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At least 1,225 records · Page 68

Self calibrating autoTRAC

The work reported here demonstrates how to automatically compute the position and attitude of a targeting reflective alignment concept (TRAC) camera relative to the robot end effector. In the robotics literature this is known as the sensor registration problem. The registration problem is important to solve if TRAC images need to be related to robot position. Previously, when TRAC operated on the end of a robot arm, the camera had to be precisely located at the correct orientation and position. If this location is in error, then the robot may not be able to grapple an object even though the TRAC sensor indicates it should. In addition, if the camera is significantly far from the alignment it is expected to be at, TRAC may give incorrect feedback for the control of the robot. A simple example is if the robot operator thinks the camera is right side up but the camera is actually upside down, the camera feedback will tell the operator to move in an incorrect direction. The automatic calibration algorithm requires the operator to translate and rotate the robot arbitrary amounts along (about) two coordinate directions. After the motion, the algorithm determines the transformation matrix from the robot end effector to the camera image plane. This report discusses the TRAC sensor registration problem.

Everett, Louis J.↗

STS-114 Flight Day 1 Highlights

Video coverage of NASA's Return to Flight begins with the pre-flight meal and suit-up of the STS-114 crew (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda), and its departure for the launch pad on the Astrovan. The astronauts board Space Shuttle Discovery and are seated. Arms on the launch pad's Fixed Service Structure pull away, and Discovery is shown from liftoff through booster separation. Video of the ascent from a new camera onboard the External Tank (ET) is included, which features views of the ET's bipod and the tank's separation from the orbiter, with Earth in the background. During a change of shift at Mission Control Center, staff members congratulate the Shuttle crew, and Commander Collins thanks them.

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A dual-armed free flyer

In this summary, we present the main conclusions and results of a design study conducted by a group of 25 students at the University of Maryland. The students, all participants in the spring 1988 courses ENEE488Q and ENEE418 in the Electrical Engineering Department, considered the problem of designing a free-flying space robot for applications in satellite servicing. In addition to the paper study, a subgroup of eight students undertook the ambitious task of designing and building a laboratory testbed for the concept of a free flyer. This subgroup has already completed the main fabrication of the mechanical hardware and most of the onboard electronics. When completed by the end of the summer, the testbed will consist of a seven-degree-of-freedom dual-armed planar robot that will float on an air table and carry out various commanded tasks. All the fabrication and testing is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. The project team split up into subgroups as follows: (1) articulation concepts 1 and 2, to study competing ideas for the overall systems architecture and manipulator design; (2) real time control systems group; (3) a computer graphics group to provide animations of a planar design; (4) a mechanical hardware design group for the laboratory testbed; and (5) a control systems hardware design group for the same.

Source record↗

STS-85 Day 05 Highlights

On this fifth day of the STS-85 mission, the flight crew, Cmdr. Curtis L. Brown, Jr., Pilot Kent V. Rominger, Payload Cmdr. N. Jan Davis (Ph.D.), Mission Specialists Robert L. Curbeam, Jr. and Stephen K. Robinson (Ph.D.), and Payload Specialist Bjarni V. Tryggvason once again test the small robotic arm serving as a prototype for one that will fly as part of the Japanese Experiment Module on the International Space Station. Simulated orbital replacement unit detachment and reattachment will be the focus. Bob Curbeam discusses the progress of the flight with a television station in St Louis, before continuing his work with the Bioreactor Demonstration System designed to perform cell biology experiments under controlled conditions. Immediately after Curbeam's interview, Canadian Payload Specialist Bjarni Tryggvason is set to talk to elementary and high school students at a summer camp in Saskatchewan, Canada.

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Understanding Ice Supersaturation, Particle Growth, and Number Concentration in Cirrus Clouds

Many factors control the ice supersaturation and microphysical properties in cirrus clouds. We explore the effects of dynamic forcing, ice nucleation mechanisms, and ice crystal growth rate on the evolution and distribution of water vapor and cloud properties in nighttime cirrus clouds using a one-dimensional cloud model with bin microphysics and remote sensing measurements obtained at the Department of Energy's Atmospheric Radiation Measurement (ARM) Climate Research Facility located near Lamont, OK. We forced the model using both large-scale vertical ascent and, for the first time, mean mesoscale velocity derived from radar Doppler velocity measurements. Both heterogeneous and homogeneous nucleation processes are explored, where a classical theory heterogeneous scheme is compared with empirical representations. We evaluated model simulations by examining both bulk cloud properties and distributions of measured radar reflectivity, lidar extinction, and water vapor profiles, as well as retrieved cloud microphysical properties. Our results suggest that mesoscale variability is the primary mechanism needed to reproduce observed quantities. Model sensitivity to the ice growth rate is also investigated. The most realistic simulations as compared with observations are forced using mesoscale waves, include fast ice crystal growth, and initiate ice by either homogeneous or heterogeneous nucleation. Simulated ice crystal number concentrations (tens to hundreds particles per liter) are typically two orders of magnitude smaller than previously published results based on aircraft measurements in cirrus clouds, although higher concentrations are possible in isolated pockets within the nucleation zone.

Comstock, Jennifer M.↗

Cloud And Precipitation Experiment at Kennaook

The remote Southern Ocean is an area of great interest to atmospheric scientists because of its influence on global atmospheric and oceanic circulation. With less influence from aerosols produced by human activities than most areas on Earth, the region provides a view into preindustrial conditions. Climate projections for the entire Earth are sensitive to the aerosol-cloud-precipitation interactions in the Southern Ocean atmosphere. This is particularly true of the ubiquitous low-level clouds that control the amount of sunlight absorbed at the ocean surface. Satellite data suggest that cloud properties co-vary with the seasonal cycle of aerosols in the region. Seasonal variations in Southern Ocean aerosol properties are strong and well documented, but detailed vertically resolved measurements of clouds and precipitation in the marine boundary layer are lacking. To help fill this gap, the Atmospheric Radiation Measurement (ARM) user facility will deploy a set of instruments for the Cloud And Precipitation Experiment at Kennaook (CAPE-K) from April 2024 to September 2025 in northwestern Tasmania.

54 ENVIRONMENTAL SCIENCES↗

The phantom robot - Predictive displays for teleoperation with time delay

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Bejczy, Antal K.↗

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗

A unique exercise facility for simulating orbital extravehicular activity

A unique exercise facility has been developed and used to simulate orbital extravehicular activity (EVA). The device incorporates an arm ergometer into a mechanism which places the subject in the zero-g neutral body posture. The intent of this configuration is to elicit muscular, cardiovascular, respiratory, and thermoregulatory responses similar to those observed during orbital EVA. Experiments done with this facility will help characterize the astronaut's dynamic heat balance during EVA and will eventually lead to the development of an automated thermal control system which would more effectively maintain thermal comfort.

Williamson, Rebecca C.↗

Primary Dendrite Arm Spacing and Trunk Diameter in Al-7-Weight-Percentage Si Alloy Directionally Solidified Aboard the International Space Station

Under a NASA-ESA collaborative research project, three Al-7-weight-percentage Si samples (MICAST-6, MICAST-7 and MICAST 2-12) were directionally solidified aboard the International Space Station to determine the effect of mitigating convection on the primary dendrite array. The samples were approximately 25 centimeters in length with a diameter of 7.8 millimeter-diameter cylinders that were machined from [100] oriented terrestrially grown dendritic Al-7Si samples and inserted into alumina ampoules within the Sample Cartridge Assembly (SCA) inserts of the Low Gradient Furnace (LGF). The feed rods were partially remelted in space and directionally solidified to effect the [100] dendrite-orientation. MICAST-6 was grown at 5 microns per second for 3.75 centimeters and then at 50 microns per second for its remaining 11.2 centimeters of its length. MICAST-7 was grown at 20 microns per second for 8.5 centimeters and then at 10 microns per second for 9 centimeters of its remaining length. MICAST2-12 was grown at 40 microns per second for 11 centimeters. The thermal gradient at the liquidus temperature varied from 22 to 14 degrees Kelvin per centimeter during growth of MICAST-6, from 26 to 24 degrees Kelvin per centimeter for MICAST-7 and from 33 to 31 degrees Kelvin per centimeter for MICAST2-12. Microstructures on the transverse sections along the sample length were analyzed to determine nearest-neighbor spacing of the primary dendrite arms and trunk diameters of the primary dendrite-arrays. This was done along the lengths where steady-state growth prevailed and also during the transients associated with the speed-changes. The observed nearest-neighbor spacings during steady-state growth of the MICAST samples show a very good agreement with predictions from the Hunt-Lu primary spacing model for diffusion controlled growth. The observed primary dendrite trunk diameters during steady-state growth of these samples also agree with predictions from a coarsening-based model. The radial macrosegregation and "steepling" caused by thermosolutal convection during terrestrial growth of the Al-7Si was not observed in the space-grown MICAST samples.

Ghods, M.↗

Stirling Engine Controller

Stirling technology is being developed to replace RTG s (Radioisotope Thermoelectric Generators), more specifically a stirling convertor, which is a stirling engine coupled to a linear alternator. Over the past three decades, the stirling engine has been designed to perform different functions. Stirling convertors have been designed to decrease fuel consumption in automobiles. They have also been designed for terrestrial and space applications. Currently NASA Glenn is using the convertor for space based applications. A stiring converter is a better means of power for deep space mission and "dusty" mission, like the Mars Rovers, than solar panels because it is not affected by dust. Spirit and Opportunity, two Mars rovers currently navigating the planet, are losing their ability to generate electricity because dust is collecting on their solar panels. Opportunity is losing more energy because its robotic arm has a heater with a switch that can not be turned off. The heater is not needed at night, but yet still runs. This generates a greater loss of electricity and in turn diminishes the performance of the rover. The stirling cycle has the potential to provide very efficient conversion of heat energy to electric a1 energy, more so than RTG's. The stirling engine converts the thermal energy produced by the decaying radioisotope to mechanical energy; the linear alternator converts this into electricity. convertor. Since the early 1990's tests have been performed to maximize the efficiency of the stirling converter. Many months, even years, are dedicated to preparing and performing tests. Currently, two stirling convertors #'s 13 and 14, which were developed by Stirling Technology Company, are on an extended operation test. As of June 7th, the two convertors reached 7,500 hours each of operation. Before the convertors could run unattended, many safety precautions had to be examined. So, special instrumentation and circuits were developed to detect off nominal conditions and also safely shutdown the engines. The test will last for a period of 8000 to 9000 hours. Other types of tests that have been performed are: performance mapping, controller development, launch environment, and vibration emissions testing. Currently, the thermo-mechanical system branch is housing a RG-350, a stirling convertor. The convertor was used in previous tests such as a Hall Thruster test, world s first integrated test of a dynamic power system with electric propulsion. Another test performed was to conclude if free piston stirling convertors can be synchronized for vibration balancing, with no thermodynamic or electrical connections and not cause both to shutdown if one failed. The ability to reduce vibration by synchronizing convertor operation but still be able to operate when one partner fails is pertinent in space and terrestrial applications. The convertor is now being brought back into operation and a controller is in the process of being developed. This convertor will be used as a testbed for new controllers. I worked with Mary Ellen Roth on the electric engineering aspects of the RG-350. My main goal was to enhance the data collection process. I worked on different aspects of the RG-350, with a main focus on the engine controller. I drew a schematic of the wire connections in the engine controller, using PCB Express, so that a plan could be devised to connect the power meter properly between the output of the engine and the engine controller. I measured the power using two different instruments: Valhalla Scientific power meter and Ohio Semitronics power measurement device. The convertor is connected to an Agilent 34970A Data Acquisition/Switch Unit, which allows the user to measure, record, and monitor voltage, current, frequency, and temperature. I assisted in preparing the Data Acquisition for general operation. I also helped test a panel of transducers, which will be placed in the rack that powers and monitors the convertor.

Blaze, Gina M.↗

NPFTURBULENCE: Fast Response Temperature by Airborne Measurements

The original data were collected during the field campaign of the “Turbulent layers promoting New Particle Formation” experiment (NPFTURBULENCE; https://www.arm.gov/research/campaigns/aaf2024npfturbulence; https://www.arm.gov/publications/programdocs/doe-sc-arm-25-004.pdf ) over the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) Atmospheric Observatory (https://www.arm.gov/capabilities/observatories/sgp ) in north-central Oklahoma. The ARM Aerial Facility ArcticShark uncrewed aerial system (UAS, https://www.arm.gov/capabilities/observatories/aaf/uas) was based at Blackwell–Tonkawa Municipal Airport (IATA: BWL, ICAO: KBKN, FAA LID: BKN, 36.74475° N, 97.34918° W, 313.9 m MSL), for the field campaign from May 5 through May 29, 2024. The ArcticShark UAS performed 11 flights, including 10 research flights over the Central Facility of the ARM SGP to measure atmospheric state, turbulence, surface IR temperature and imagery, aerosol number concentration and size distribution. The current dataset presents fast response temperature in the atmospheric boundary layer and lower free troposphere measured on the airborne platform throughout the field campaign. The primary instruments used to create the current dataset were the fine wire thermocouple probe, Pitot-static system (part of the UAS control), and infrared gas analyzer sensor for H2O and CO2 (LI-840A). All parameters used in the temperature calculations (static and dynamic pressure, absolute humidity in form of dew point temperature) were included in the data set. For user convenience, one additional parameter was also included: the type of flight flag (level, up, down, turn, and combination of thereof).

Air temperature↗

Microstrip Antennas with Broadband Integrated Phase Shifting

The goal of this research was to investigate the feasibility of using a spiral microstrip antenna that incorporates a thin ferroelectric layer to achieve both radiation and phase shifting. This material is placed between the conductive spiral antenna structure and the grounded substrate. Application of a DC bias between the two arms of the spiral antenna will change the effective permittivity of the radiating structure and the degree of coupling between contiguous spiral arms, therefore changing the phase of the RF signal transmitted or received by the antenna. This could eliminate the need for a separate phase shifter apart from the antenna structure. The potential benefits of such an antenna element compared to traditional phased array elements include: continuous, broadband phase shifting at the antenna, lower overall system losses, lighter, more efficient, and more compact phased arrays, and simpler control algorithms. Professor Jennifer Bernhard, graduate student Gregory Huff, and undergraduate student Brian Huang participated in this effort from March 1, 2000 to February 28, 2001. No inventions resulted from the research undertaken in this cooperative agreement.

Bernhard, Jennifer T.↗

Reaction force of percussive corer, rotary-friction corer, and rotary-percussive corer

Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for laboratory analysis. To address these objective, effective and optimized drilling techniques are needed. This requires developing comprehensive tools to be able to determine analytically what takes place during the operation and what are the control parameters that can be enhanced. In this study, three types of coring techniques were studied and were identified as potential candidates for operation from a possible future Mars Sample Return (MSR) mission rover. These techniques include percussive, rotary-friction, and rotary-percussive coring. Theoretical models were developed to predict the dynamic reaction forces transmitted from these three types of corers to the robotic arms that hold them. The predicted reaction forces will then be used in a dynamic simulation environment to simulate a representative corer tool to obtain a best estimate of a tool that can be operated from a small rover. The predicted dynamic reaction forces will be presented in this paper.

Ultrasonic Percussive corer↗

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. For planetary operations space suits are still the logical choice; however for safe and rapid access to the weightless environment, spacecraft offer compelling advantages. FlexCraft, a concept for a single-person spacecraft, enables any-time access to space for short or long excursions by different astronauts. For the International Space Station (ISS), going outside is time-consuming, requiring pre-breathing, donning a fitted space suit, and pumping down an airlock. For each ISS EVA this is between 12.5 and 16 hours. FlexCraft provides immediate access to space because it operates with the same cabin atmosphere as its host. Furthermore, compared to the space suit pure oxygen environment, a mixed gas atmosphere lowers the fire risk and allows use of conventional materials and systems. For getting to the worksite, integral propulsion replaces hand-over-hand translation or having another crew member operate the robotic arm. This means less physical exertion and more time at the work site. Possibly more important, in case of an emergency, FlexCraft can return from the most distant point on ISS in less than a minute. The one-size-fits-all FlexCraft means no on-orbit inventory of parts or crew time required to fit all astronauts. With a shirtsleeve cockpit, conventional displays and controls are used, there is no suit trauma and because the work is not strenuous, no rest days are required. Furthermore, there is no need to collect hand tools because manipulators are equipped with force multiplying end-effectors that can deliver the precise torque for the job. FlexCraft is an efficient solution for asteroid exploration allowing all crew to use one vehicle with no risk of contamination. And, because FlexCraft is a vehicle, its design offers better radiation and micro-meteoroid protection than space suits.

Griffin, Brand Norman↗

ARM-IRL: Adaptive Resilience Metric Quantification Using Inverse Reinforcement Learning

The resilience of safety-critical systems is gaining importance due to the rise in cyber and physical threats, especially within critical infrastructure. Traditional static resilience metrics may not capture dynamic system states, leading to inaccurate assessments and ineffective responses to cyber threats. This work aims to develop a data-driven, adaptive method for resilience metric learning. We propose a data-driven approach using inverse reinforcement learning (IRL) to learn a single, adaptive resilience metric. The method infers a reward function from expert control actions. Unlike previous approaches using static weights or fuzzy logic, this work applies adversarial inverse reinforcement learning (AIRL), training a generator and discriminator in parallel to learn the reward structure and derive an optimal policy. The proposed approach is evaluated on multiple scenarios: optimal communication network rerouting, power distribution network reconfiguration, and cyber–physical restoration of critical loads using the IEEE 123-bus system. The adaptive, learned resilience metric enables faster critical load restoration in comparison to conventional RL approaches.

97 MATHEMATICS AND COMPUTING↗

Laser-initiated ordnance for air-to-air missiles

McDonnell Douglas Missile Systems Company (MDMSC) has developed a laser ignition subsystem (LIS) for air-to-air missile applications. The MDMSC subsystem is designed to activate batteries, unlock fins, and sequence propulsion system events. The subsystem includes Pyro Zirconium Pump (PZP) lasers, mechanical Safe & Arm, fiber-optic distribution system, and optically activated pyrotechnic devices (initiators, detonators, and thermal batteries). The LIS design has incorporated testability features for the laser modules, drive electronics, fiber-optics, and pyrotechnics. Several of the LIS have been fabricated and have supported thermal battery testing, integral rocket ramjet testing, and have been integrated into integral rocket ramjet flight test vehicles as part of the flight control subsystem.

Sumpter, David R.↗

The structure of somatosensory information for human postural control

The goal of the present study was to determine the properties of the somatosensory stimulus that alter its temporal coupling to body sway. Six standing subjects were tested while touching a metal plate positioned either directly in front of or lateral to the subject. In each condition, the plate moved 4 mm at 0.2 Hz in either the medial-lateral (ML) or anterior-posterior direction (AP). The results showed that coupling between body sway and touch plate movement was strongest when the touch plate moved in a direction along the longitudinal axis of the arm. Coupling strength was weaker when the touch plate moved perpendicular to the longitudinal axis of the arm. The results consistently show that a radial expansion stimulus was more effective than a lamellar-type stimulus at the fingertip. Moreover, somatosensory information from a surface is interpreted in terms of the orientation of the contact limb and the potential degrees of freedom available through its movement.

NASA Discipline Neuroscience↗