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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Stabilization of gaze during circular locomotion in darkness. II. Contribution of velocity storage to compensatory eye and head nystagmus in the running monkey

1. Yaw eye in head (Eh) and head on body velocities (Hb) were measured in two monkeys that ran around the perimeter of a circular platform in darkness. The platform was stationary or could be counterrotated to reduce body velocity in space (Bs) while increasing gait velocity on the platform (Bp). The animals were also rotated while seated in a primate chair at eccentric locations to provide linear and angular accelerations similar to those experienced while running. 2. Both animals had head and eye nystagmus while running in darkness during which slow phase gaze velocity on the body (Gb) partially compensated for body velocity in space (Bs). The eyes, driven by the vestibuloocular reflex (VOR), supplied high-frequency characteristics, bringing Gb up to compensatory levels at the beginning and end of the slow phases. The head provided substantial gaze compensation during the slow phases, probably through the vestibulocollic reflex (VCR). Synchronous eye and head quick phases moved gaze in the direction of running. Head movements occurred consistently only when animals were running. This indicates that active body and limb motion may be essential for inducing the head-eye gaze synergy. 3. Gaze compensation was good when running in both directions in one animal and in one direction in the other animal. The animals had long VOR time constants in these directions. The VOR time constant was short to one side in one animal, and it had poor gaze compensation in this direction. Postlocomotory nystagmus was weaker after running in directions with a long VOR time constant than when the animals were passively rotated in darkness. We infer that velocity storage in the vestibular system had been activated to produce continuous Eh and Hb during running and to counteract postrotatory afterresponses. 4. Continuous compensatory gaze nystagmus was not produced by passive eccentric rotation with the head stabilized or free. This indicates that an aspect of active locomotion, most likely somatosensory feedback, was responsible for activating velocity storage. 5. Nystagmus was compared when an animal ran in darkness and in light. the beat frequency of eye and head nystagmus was lower, and the quick phases were larger in darkness. The duration of head and eye quick phases covaried. Eye quick phases were larger when animals ran in darkness than when they were passively rotated. The maximum velocity and duration of eye quick phases were the same in both conditions. 6. The platform was counterrotated under one monkey in darkness while it ran in the direction of its long vestibular time constant.(ABSTRACT TRUNCATED AT 400 WORDS).

NASA Discipline Neuroscience↗
NASA NTRS2005

Humanoid Locomotion: An Experimental Study on Signal Processing and Dynamic Approaches to Humanoid Walk Generation

It is hoped that one day robots will assist in lunar and Martian surface exploration by constructing facilities before their human counterparts arrive; robots with a human form-factor may be desirable since they can potentially use the same set of tools designed for humans. With the goal in mind, locomotion may be one of the biggest challenges for a humanoid sine the terrain is most likely uneven and varying. An adjustable walk has been developed for the HOAP-2 robot by gathering motor data from a preprogrammed fixed walk and using signal processing techniques. The result is a basic walk pattern adjustable in the frequency domain that can be used as a central pattern generator (CPG) in which the robot can modify using sensor feedback. Ultimately, the feedback can be applied to have the humanoid walk on various terrains, slopes, and avoid obstacles.

Gan, Quan↗
NASA NTRS2008

Gravitational Effects upon Locomotion Posture

Researchers use actual microgravity (AM) during parabolic flight and simulated microgravity (SM) obtained with horizontal suspension analogs to better understand the effect of gravity upon gait. In both environments, the gravitational force is replaced by an external load (EL) that returns the subject to the treadmill. However, when compared to normal gravity (N), researchers consistently find reduced ground reaction forces (GRF) and subtle kinematic differences (Schaffner et al., 2005). On the International Space Station, the EL is applied by elastic bungees attached to a waist and shoulder harness. While bungees can provide EL approaching body weight (BW), their force-length characteristics coupled with vertical oscillations of the body during gait result in a variable load. However, during locomotion in N, the EL is consistently equal to 100% body weight. Comparisons between AM and N have shown that during running, GRF are decreased in AM (Schaffner et al, 2005). Kinematic evaluations in the past have focussed on joint range of motion rather than joint posture at specific instances of the gait cycle. The reduced GRF in microgravity may be a result of differing hip, knee, and ankle positions during contact. The purpose of this investigation was to compare joint angles of the lower extremities during walking and running in AM, SM, and N. We hypothesized that in AM and SM, joints would be more flexed at heel strike (HS), mid-stance (MS) and toe-off (TO) than in N.

DeWitt, John K.↗
NASA NTRS2003

Adaptive Effects on Locomotion Performance Following Exposure to a Rotating Virtual Environment

During long-duration spaceflight, astronauts experience alterations in vestibular and somatosensory cues that result in adaptive disturbances in balance and coordination upon return to Earth. These changes can pose a risk to crew safety and to mission objectives if nominal or emergency vehicle egress is required immediately following long-duration spaceflight. At present, no operational countermeasure is available to mitigate the adaptive sensorimotor component underlying the locomotor disturbances that occur after spaceflight. Therefore, the goal of this study is to develop an inflight training regimen that facilitates recovery of locomotor function after long-duration spaceflight. The countermeasure we are proposing is based on the concept of adaptive generalization. During this type of training the subject gains experience producing the appropriate adaptive motor behavior under a variety of sensory conditions and response constraints. As a result of this training a subject learns to solve a class of motor problems, rather than a specific motor solution to one problem, i.e., the subject learns response generalizability or the ability to "learn to learn." under a variety of environmental constraints. We are developing an inflight countermeasure built around treadmill exercise activities. By manipulating the sensory conditions of exercise by varying visual flow patterns, body load and speed we will systematically and repeatedly promote adaptive change in locomotor behavior. It has been shown that variable practice training increases adaptability to novel visuo-motor situations. While walking over ground in a stereoscopic virtual environment that oscillated in roll, subjects have shown compensatory torso rotation in the direction of scene rotation that resulted in positional variation away from a desired linear path. Thus, postural sway and locomotor stability in 1-g can be modulated by visual flow patterns and used during inflight treadmill training to promote adaptive generalization. The purpose of this study was to determine if adaptive modification in locomotor performance could be achieved by viewing simulated self-motion in a passive-immersive virtual ' environment over a prolonged period during treadmill locomotion.

Mulavara, A. P.↗
NASA NTRS2015

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

Tensegrity↗
NASA NTRS2017

BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures

We describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.

Aeronautics↗
NASA NTRS2019

The Concomitant Locomotion of the Microorganisms Inhabiting the Marine and Freshwater Niches of Antarctica's South Shetland Islands During the Summer

During the late summer, the author sailed to the Antarctic South Shetland Islands to survey the microorganisms living in marine (tidal pools) and freshwater (moss saturated with snow melt) environmental niches. Equipped with a microscope to take video of samples within hours of collection to capture a pristine condition, the authors found a dense and diverse ecology that included species with unique patterns of locomotion. Capturing the organism's movement expedited identification, but it also showed the dynamic way each organism's mobility fit together like a puzzle to create a complex ecosystem.

Snyder, Jessica E.↗
NASA NTRS2019

The Concomitant Locomotion of the Microorganisms Inhabiting the Marine and Freshwater Niches of Antarctica’s South Shetland Islands During the Summer

During the late summer, the author sailed to the Antarctic South Shetland Islands to survey the microorganisms living in marine (tidal pools) and freshwater (moss saturated with snow melt) environmental niches. Equipped with a microscope to take video of samples within hours of collection to capture a pristine condition, we found a dense and diverse ecology that included species with unique patterns of locomotion. The Ocean Tramp cruised for 12 days (beginning January 30, 2019) through 588 nautical miles 677 miles) of the South Shetland Islands, between -62.9 to -65.1 latitude and -60.5 to -64.1 longitude.

Snyder, Jessica E.↗
DOE OSTI2022

Piezoelectric-triboelectric heel charger to generate electricity from locomotion using level mechanism and mechanical SSHI boosting circuit

The disclosure provides an electricity generating insert for a piece of footwear, the insert can be removably placed in the heel portion, e.g. under the insole. The insert comprises a multilayer piezoelectric stack that alternatively flexes under the compression-decompression that occurs during locomotion, which flexing causes friction in the stack to generate electricity capable of charging electronic devices and the like, e.g. via a port on the footwear.

Wang, Ya↗
DOE OSTI2025

2D CFD of lean premixed hydrogen–air flame quenching under locomotive engine conditions

Hydrogen (H 2 ) is a promising fuel for reducing emissions in heavy-duty internal combustion engines (ICEs), but its low quenching distance increases the risk of flame propagation into narrow crevice regions, such as piston-liner gaps. This work uses detailed CFD simulations with finite-rate chemistry to investigate premixed H 2 –air flame quenching in a two-dimensional (2D) region consistent with the piston-liner gap of a diesel ICE. Model accuracy was assessed by comparison with experimentally measured quenching distances in an annular stepwise diverging tube (ASDT). A parametric study was conducted to assess the influence of crevice width (0.05–1.18 mm), pressure (50–150 bar), unburned gas temperature (431–573 K), and equivalence ratio ( Φ= 0.3–0.6). Results show that the critical Péclet number for flame survival is no greater than 3.25, consistent with prior literature, even under ultra-lean and high-pressure conditions (Φ ≤ 0.3, > 50 bar). Additionally, flames with Péclet numbers exceeding 6.15 exhibited front wrinkling, suggesting the onset of velocity-driven instabilities and enhanced flame robustness. These findings help define thresholds for flame quenching in confined geometries and support the safe design of H 2 fueled ICEs.

08 HYDROGEN↗
DOE OSTI2021

Myosin dilated cardiomyopathy mutation S532P disrupts actomyosin interactions, leading to altered muscle kinetics, reduced locomotion, and cardiac dilation in Drosophila

Dilated cardiomyopathy (DCM), a life-threatening disease characterized by pathological heart enlargement, can be caused by myosin mutations that reduce contractile function. To better define the mechanistic basis of this disease, we employed the powerful genetic and integrative approaches available in Drosophila melanogaster. To this end, we generated and analyzed the first fly model of human myosin–induced DCM. The model reproduces the S532P human β-cardiac myosin heavy chain DCM mutation, which is located within an actin-binding region of the motor domain. In concordance with the mutation’s location at the actomyosin interface, steady-state ATPase and muscle mechanics experiments revealed that the S532P mutation reduces the rates of actin-dependent ATPase activity and actin binding and increases the rate of actin detachment. The depressed function of this myosin form reduces the number of cross-bridges during active wing beating, the power output of indirect flight muscles, and flight ability. Further, S532P mutant hearts exhibit cardiac dilation that is mutant gene dose–dependent. Our study shows that Drosophila can faithfully model various aspects of human DCM phenotypes and suggests that impaired actomyosin interactions in S532P myosin induce contractile deficits that trigger the disease.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2023

Autonomous hydrogel locomotion regulated by light and electric fields

Autonomous robotic functions in materials beyond simple stimulus-response actuation require the development of functional soft matter that can complete well-organized tasks without step-by-step control. We report the design of photo- and electroactivated hydrogels that can capture and deliver cargo, avoid obstacles, and return without external, stepwise control. By incorporating two spiropyran monomers with different chemical substituents in the hydrogel, we created chemically random networks that enabled photoregulated charge reversal and autonomous behaviors under a constant electric field. In addition, using perturbations in the electric field induced by a dielectric inhomogeneity, the hydrogel could be attracted to high dielectric constant materials and autonomously bypasses the low dielectric constant materials under the guidance of the electric field vector. The photo- and electroactive hydrogels investigated here can autonomously perform tasks using constant external stimuli, an encouraging observation for the potential development of molecularly designed intelligent robotic materials.

42 ENGINEERING↗