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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 NTRS2001

Mobile camera-space manipulation

The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object. The system also determines a suitable pose or series of poses for the holonomic degrees of freedom of the manipulator. With additional visual samples, the system automatically updates the trajectory and final pose of the manipulator so as to allow for greater precision in the overall final position of the system.

Seelinger, Michael J.↗
NASA NTRS2018

An Algorithm for Trajectory Generation in Redundant Manipulators with Joint Transmission Accommodation

Trajectory generation for manipulators involves generating incremental updates of joint variables to achieve a desired end–effector motion. The Jacobian matrix maps incremental joint motion to incremental end–effector motion in a linear fashion and is typically used in manipulator trajectory generation algorithms. In the case of a redundant manipulator, the Jacobian matrix is not square or invertible and therefore algorithms based on pseudoinverses and their variations are commonly used for trajectory generation. These methods either are computationally not efficient or do not utilize all the joints in motion generation and therefore do not completely exploit the redundancy of the manipulator. The method presented in this paper is a simple method that maximizes transmission of all joint variables onto a desired end–effector motion trajectory. The method is based on aligning the null–space of an augmented Jacobian matrix with the path of the desired end–effector motion, from which a linear combination of joints that projects fully onto the desired end–effector trajectory is obtained. In this manner, all joints of the redundant manipulator are used to generate the end–effector trajectory accommodating the ability of each joint in terms of its motion transmission.

Ravani, Bahram↗
DOE OSTI2020

Fine wire manipulator

A system for manipulating a filament can include a filament supply from which a filament can be drawn, the filament supply being positioned along an axis, a vacuum manipulator assembly positioned along the axis, wherein the vacuum manipulator assembly is configured to engage the filament when a vacuum is drawn through the vacuum manipulator assembly and draw the filament along the axis to a workpiece, and a welding tool comprising a welding head positioned along the axis between the filament supply and the vacuum manipulator assembly, the welding tool being configured to weld the filament to the workpiece.

Christensen, Kyle B.↗
DOE OSTI2025

Genetically Controlled Iron Oxide Biomineralization in Encapsulin Nanocompartments for Magnetic Manipulation of a Mammalian Cell Line

Magnetic nanoparticles have proven invaluable for biomechanical investigations due to their ability to exert localized forces. However, cellular delivery of exogenous magnetic agents often results in endosomal entrapment, thereby limiting their utility for manipulating subcellular structures. This study characterizes and exploits fully genetically controlled biomineralization of iron-oxide cores inside encapsulin nanocompartments to enable magnetic-activated cell sorting (MACS) and magnetic cell manipulation. The fraction of MACS-retained cells showed substantial overexpression of encapsulins and exhibited both para- and ferrimagnetic responses with magnetic moments of 10 -15 A m 2 per cell, comparable to standard exogenous labels for MACS. Electron microscopy revealed that MACS-retained cells contained densely packed agglomerates of ≈30 nm iron oxide cores consisting of ultrafine quasicrystalline ordered nuclei within an amorphous matrix of iron, oxygen, and phosphorus. Scanning transmission X-ray microscopy, X-ray absorption spectroscopy, and Raman microspectroscopy confirmed that the iron-oxide species are consistent with ferric oxide (Fe 2 O 3 ). In addition, the encapsulin-overexpressing MACS-retained cells can be manipulated by a magnetic needle and regrown in patterns determined by magnetic gradients. This study demonstrates that the formation of quasicrystalline iron oxide with mixed para/ferrimagnetic behavior in the cytosol of mammalian cells enables magnetic manipulation without the delivery of exogenous agents.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

Reaction Temperature Manipulation as a Process Intensification Approach for CO 2 Absorption

Reactor temperature manipulation to increase product yields of chemical reactions is a known technique used in many industrial processes. In the case of exothermic chemical reactions, the well-known Le Chatelier’s principle predicts that a decrease in temperature will displace the chemical reaction toward the formation of products by increasing the value of the equilibrium constant. The reverse is true for endothermic reactions. Reactor temperature manipulation in an industrial system, however, affects the values of many variables, including physical properties, transport parameters, reaction kinetic parameters, etc. In the case of reactive absorption, some variables change with increasing temperatures due to solute absorption, while others change in such a way that the solute absorption rate decreases. For example, temperature drop increases product formation for exothermic reactions but reduces the value of transport parameters, leading to decreasing interfacial concentrations and absorption rates. Therefore, temperature manipulation strategies must be designed carefully to achieve the process goals. In this work, we theoretically study the use of temperature as a tool to increase CO 2 absorption by solvents in a semi-batch reactor. A computer code has been developed and validated using reported experimental data. Calculated results demonstrate an increase in absorbed CO 2 of more than 28% with respect to the highest temperature used. Despite high agitation and high gas flow rate, the system is mass transfer controlled at short times, becoming kinetically controlled as time increases. An operating strategy to decrease cooling energy costs is also proposed. This study reveals that reactor temperature manipulation can be an effective process to improve CO 2 absorption by solvents in two-phase semi-batch reactors.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRSDate not supplied

Trajectory Generation with Load Constraints for Robotic Manipulators

Future large spacecraft will utilize robotic manipulators for in-space servicing, assembly, and manufacturing. Due to launch mass constraints, such manipulators will be designed to be as lightweight as possible. Trajectory generation algorithms will need to factor in load constraints to avoid overexerting and damaging manipulators. This paper investigates an approach that combines optimal Rapidly-exploring Random Trees, spline interpolation, and Model Predictive Control to generate a manipulator trajectory which respects load constraints.

Manipulators↗
DOE OSTI2024

First-Principles Simulation of Beam-Induced Processes Underlying Atomic Manipulation in Electron Microscopes

The development of experimental methods and apparatuses capable of promoting atomically precise material manipulations holds great promise for realizing the ultimate limit of feature miniaturization in materials and devices. The ability to modify materials atom by atom is anticipated to usher in new technologies in areas as diverse as separation science, medicine, and quantum information science. Historically, scanning probe-based techniques have been the most prominent approaches in this space. However, these methods are best suited for the manipulation of surface-exposed regions of materials, as the strong perturbations required for bond scission are delivered most effectively to atoms in the near-proximity to the scanning probe. In contrast, convergent electron beams with energies tuned slightly below the threshold for inducing irreversible knock-on damage have recently been employed (within scanning transmission electron microscopy) to promote atomic-scale bond rearrangements in various beam-stable solids. Currently, however, the efficiency and selectivity of beam-induced atomic manipulation processes with focused electron beams are such that long irradiation times are required to induce a desired atomic rearrangement. With a better understanding of the underlying physics dictating the outcome of a given irradiation event, methods can be devised to improve the efficiency of these techniques so that their promise can be fully realized through widespread adoption.To this end, this Account details our recent efforts to develop and apply tractable first-principles simulation approaches for studying the response of materials to electric beam-like external electric potentials applied in real space. We briefly review the concepts and capabilities in the area of atomically precise materials manipulation and review the early demonstrations of accomplishments in this area, focusing on studies using scanned convergent electron beam probes in particular. We expound upon the depth of the challenge and identify critical shortcomings of theoretical methods that have previously been employed in the simulation of beam-induced processes. We then describe the computational methods that we have generalized from the concepts and tools most commonly applied to the study of molecular photochemistry and how our adaptations of these methods can be employed to capture the relevant dynamical phenomena for beam-induced processes ranging from the initial electron scattering to the ensuing multistate reactions. Here, we contextualize these methods within the current state of the art in this area, which has historically focused primarily on the simulation of inelastic image formation in the electron microscope for the purpose of interpreting the results of quantitative electron microscopy experiments. We demonstrate that the spatial distribution of state-specific excitation rates due to the presence of an external (probe) electric charge is inhomogeneous, such that irradiation at particular locations in materials can favor specific electronic transitions (and disallow others). In addition to the potential for excited-state reaction pathways to be accessed through the initial inelastic scattering of the tightly focused electron beam from the targeted atoms, we also identify favorable conditions for the electronically nonadiabatic evolution of the highly vibrationally excited system to open complex multistate reaction pathways. Implications of the early results for understanding the mechanisms and potential routes to improved efficiency and selectivity in beam-induced reactions are discussed. We conclude with a summary of the current state of theory and modeling capabilities in this area and provide our perspective on future directions for theoretical and experimental developments that we view as crucial to advancing the use of convergent electron beams in mode-specific, atomically precise platforms for direct-write materials modifications.

36 MATERIALS SCIENCE↗
DOE OSTI2025

Floquet–Bloch manipulation of the Dirac gap in a topological antiferromagnet

Floquet–Bloch manipulation, achieved by driving a material periodically with a laser pulse, is a method that enables the engineering of electronic and magnetic phases in solids by effectively modifying the structure of their electronic bands. However, the application of Floquet–Bloch manipulation in topological magnetic systems, particularly those with inherent disorder, remains largely unexplored. Here, in this study, we realize Floquet–Bloch manipulation of the Dirac surface-state mass of the topological antiferromagnet MnBi 2 Te 4 . Using time- and angle-resolved photoemission spectroscopy, we show that opposite helicities of mid-infrared circularly polarized light result in substantially different Dirac mass gaps in the antiferromagnetic phase, despite the equilibrium Dirac cone being massless. We explain our findings in terms of a Dirac fermion with a random mass. Our results underscore Floquet–Bloch manipulation as a powerful tool for controlling topology, even in the presence of disorder, and for uncovering properties of materials that may elude conventional probes.

42 ENGINEERING↗
DOE OSTI2024

Atomic-scale manipulation of buried graphene–silicon carbide interface by local electric field

Abstract Precision of scanning tunneling microscopy (STM) enables control of matter at scales of single atoms. However, transition from atomic-scale manipulation strategies to practical devices encounters fundamental problems in protection of the designer structures formed atop the surface. In this context, STM manipulation of subsurface structures on technologically relevant materials is encouraging. Here, we propose a material platform and protocols for precise manipulation of a buried graphene interface. We show that an electric field from the STM tip reversibly controls breaking and restoring of covalent bonds between the graphene buffer layer and the SiC substrate. The process involves charge redistribution at the atomically sharp interface plane under the epitaxial graphene layer(s). This buried manipulation platform is laterally defined by unit cells from the corresponding (6×6) SiC moiré lattice of the epitaxial graphene. Local and reversible electric-field-induced patterning of graphene heterostructures from the bottom interface creates an alternative architecture concept for their applications.

74 ATOMIC AND MOLECULAR PHYSICS↗
DOE OSTI2020

Phase control of coherent acoustic phonons in gold bipyramids for optical memory and manipulating plasmon–exciton coupling

Recent efforts have targeted manipulation of nanomaterial vibrational modes in applications such as chemical/mass sensing, optical switching, and phonon-driven photochemistry. While impulsive photoexcitation can generate coherent phonons, multiple excitation pulses offer the prospect of control and manipulation of coherent phonon modes for functions of optical memory and logic. In this work, we use such an approach to inject an arbitrary coherent phonon phase into a colloidal ensemble of highly monodisperse gold bipyramids. We then demonstrate that this technique can be applied to a system that exhibits plasmon-exciton coupling to further manipulate the hybridization of the system. This ability to manipulate acoustic phonons and hybridization can enable optical logic applications of acoustic phonons in addition to optical memory.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2024

Effects of machine learning errors on human decision-making: manipulations of model accuracy, error types, and error importance

Abstract This study addressed the cognitive impacts of providing correct and incorrect machine learning (ML) outputs in support of an object detection task. The study consisted of five experiments that manipulated the accuracy and importance of mock ML outputs. In each of the experiments, participants were given the T and L task with T-shaped targets and L-shaped distractors. They were tasked with categorizing each image as target present or target absent. In Experiment 1, they performed this task without the aid of ML outputs. In Experiments 2–5, they were shown images with bounding boxes, representing the output of an ML model. The outputs could be correct (hits and correct rejections), or they could be erroneous (false alarms and misses). Experiment 2 manipulated the overall accuracy of these mock ML outputs. Experiment 3 manipulated the proportion of different types of errors. Experiments 4 and 5 manipulated the importance of specific types of stimuli or model errors, as well as the framing of the task in terms of human or model performance. These experiments showed that model misses were consistently harder for participants to detect than model false alarms. In general, as the model’s performance increased, human performance increased as well, but in many cases the participants were more likely to overlook model errors when the model had high accuracy overall. Warning participants to be on the lookout for specific types of model errors had very little impact on their performance. Overall, our results emphasize the importance of considering human cognition when determining what level of model performance and types of model errors are acceptable for a given task.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

Plasma Photonics: Manipulating Light Using Plasmas (Full Technical Final Report)

In this LDRD, we made significant advances on multiple fronts on the investigation and design of plasma-based optical structures to manipulate light at extreme intensities. We have unveiled new fundamental properties of laser-plasma interaction that were leveraged to introduce transformative applications. We first investigated new ways to generate high-amplitude plasma-based optical structures, based on the auto-resonance mechanism in order to produce refractive structures in plasmas. New insights into the interaction of such plasma structures with light waves allowed us to propose new methods for polarization manipulation and control for high-intensity lasers in the nonlinear regime, i.e. allowing the manipulation of an intense laser via its interaction with a less intense “control” laser beam in plasmas. Another application that we demonstrated experimentally is the capability to manipulate the velocity of light waves in plasmas by tailoring its refractive index; we reported the first demonstration of “slow light” and supra-luminal light propagation in plasmas. We also developed a new technological concept that would allow the probing of the type of plasma structures investigated in such applications, using high-bandwidth laser probing [Ludwig Phys. Plasmas 2019]. Finally, first steps were taken towards the demonstration of a plasma-based amplifier and compressor for the National Ignition Facility, in order to achieve powers equal of greater than those delivered by the Advanced Radiographic Capability (ARC). This technique uses a plasma-based grating acting like a compressor and amplifier, which could potentially compress and amplify an 88 ps, 56 J beam from the National Ignition Facility to <10 ps and hundreds of J.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

Hot Cell Manipulator Inventory and Recommendations

During the spring of 2021 repeated manipulator failures in the hot cells of Building 7920 contributed to significant delays in Californium-252 ( 252 Cf) mission execution and loss of rapidly decaying 252Cf product. At the same time, funds became available in the 252 Cf program budget for equipment purchases and upgrades. Accordingly, the 252 Cf program manager requested (1) an inventory of the manipulators used in six Oak Ridge National Laboratory (ORNL) buildings (7920, 7930, 4501, 3047, 3025E, and 3525), (2) an inventory of spare manipulators, and (3) a recommendation on whether to invest 252 Cf funds to purchase additional or upgraded manipulators.

07 ISOTOPE AND RADIATION SOURCES↗
NASA NTRS1972

Design and control of remote manipulators

Results of investigations on vibrational modes of manipulators revealed: (1) any arbitrary manipulator may be analyzed for its small motion compliances; (2) a simulation of the Martin-Marietta shuttle boom with a 65,000 lb. payload attached, indicated three natural frequencies; and (3) simulations can be made of rigid limbs and flexible joints as well as for flexible limbs and locked joints and combinations thereof. Trajectories for arms were determined so that some integral criterion such as integral of kinetic energy or control torque magnitude is minimized over a motion of the arm. Experiments performed to evaluate various TV displays in conjunction with manipulator control modes showed that when mounted directly to the manipulator control arm and arranged to look approximately along the arm to the hand the operator could perform the task almost as quickly as when viewing the task directly.

Whitney, D. E.↗
NASA NTRS1972

Experiments evaluating compliance and force feedback effect on manipulator performance

The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

Kugath, D. A.↗
NASA NTRS1973

Experimental evaluation of remote manipulator systems.

The objectives of the experimental studies described include an evaluation of existing anthropomorphic manipulators and several controller/display combinations. Inherent limitations of the 12-M type manipulator are identified and recommendations are made concerning manipulator and work site designs that will permit servicing and maintenance tasks to be performed by manipulators. Regions needing additional analytical and experimental investigations are identified. The experiments conducted are concerned with thruster replacement, battery replacement, compartment inspection, antenna installation, fluid coupling, and maneuvering and docking.

Fornoff, H.↗
NASA NTRS1973

Preliminary design and simulations of a Shuttle-Attached Manipulator System.

The preliminary design of a Shuttle-Attached Manipulator System is based on two arms that are articulated at shoulder, elbow, and wrist. Details of manipulator design are considered, giving attention to arm reach, velocity, acceleration, torque, joint angular travel limits, control, crew systems and man-machine interface, and telecommunications. The results of man-in-the-loop simulations show the feasibility of grappling a representative space payload from the Shuttle using a long boom manipulator system. The task, however, is sufficiently difficult to require the full concentration of one operator who should be relieved of any other tasks while performing operations with the manipulator system.

Brodie, S. B.↗
NASA NTRS1973

Machine intelligence for autonomous manipulation.

Survey of the present technological development status of machine intelligence for autonomous manipulation in the U.S., Japan, USSR, and England. The extent of task-performance autonomy is examined that machine intelligence gives the manipulator by eliminating the need for a human operator to close continuously the control loop, or to rewrite control programs for each different task. Surveyed research projects show that the development of some advanced automation systems for manipulator control are within the state of the art. Yet, many more realistic breadboard systems and experimental work are needed before further progress can be made in the design of advanced automation systems for manipulator control suitable for new major practical applications. Specific research areas of promise are pointed out.

Bejczy, A. K.↗