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At least 1,261 records · Page 70

Wind-tunnel and flight-test investigation of the exdrone remotely piloted vehicle configuration

At the request of the United States Marine Corps, an exploratory wind-tunnel and flight test investigation was conducted by the NASA Langley Research Center to improve the stability, controllability, and general flight characteristics of the Marine Corps Exdrone RPV (Remotely Piloted Vehicle) configuration. Static wind tunnel tests were conducted to identify and improve the stability and control characteristics of the vehicle. The wind-tunnel test resulted in several configuration modifications which included increased elevator area, increased vertical tail area and moment arm, increased rudder area and aileron area, the addition of vertical wing-tip fins, and the addition of leading-edge droops on the outboard wing panel to improve the stall departure resistance. Flight tests of the modified configuration were conducted at the NASA Plum Tree Test Site to provide a qualitative evaluation of the flight characteristics of the modified configuration.

Yip, Long P.↗

Performance capabilities of a JPL dual-arm advanced teleoperation system

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Szakaly, Z. F.↗

Open-Loop Acquisition Of Frequency In BPSK

Proposed open-loop analog/digital signal-processing system would be Costas-loop error detector functioning in closed-loop manner overall. Detector estimates difference between frequency of input signal and internal reference oscillator. Estimate used to close frequency-control loop. Precise symbol timing not necessary. Performance better than systems that effect open-loop acquisition using integrators instead of low-pass filters in arms of Costas loops and in which performance varies with symbol timing.

Shah, Biren N.↗

Vision and "Hand-Eye" Coordination for the Fujitsu HOAP-2 Humanoid Robot

Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.

Moore, Jeffrey D.↗

Analysis of the Touch-And-Go Surface Sampling Concept for Comet Sample Return Missions

This paper studies the Touch-and-Go (TAG) concept for enabling a spacecraft to take a sample from the surface of a small primitive body, such as an asteroid or comet. The idea behind the TAG concept is to let the spacecraft descend to the surface, make contact with the surface for several seconds, and then ascend to a safe location. Sampling would be accomplished by an end-effector that is active during the few seconds of surface contact. The TAG event is one of the most critical events in a primitive body sample-return mission. The purpose of this study is to evaluate the dynamic behavior of a representative spacecraft during the TAG event, i.e., immediately prior, during, and after surface contact of the sampler. The study evaluates the sample-collection performance of the proposed sampling end-effector, in this case a brushwheel sampler, while acquiring material from the surface during the contact. A main result of the study is a guidance and control (G&C) validation of the overall TAG concept, in addition to specific contributions to demonstrating the effectiveness of using nonlinear clutch mechanisms in the sampling arm joints, and increasing the length of the sampling arms to improve robustness.

Touch-and-Go (TAG)↗

Site Scientist for the North Slope of Alaska Site

Under this grant our team contributed scientific support to the Department of Energy Atmospheric Radiation Program’s (DOE-ARM) Infrastructure team to maintain high quality research data at the DOE-ARM North Slope of Alaska with special emphasis on the radars. Under our guidance two major field campaigns focusing on mixed-phase Arctic clouds were conducted that greatly increased the community’s understanding of the many processes working together to control the evolution of single-layer cloud mixed-phase clouds. A series of modeling and observational studies revealed that the longevity of the radiatively important liquid phase is strongly dependent on how the ice phase develops in mixed-phase clouds. A new ice microphysics parameterization was developed to capture better the natural evolution of ice particle growth in evolving environments. An ice particle scattering database was developed for all ARM radar frequencies. This database was used in a radar simulator (Doppler spectrum and polarimetric variables) to aid in the interpretation of the advanced ARM radars. At the conclusion of this project our team was poised to develop a complete radar simulator consistent with the new microphysical parameterization, taking advantage of parameterization’s advanced characterization of the ice shape and ice density.

47 OTHER INSTRUMENTATION↗

Spatial learning and memory is preserved in rats after early development in a microgravity environment

This study evaluated the cognitive mapping abilities of rats that spent part of their early development in a microgravity environment. Litters of male and female Sprague-Dawley rat pups were launched into space aboard the National Aeronautics and Space Administration space shuttle Columbia on postnatal day 8 or 14 and remained in space for 16 days. These animals were designated as FLT groups. Two age-matched control groups remained on Earth: those in standard vivarium housing (VIV) and those in housing identical to that aboard the shuttle (AGC). On return to Earth, animals were tested in three different tasks that measure spatial learning ability, the Morris water maze (MWM), and a modified version of the radial arm maze (RAM). Animals were also tested in an open field apparatus to measure general activity and exploratory activity. Performance and search strategies were evaluated in each of these tasks using an automated tracking system. Despite the dramatic differences in early experience, there were remarkably few differences between the FLT groups and their Earth-bound controls in these tasks. FLT animals learned the MWM and RAM as quickly as did controls. Evaluation of search patterns suggested subtle differences in patterns of exploration and in the strategies used to solve the tasks during the first few days of testing, but these differences normalized rapidly. Together, these data suggest that development in an environment without gravity has minimal long-term impact on spatial learning and memory abilities. Any differences due to development in microgravity are quickly reversed after return to earth normal gravity.

NASA Discipline Neuroscience↗

The Telbot master-arm

It is the weight lifter with maximum flexibility: The TELBOT provides high capacity and infinite rotary motion across all axes. Special jobs call for a special robot: The TELBOT from Waelischmiller Engineering. The TELBOT particularly shows its strength in places where human operators cannot work and heavy work has to be done. For example in the nuclear industry or chemical plants. The TELBOT is a multifunctional, modular and automated robotic system with unique characteristics: no cable in or on the TELBOT-arms for unlimited, fast and precise arm motions as well as maximum efficiency and highest comfort; smooth, sealed arm and joint bodies ensure maximum radiation resistance, making the TELBOT robot the perfect helper for the nuclear sector; the TELBOT can not only be utilised for an extremely long time but is also maintenance-free and easy to decontaminate. They therefore represent an investment that will still pay out in 30 years time; sophisticated engineering skill is apparent not least in the slim design with no loss of high capacity; tools can be remotely controlled with extreme precision and the high repeat accuracy and simple implementation of complex processes ensure trouble-free and intuitive operation; programmed motion sequences bring with them noticeably comfortable and speedy operation.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Phase 3 Trials of Stereotactic Radiosurgery With or Without Whole-Brain Radiation Therapy for 1 to 4 Brain Metastases: Individual Patient Data Meta-Analysis

Purpose: To perform an individual patient data (IPD) meta-analysis of randomized controlled trials evaluating stereotactic radiosurgery (SRS) with or without whole-brain radiation therapy (WBRT) for patients presenting with 1 to 4 brain metastases. Method and Materials: Three trials were identified through a literature search, and IPD were obtained. Outcomes of interest were survival, local failure, and distant brain failure. The treatment effect was estimated after adjustments for age, recursive partitioning analysis (RPA) score, number of brain metastases, and treatment arm. Results: A total of 364 of the pooled 389 patients met eligibility criteria, of whom 51% were treated with SRS alone and 49% were treated with SRS plus WBRT. For survival, age was a significant effect modifier (P=.04) favoring SRS alone in patients ≤50 years of age, and no significant differences were observed in older patients. Hazard ratios (HRs) for patients 35, 40, 45, and 50 years of age were 0.46 (95% confidence interval [CI] = 0.24-0.90), 0.52 (95% CI = 0.29-0.92), 0.58 (95% CI = 0.35-0.95), and 0.64 (95% CI = 0.42-0.99), respectively. Patients with a single metastasis had significantly better survival than those who had 2 to 4 metastases. For distant brain failure, age was a significant effect modifier (P=.043), with similar rates in the 2 arms for patients ≤50 of age; otherwise, the risk was reduced with WBRT for patients >50 years of age. Patients with a single metastasis also had a significantly lower risk of distant brain failure than patients who had 2 to 4 metastases. Local control significantly favored additional WBRT in all age groups. Conclusions: For patients ≤50 years of age, SRS alone favored survival, in addition, the initial omission of WBRT did not impact distant brain relapse rates. SRS alone may be the preferred treatment for this age group.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

MARCUS ARM CN and CCN data reprocessed to remove ship exhaust influence

The data presented in this collection are the cloud condensation nuclei (CCN) and condensation nuclei (CN) from the MARCUS (Measurements of Aerosols, Radiation and CloUds over the Southern Oceans) campaign. This campaign involved the deployment of the ARM Mobile Facility aboard the RSV Aurora Australis between October 2017 and March 2018 during its summer season resupplying Australia’s Antarctic research stations from its port in Hobart, Australia. Routine processing undertaken by ARM does not remove platform exhaust associated with its deployment aboard ships. Consequently, the raw data were obtained and manually filtered to remove the influence of platform exhaust on the measurements by reviewing CCN, CN and BC data simultaneously and flagging all affected periods. Remaining data were then quality controlled for when instrument parameters were out of specification. CCN data are split into different streams for supersaturation settings before statistics for each hour being calculated. All data files contain NaN values for periods when data was removed for QC or exhaust reasons. Original raw data available at: Kulkarni, G. R., Flynn, C. and Koontz, A.: Atmospheric Radiation Measurement (ARM) user facility. 2017, updated hourly. Cloud Condensation Nuclei Particle Counter (AOSCCN100). 2017-10-29 to 2018-03-24, ARM Mobile Facility (MAR) Hobart, AUS to Antarctic Coast - resupply ship Aurora Australis; AMF2 (M1)., Atmospheric Radiation Measurement (ARM) user facility Data Center: Oak Ridge, Tennessee, USA [online] Available from: http://dx.doi.org/10.5439/1227964 (Accessed 9 November 2018), 2018. Kuang, C., Salwen, C., Boyer, M. and Singh, A.: Atmospheric Radiation Measurement (ARM) user facility. 2017, updated hourly. Condensation Particle Counter (AOSCPCF). 2017-10-29 to 2018-03-26, ARM Mobile Facility (MAR) Hobart, AUS to Antarctic Coast - resupply ship Aurora Australis; AMF2 (M1)., Atmospheric Radiation Measurement (ARM) user facility Data Center: Oak Ridge, Tennessee, USA [online] Available from: http://dx.doi.org/10.5439/1046184 (Accessed 9 November 2018), 2018.

54 ENVIRONMENTAL SCIENCES↗

Evaluation of aerosol–cloud interactions in E3SM using a Lagrangian framework

A Lagrangian framework is used to evaluate aerosol–cloud interactions in the U.S. Department of Energy's Energy Exascale Earth System Model (E3SM) version 1 (E3SMv1) for measurements taken at Graciosa Island in the Azores where a U.S. Department of Energy Atmosphere Radiation Measurement (ARM) site is located. This framework uses direct measurements of cloud condensation nuclei (CCN) concentration (instead of relying on satellite retrievals of aerosol optical depth) and incorporates a suite of ground-based ARM measurements, satellite retrievals, and meteorological reanalysis products that when applied to over a 1500 trajectories provides key insights into the evolution of low-level clouds and aerosol radiative forcing that is not feasible from a traditional Eulerian analysis framework. Significantly lower concentrations (40 %) of surface CCN concentration are measured when precipitation rates in 48 h back trajectories average above 1.2 mm d -1 in the Integrated Multi-satellitE Retrievals for Global Precipitation Measurement (IMERG) product. The depletion of CCN concentration when precipitation rates are elevated is nearly twice as large in the ARM observations compared to E3SMv1 simulations. The model CCN concentration bias remains significant despite modifying the autoconversion and accretion rates in warm clouds. As the clouds in trajectories associated with larger surface-based CCN concentration advect away from Graciosa Island, they maintain higher values of droplet number concentrations (N d ) over multiple days in observations and E3SM simulations compared to trajectories that start with lower CCN concentrations. The response remains robust even after controlling for meteorological factors such as lower troposphere stability, the degree of cloud coupling with the surface, and island wake effects. E3SMv1 simulates a multi-day aerosol effect on clouds and a Twomey radiative effect that is within 30 % of the ARM and satellite observations. However, the mean cloud droplet concentration is more than 2–3 times larger than in the observations. While Twomey radiative effects are similar amongst autoconversion and accretion sensitivity experiments, the liquid water path and cloud fraction adjustments are positive when using a regression model as opposed to negative when using the present-day minus pre-industrial aerosol emissions approach. This result suggests that tuning the autoconversion and accretion alone is unlikely to produce the desired aerosol susceptibilities in E3SMv1.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Mirrors Containing Biomimetic Shape-Control Actuators

Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call for segmentation of the electrodes on the actuators so that voltages could be applied locally to effect local bending for fine adjustment of the surface figure.

Bar-Cohen, Yoseph↗

The MSP 2001 Mars Environmental Compatibility Assessment (MECA)

A chemical analysis of soil-water mixtures and the first microscopic images of martian soil will be among the results to be returned by the Mars Environmental Compatibility Assessment (MECA) payload on the Mars Surveyor Program 2001 Lander. Sponsored by the Human Exploration and Development of Space (HEDS) enterprise, MECA's primary goal is to evaluate potential geochemical and environmental hazards that may confront future martian explorers, and to guide HEDS scientists in the development of high fidelity Mars soil simulants. As a survey of soil properties, the MECA data set will also be rich in information relevant to basic geology, paleoclimate, and exobiology. The integrated MECA payload contains a wet-chemistry laboratory, a microscopy station, an electrometer to characterize the electrostatics of the soil and its environment, and arrays of material patches to study the abrasive and adhesive properties of soil grains. MECA is allocated a mass of 10 kg and a peak power usage of 15 W within an enclosure of 35 x 25 x 15 cm. The Wet Chemistry Laboratory (WCL) consists of four identical cells that will accept samples from surface and subsurface regions accessible to the Lander's robotic arm, mix them with water, and perform extensive analysis of the solution. Ion-selective electrodes and related sensors will evaluate total dissolved solids, redox potential, pH, and the concentration of many soluble ions and gases. Cyclic voltammetry will address oxidants, and anodic stripping voltammetry will probe potentially hazardous trace metals. MECA's microscopy station combines optical and atomic-force microscopy (AFM) in a controlled illumination environment to image dust and soil particles from millimeters to nanometers in size. Careful selection of substrates and an abrasion tool allows experimental study of size distribution, adhesion, abrasion, hardness, color, shape, aggregation, magnetic and other properties. Mounted on the end of the robot arm, MECA's electrometer consists of four types of sensors: an electric field meter, several triboelectricity monitors, an ion gauge, and a thermometer. Tempered only by ultra-violet- light-induced ions and a low-voltage break-down threshold, the dry, cold, dusty martian environment presents an imposing electrostatic hazard to both robots and humans. In addition, the electrostatic environment is key to transport of dust and, consequently, martian meteorology. MECA will also observe natural dust accumulation on engineering materials. Viewed with the robot arm camera, the abrasion and adhesion plates are strategically placed to allow direct observation of the inter-action between materials and soils on a macroscopic scale. Materials of graded hardness are placed directly under the robot arm scoop to sense wear and soil hardness. A second array, placed on the lander deck, is deployed after the dust plume of landing has settled. It can be manipulated in a primitive fashion by the arm, first having dirt deposited on it from the scoop and subsequently shaken clean. Dust accumulation as a function of conductivity, magnetic field strength, and other parameters will be explored. The MECA instruments described above will assess potential hazards that the Martian soil might present to human explorers and their equipment. In addition, MECA will provide information on the composition of ancient surface water environments, observing microscopic evidence of geological (and biological?) processes, inferring soil and dust transport, comminution and weathering mechanisms, and characterizing soil horizons that might be encountered during excavation. Additional information is contained in the original extended abstract.

Hecht, M. H.↗

American WAKE Experiment (AWAKEN) Field Campaign Report

The American WAKE experimeNt (AWAKEN) was a large-scale, international collaborative field campaign funded primarily by the U.S. Department of Energy (DOE) Wind Energy Technologies Office. Its main purpose was to gather detailed observations of wind farm-atmosphere interactions to improve understanding of wind farm physics, validate and improve simulation tools, lower uncertainties in wind farm modeling, understand environmental impacts, and ultimately reduce the cost and increase the reliability of wind energy systems. The campaign specifically focused on seven testable hypotheses that include characterizing wind turbine and wind farm wake effects, wind farm blockage, turbulent mixing, structural loading impacts, local environmental impacts, and testing wind farm control technologies. AWAKEN was a highly collaborative effort involving numerous agencies, including: DOE, through the Wind Energy Technologies Office and the Office of Science Atmospheric Radiation Measurement (ARM) User Facility, the U.S. Department of Commerce through the National Oceanic and Atmospheric Administration, many American universities, and internationally funded collaborators from Germany and Brazil.

17 WIND ENERGY↗

Design considerations for the Shuttle/Orbiter closed-circuit television subsystem

The Shuttle/Orbiter Program requirements relative to operational and performance parameters of the CCTV (closed circuit television) subsystem and their influence upon design considerations are presented. The anticipated use of the CCTV for rendezvous, docking, manipulator arm operation, satellite inspection and general orbiter operations is outlined to establish the performance requirements of each subsystem element. Typical physical characteristics, interface parameters, and remote-control design philosophy are briefly described.

Perry, W. E.↗

A learning controller for nonrepetitive robotic operation

A practical learning control system is described which is applicable to complex robotic and telerobotic systems involving multiple feedback sensors and multiple command variables. In the controller, the learning algorithm is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space, rather than learning the actuator commands required to perform a specific task. The learned information is used to predict the command signals required to produce desired changes in the sensor outputs. The desired sensor output changes may result from automatic trajectory planning or may be derived from interactive input from a human operator. The learning controller requires no a priori knowledge of the relationships between the sensor outputs and the command variables. The algorithm is well suited for real time implementation, requiring only fixed point addition and logical operations. The results of learning experiments using a General Electric P-5 manipulator interfaced to a VAX-11/730 computer are presented. These experiments involved interactive operator control, via joysticks, of the position and orientation of an object in the field of view of a video camera mounted on the end of the robot arm.

Miller, W. T., III↗

Disruption of an Aligned Dendritic Network by Bubbles During Re-Melting in a Microgravity Environment

The quiescent Microgravity environment can be quite dynamic. Thermocapillary flow about "large" static bubbles on the order of 1mm in diameter was easily observed by following smaller tracer bubbles. The bubble induced flow was seen to disrupt a large dendritic array, effectively distributing free branches about the solid-liquid interface. "Small" dynamic bubbles were observed to travel at fast velocities through the mushy zone with the implication of bringing/detaching/redistributing dendrite arm fragments at the solid-liquid interface. Large and small bubbles effectively re-orient/re-distribute dendrite branches/arms/fragments at the solid liquid interface. Subsequent initiation of controlled directional solidification results in growth of dendrites having random orientations which significantly compromises the desired science.

Grugel, Richard N.↗

ATHLETE Offloader Limb as a High-capacity Crane

A new concept for the NASA Jet Propulsion Laboratory (JPL) All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic constructor / mobility system employs tendon-driven actuation of individual limbs, similar to high-capacity cranes in terrestrial work environments. While maintaining mechanical joints that allow each limb to function as a highly dexterous multi-Degree-Of-Freedom (DOF) robotic arm, tendon-driven truss sections increase the capacity of moment loads for extended configurations of the limb. This paper describes the analysis, work cell, operations, actuation, control, and instrumentation of limbs designed to address specific target load cases that might be required for human exploration missions on planetary surfaces.

Wilcox, Brian H.↗