Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “arms control”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,063 records · Page 59
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Force-Velocity and Power Characteristics of Rat Soleus Muscle Fibers after Hindlimb Suspension

The effects of 1, 2, and 3 wk of Hindlimb Suspension (HS) on force-velocity and power characteristics of single rat soleus fibers were determined. After 1, 2, or 3 wk of HS, small fiber bundles were isolated, placed in skinning solution, and stored at -20 C until studied. Single fibers were isolated and placed between a motor arm and force transducer, functional properties were studied, and fiber protein content was subsequently analyzed by sodium dodecyl sulfate-polyacrylamide gel electrophoresis (SDS-PAGE). Additional fibers were isolated from soleus of control and after 1 and 3 wk of HS, and fiber type distribution and myosin light chain stoichiometry were determined from SDS-PAGE analysis. After 1 wk of HS, percent type I fibers declined from 82 to 74%, whereas hybrid fibers increased from 10 to 18%. Percent fast type 11 fibers increased from 8% in control and 1 wk of HS to 26% by 3 wk of HS. Most fibers showed an increased unloaded maximal shortening velocity (V(sub 0)), but myosin heavy chain remained entirely slow type I. The mechanism for increased V(sub 0) is unknown. There was a progressive decrease in fiber diameter (14, 30, and 38%) and peak force (38, 56, and 63%) after 1, 2, and 3 wk of HS, respectively. One week of HS resulted in a shift of the force-velocity curve, and between 2 and 3 wk of HS the curve shifted further such that V(sub 0) was higher than control at all relative loads less than 45% peak isometric force. Peak absolute power output of soleus fibers progressively decreased through 2 wk of HS but showed no further change at 3 wk. The results suggest that between 2 and 3 wk the HS-induced alterations in the force-velocity relationship act to maintain the power output of single soleus fibers despite a continued reduction in fiber force.

McDonald, K. S.↗
DOE OSTI2020

EVALUATING NUCLEAR SECURITY IMPLICATIONS OF THE SPLINTERNET

The internet, which for years has been viewed as a global online commons with standardized protocols but few regulations is, according to some experts, starting to mirror the contentious political and commercial contours of the physical world. Contributing to this is the rise in data breaches, cyber-enabled attacks on critical infrastructure, government surveillance operations, theft of intellectual property, manipulation of electoral processes, and perceived erosion of privacy, all of which are resulting in a growing skepticism that an open internet will naturally serve the best interests of users, communities, countries, and the global economy. In addition, the rapidly emerging and increasingly lucrative power of data has global superpowers scrambling to protect their informational sovereignty as an urgent matter of national security. Underscoring this urgency is the fact that, despite its global reach and cosmopolitan contributor base, internet infrastructure and governance of the World Wide Web remain largely under U.S. corporate auspices, which reinforces the perception of U.S. control. Whether fragmentation is politically, economically, or socially motivated, there appears to be a growing appetite for an internet that is partitioned and controlled at the national level. From “the Great Firewall of China” to the “Halal” internet of Iran, the trend towards a “Splinternet” has courts and governments embarking on what some call a "legal arms race" to impose a maze of national or regional rules, often conflicting, in the digital realm. The paper explores the emerging Splinternet phenomenon, analyses the implications of this trend on nuclear security, and identifies questions that present opportunities for future research.

Internet, Data Security, Cyber Security, Nuclear S↗
DOE OSTI2021

UNH TDP - Concurrent Measurements of Inflow, Power Performance, and Loads for a Grid-Synchronized Vertical Axis Cross-Flow Turbine Operating in a Tidal Estuary

This data was collected between October 12 and December 15 of 2021 at the University of New Hampshire (UNH) and Atlantic Marine Energy Center (AMEC) turbine deployment platform (TDP). This data set includes over 29 days of grid connected turbine operation during this 65 day time frame. The priority for this measurement campaign was to collect data while the turbine was electrically connected to the grid by means of a rectifier and inverter. The Fall_2021_UNH_Measurement_Timeline.png highlights when each instrument was functioning and the Fall_2021_UNH_Test_Log.jpg indicates the four main regions for analysis available from this measurement campaign. The TDP is a floating structure moored on the Portsmouth facing side of Memorial Bridge pier #2, which spans the Piscataqua River between Portsmouth, NH and Kittery, ME. The Piscataqua River connects the Great Bay Estuary to the Gulf of Maine and the river currents are dominated by tidal forcing with water velocities exceeding 2.5 m/s during spring ebb tides at this site which were previously characterized by Kaelin Chancey (Assessment Of The Localized Flow And Tidal Energy Conversion System At An Estuarine Bridge - UNH MS Thesis 2019). The turbine under test was a modified New Energy Corporation (Calgary, CA) model EVG-025 4-blade H-Darrius type vertical axis cross flow turbine that rotates in the clockwise direction with a rotor diameter of 3.2m and blade length of 1.7m. The hydro-foil profile was a NACA 0021 with a 10 inch chord length and a blade preset pitch angle of +4deg with a positive angle corresponding with the toe in direction. The standard EVG-025 has a rotor diameter of 3.4m and its rated power output is 25kW at 3 m/s. The rotor diameter was reduced to accommodate the size of the existing TDP moon-pool. This project was pursued to quantify device performance for cross flow turbines operating in a marine environment. Accurate physical models, to characterize cross flow turbine performance, require real operational data sets due to the complexity of blade fluid interactions. This data can help support model development which will help predict turbine performance when analyzing perspective project locations in the future. Instrumentation was deployed to measure; water speed/direction, electrical power output, turbine shaft speed, turbine thrust force, and platform motion. Concurrent measurements of these parameters allow for correlations (cause and affect) to be inferred, allowing for characterization of device performance over a range of operating conditions. Water currents were measured using Acoustic Doppler Current Profilers (ADCP's) and Acoustic Doppler Velocimeters (ADV's) directly upstream and downstream of the turbine for inflow, wake and turbulence measurements. Electrical power output was measured using the Voltsys rectifier and the Shark power meter. Shaft speed was calculated based on the Voltsys measurements of the permanent magnet three phase generator AC generation frequency, coupled directly to the cross flow turbine under test (i.e., no gear box). Platform motions were captured using a Yost IMU (inertial measurement unit). Turbine thrust loading was measured using a reaction arm about the turbine deployment platform spanning beam, where two bi-directional load cells were connected to the system via a pinned connection. This submission includes zipped folders for each instrument containing quality controlled (QC'd) data in daily .csv files for the relevant duration specific to each instrument, along with separate .csv file that contains the units for each variable. Some instrument daily files are quite large and can pose a challenge for a visual spreadsheet editor to open. A processing software like MATLAB or Python is recommended. Note the degree of QC varied between each instrument due to time constraints. Particular time and attention was given to perform quality control tests on the acoustic based instruments that are particularly suscep...

16 TIDAL AND WAVE POWER↗
NASA NTRS1987

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

Mclauchlan, Robert A.↗
NASA NTRS2000

Performance Benefits Associated with Context-Dependent Arm Pointing Adaptation

Our previous work has demonstrated that head orientation can be used as a contextual cue to switch between mUltiple adaptive states. Subjects were assigned to one of three groups: the head orientation group tilted the head towards the right shoulder when drawing under a 0.5 gain of display and towards the left shoulder when drawing under a 1.5 gain of display; the target orientation group had the home & target positions rotated counterclockwise when drawing under the 0.5 gain and clockwise for the l.5 gain; the arm posture group changed the elbow angle of the arm they were not drawing with from full flexion to full extension with 0.5 and l.5 gain display changes. The head orientation cue was effectively associated with the multiple gains, in comparison to the control conditions. The purpose of the current investigation was to determine whether this context-dependent adaptation results in any savings in terms of performance measures such as movement duration and movement smoothness when subjects switch between multiple adaptive states. Subjects in the head adaptation group demonstrated reduced movement duration and increased movement smoothness (measured via normalized j erk scores) in comparison to the two control groups when switching between the 0.5 and 1.5 gain. of display. This work has demonstrated not only that subjects can acquire context-dependent adaptation, but also that it results in a significant savings of performance upon transfer between adaptive states

Seidler, R. D.↗
NASA NTRS1983

A design procedure for active control of beam vibrations

The transverse vibrations of beams is discussed and a methodology for the design of an active damping device is given. The Bernoulli-Euler equation is used to derive a transcendental transfer function, which relates a torque applied at one end of the beam to the rotational position and velocity at that point. The active damping device consists of a wire, a linear actuator and a short torque arm attached to one end of the beam. The action of the actuator varies a tension in the wire and creates a torque which opposes the rotation of the beam and thus damps vibration. A design procedure for such an active damper is given. This procedure shows the relationships and trade-offs between the actuator stroke, power required, stress levels in the wire and beam and the geometry of the beam and wire. It is shown that by consideration of the frequency response at the beam natural frequencies, the aforementioned relationships can be greatly simplified. Similarly, a simple way of estimating the effective damping ratios and eigenvalue locations of actively controlled beams is presented.

Dickerson, S. L.↗
DOE OSTI2023

The Early Career Research Program Annual Progress Report: Using ARM Data and Multiscale Models to Advance the Understanding of Liquid-Phase Cloud Response to Aerosol Perturbation over Ocean and Land

This project aims to study the response of liquid-phase clouds to aerosol perturbation and reduce the related uncertainty in the DOE Earth system model. Specific objectives include: Objective 1: Quantify the aerosol indirect effect on liquid-phase clouds using ARM observations and satellite retrievals while constraining the confounding large-scale conditions; Objective 2: Harness LES case studies, untangle the confounding meteorological impacts on the observed aerosol indirect effect, and identify key cloud processes controlling the net radiative forcing of aerosol-cloud interactions at different spatiotemporal scales; Objective 3: Evaluate the aerosol indirect effect on liquid-phase clouds with process-level understanding in E3SM multiscale model configurations.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗
NASA NTRS1994

Development studies of Aurelia (jellyfish) ephyrae which developed during the SLS-1 mission

Aurelia polyps (scyphistomae) and ephyrae were exposed to microgravity for nine days aboard the space shuttle during the SLS-1 mission. During strobilation, polyps segment transversely and each segment develops into an ephyra. Polyps were induced to strobilate at 28 C, using iodine or thyroxine, at L(Launch)-48h, L-24h, and L+8h. Ephyrae developed in the groups tested in space and on Earth. The number of ephyrae formed per polyp was slightly higher in the L+8h groups as compared with those induced at L-24h and L-48h. On Earth, iodine is used by jellyfish to synthesize jellyfish-thyroxine (Jf T(sub 4)), needed for ephyra production. Since iodine-treated polyps strobilated and formed ephyrae in space, it appears that jellyfish can synthesize Jf-T(sub 4) in space. Indeed, two groups of polyps not given inducer formed ephryae in space, presumably due to enhanced Jf-T(sub 4) synthesis, utilization or accumulation. Some ephyrae that formed in space were also fixed in space on Mission Day (MD) 8; others were fixed post-flight. Examination of living ephyrae with the light microscope and fixed ones with the Scanning and Transmission Electron Microscopes revealed that those which developed in space were morphologically very similar to those which developed on Earth. Quantitation of arm numbers determined that there were no significant differences between space and Earth-developed ephyrae. Pulsing abnormalities, however, were found in greater number (18.3%) in space-developed ephyrae than in Earth-developed controls (2.9%). These abnormalities suggest abnormal development of the graviceptors, the neuromuscular system, or a defect in the integration between these systems in apparently microgravity-sensitive animals.

Spangenberg, D. B.↗
NASA NTRSDate not supplied

COLDArm Pressure-Sinkage Testing: Implications for Assessing Lunar Trafficability

The ability for regolith to support the movement of vehicles, known as trafficability, is commonly assessed using pressure-sinkage relationships. Trafficability on the lunar surface is controlled by the site-specific physical properties of the regolith and the geometry and mass of the roving vehicle. Lunar regolith pressure-sinkage testing can be performed with standard exploration hardware (e.g., robotic arms with scoops) and will help define exploration routes and hazard zones for rovers and astronauts, as knowledge of the sinkage of a wheel in regolith helps constrain viable operating conditions for rovers. The objective of this study is to demonstrate the necessity of in situ testing and characterization of lunar regolith physical properties for exploration and infrastructure development activities.

Regolith↗
NASA NTRSDate not supplied

COLDArm Pressure-Sinkage Testing: Implications for Assessing Lunar Trafficability

The ability for regolith to support the movement of vehicles, known as trafficability, is commonly assessed using pressure-sinkage relationships [1]. Trafficability on the lunar surface is controlled by the site-specific physical properties of the regolith and the geometry and mass of the roving vehicle. Lunar regolith pressure-sinkage testing can be performed with standard exploration hardware (e.g., robotic arms with scoops) and will help define exploration routes and hazard zones for rovers and astronauts, as knowledge of the sinkage of a wheel in regolith helps constrain viable operating conditions for rovers. The objective of this study is to demonstrate the necessity of in situ testing and characterization of lunar regolith physical properties for exploration and infrastructure development activities.

Regolith↗
NASA NTRS1989

Control of intelligent robots in space

In view of space activities like International Space Station, Man-Tended-Free-Flyer (MTFF) and free flying platforms, the development of intelligent robotic systems is gaining increasing importance. The range of applications that have to be performed by robotic systems in space includes e.g., the execution of experiments in space laboratories, the service and maintenance of satellites and flying platforms, the support of automatic production processes or the assembly of large network structures. Some of these tasks will require the development of bi-armed or of multiple robotic systems including functional redundancy. For the development of robotic systems which are able to perform this variety of tasks a hierarchically structured modular concept of automation is required. This concept is characterized by high flexibility as well as by automatic specialization to the particular sequence of tasks that have to be performed. On the other hand it has to be designed such that the human operator can influence or guide the system on different levels of control supervision, and decision. This leads to requirements for the hardware and software concept which permit a range of application of the robotic systems from telemanipulation to autonomous operation. The realization of this goal requires strong efforts in the development of new methods, software and hardware concepts, and the integration into an automation concept.

Freund, E.↗
NASA NTRS1989

Manipulation strategies for massive space payloads

Control for the bracing strategy is being examined. It was concluded earlier that trajectory planning must be improved to best achieve the bracing motion. Very interesting results were achieved which enable the inverse dynamics of flexible arms to be calculated for linearized motion in a more efficient manner than previously published. The desired motion of the end point beginning at t=0 and ending at t=t sub f is used to calculate the required torque at the joint. The solution is separated into a causal function that is zero for t is less than 0 and an accusal function which is zero for t is greater than t sub f. A number of alternative end point trajectories were explored in terms of the peak torque required, the amount of anticipatory action, and other issues. The single link case is the immediate subject and an experimental verification of that case is being performed. Modeling with experimental verification of closed chain dynamics continues. Modeling effort has pointed out inaccuracies that result from the choice of numerical techniques used to incorporate the closed chain constraints when modeling our experimental prototype RALF (Robotic Arm Large and Flexible). Results were compared to TREETOPS, a multi body code. The experimental verification work is suggesting new ways to make comparisons with systems having structural linearity and joint and geometric nonlinearity. The generation of inertial forces was studied with a small arm that will damp the large arm's vibration.

Book, Wayne J.↗
NASA NTRS1991

Three dimensional vision - Requirements and applications in a space environment

Various approaches to three-dimensional vision in space are reviewed with emphasis on the redundant 3D vision system designed for the Center for Intelligent Robotic Systems for Space Exploration. The system uses a controllable subset of five cameras, programmable structured light patterns, and sophisticated calibration routines. The design emphasizes real-time operation, human supervisory intervention, and the use of 3D vision to enhance the performance of cooperating robotic arms. Two methods of estimating the location of a point using 3D vision are discussed.

Noseworthy, J. R.↗
NASA NTRS1998

STS-88 Day 04 Highlights

On this forth day of the STS-88 mission, the flight crew, Commander Robert D. Cabana, Pilot Frederick W. Sturckow, and Mission Specialists Nancy J. Currie, James H. Newman, Jerry L. Ross, and Sergei are awakened to the sounds of "Somewhere Over the Rainbow," requested by Commander Bob Cabana's daughter, Sarah. With the three-story-high Unity connecting module latched upright in the shuttle's payload bay, Cabana takes manual control of the shuttle as it moves to within about a half-mile of Zarya. Cabana and Sturckow execute a sequence of maneuvers that will bring Endeavour directly above the module. Currie uses the robotic arm to capture the module. She then positions Zarya above Unity's docking mechanism.

Source record↗
NASA NTRS2014

NASA Tech Briefs, February 2014

Topics include: JWST Integrated Simulation and Test (JIST) Core; Software for Non-Contact Measurement of an Individual's Heart Rate Using a Common Camera; Rapid Infrared Pixel Grating Response Testbed; Temperature Measurement and Stabilization in a Birefringent Whispering Gallery Resonator; JWST IV and V Simulation and Test (JIST) Solid State Recorder (SSR) Simulator; Development of a Precision Thermal Doubler for Deep Space; Improving Friction Stir Welds Using Laser Peening; Methodology of Evaluating Margins of Safety in Critical Brazed Joints; Interactive Inventory Monitoring; Sensor for Spatial Detection of Single-Event Effects in Semiconductor-Based Electronics; Reworked CCGA-624 Interconnect Package Reliability for Extreme Thermal Environments; Current-Controlled Output Driver for Directly Coupled Loads; Bulk Metallic Glasses and Matrix Composites as Spacecraft Shielding; Touch Temperature Coating for Electrical Equipment on Spacecraft; Li-Ion Electrolytes Containing Flame-Retardant Additives; Autonomous Robotic Manipulation (ARM); CARVE Log; Platform Perspective Toolkit; Convex Hull-Based Plume and Anomaly Detection; Pre-Filtration of GOSAT Data Using Only Level 1 Data and an Intelligent Filter to Remove Low Clouds; Affordability Comparison Tool - ACT; "Ascent - Commemorating Shuttle" for iPad; Cassini Mission App; Light-Weight Workflow Engine: A Server for Executing Generic Workflows; Model for System Engineering of the CheMin Instrument; Timeline Central Concepts; Parallel Particle Filter Toolkit; Particle Filter Simulation and Analysis Enabling Non-Traditional Navigation; Quasi-Terminator Orbits for Mapping Small Primitive Bodies; The Subgrid-Scale Scalar Variance Under Supercritical Pressure Conditions; Sliding Gait for ATHLETE Mobility; and Automated Generation of Adaptive Filter Using a Genetic Algorithm and Cyclic Rule Reduction.

Source record↗
NASA NTRSDate not supplied

Dual Glovebox Thermal Vacuum Chamber: Testing Capabilities for Spacesuit Arms and Gloves

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.

spacesuit arms↗