation to the power 1/4 was thoroughly investigated. The damping of rotational oscillations achievable by reel control was also quantified while an alternative solution that makes use of a lever arm attached with a universal joint to the satellite was proposed. Comparison simulations between the Smithsonian Astrophysical Observatory and the Martin Marietta (MMA) computer code of reteival maneuvers were also carried out. The agreement between the two, completely independent, codes was extremely close, demonstrating the reliability of the models. The slack tether dynamics during reel jams was analytically investigated in order to identify the limits of applicability of the SLACK3 computer code to this particular case. Test runs with SLACK3 were also carried out.

Lorenzini, E. C.↗
NASA NTRS1990

Stabilizing Wheels For Rover Vehicle

Proposed articulated, normally-four-wheeled vehicle holds extra pair of wheels in reserve. Deployed to lengthen wheelbase on slopes, thereby making vehicle more stable, and to aid vehicle in negotiating ledge or to right vehicle if turned upside down. Extra wheels are drive wheels mounted on arms so they pivot on axis of forward drive wheels. Both extra wheels and arms driven by chains, hydraulic motors, or electric motors. Concept promises to make remotely controlled vehicles more stable and maneuverable in such applications as firefighting, handling hazardous materials, and carrying out operations in dangerous locations.

Collins, Earl R., Jr.↗
NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗
NASA NTRS1991

A new multirate sampled-data control law structure and synthesis algorithm

A new multirate sampled-data control law structure is defined and a new parameter-optimization-based synthesis algorithm for that structure is introduced. The synthesis algorithm can be applied to multirate, multiple-input multiple-output, sampled-data control laws having a prescribed dynamic order and structure, and a priori specified sampling/update rates for all sensors, processor states, and control inputs. The synthesis algorithm is applied to design two-input, two-output tip position controllers of various dynamic orders for a sixth-order, two-link robot arm model.

Berg, Martin C.↗