SEARCH · Engineering Papers

Results for “Arms Control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

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

At least 1,369 records · Page 76

All sources NASA NTRS DOE OSTI

DOE OSTI2014

aosflow3 (a1)

The aerosol observing system (AOS) is the primary platform for in situ aerosol measurements at Earth’s surface. Each AOS has a different complement of instruments, which are selected to ensure the best measurements at each deployment site. The AOS measures aerosol optical properties to better understand how particles interact with solar radiation and influence the Earth's radiation balance. These measurements are useful for calculating parameters used in radiative forcing calculations, such as the aerosol single scattering albedo, asymmetry parameter, mass scattering efficiency, and hygroscopic growth. Measurements made with the AOS form a long-term record at the ARM fixed sites. Shorter measurement records are available from mobile deployments in a wide variety of geographical regions. These measurements are valuable for: identifying long-term changes in aerosol properties identifying atmospheric processes controlling aerosol life cycle and their influence on clouds providing experimental data for developing and testing atmospheric climate models.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2013

aoshumidgr (01)

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1987

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

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

Mclauchlan, Robert A.↗

NASA NTRS2000

Performance Benefits Associated with Context-Dependent Arm Pointing Adaptation

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

Seidler, R. D.↗

DOE OSTI2015

The potential of high-frequency forced pulsed water jet for nuclear decommissioning - 15367

Forced Pulse Water Jetting (FPWJ) has been demonstrated in other works as a credible and consistent method for removing coatings or otherwise preparing surfaces across numerous industries. Its applicability to the nuclear industry as a powerful tool for decommissioning and waste treatment has only recently being recognized and underpinning study is required before any deployment can be considered. Use of FPWJ within the nuclear sector for decommissioning and waste treatment, requires a different degree of surface finish to achieve a decontamination effect or an assured performance. This necessitates a greater erosion of the base metal than in other industries. The addition of a Forced Pulse Modulation Unit (FPMU) to a high pressure water jetting system offers performance shifts akin to the differences between High Pressure (HP) and Ultra High Pressure (UHP) water jets. Trials have been undertaken in a controlled environment to establish the number of cycles to achieve a given mass loss and or depth of penetration that would otherwise provide decontamination of mostly flat or simple geometry surfaces using a robotic arm for consistency and safety. It has also been shown that metalwork can be readily penetrated without risk of explosion, for example to allow draining of a gas cylinder. Most nuclear facilities have a plethora of pipe systems spanning various diameters. A considerable portion of the UK Sellafield site has 2 inch bore pipe. The FPMU technology is being adapted to consider applications in enclosed systems, such as decontamination of pipes. Exploratory works to date show there to be many physical attributes that influence performance that include, standoff of the jet, established propagated forced pulse jet length, interference from resultant water spray and angle of attack. Comparatively small changes to these parameters can have a profound effect on performance. The process is capable of removing 10's microns to several mms of metal progressively and repeatedly. This enables a credible potential treatment of plant and equipment at Intermediate Level Waste and High Level Waste thresholds. In considering this as a treatment method, a balance between performance, cost and environmental impact of effluents must be made and will be studied further during future active trials. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1983

A design procedure for active control of beam vibrations

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

Dickerson, S. L.↗

DOE OSTI2023

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

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

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1993

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

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

Divelbiss, Adam↗

NASA NTRS1994

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

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

Spangenberg, D. B.↗

NASA NTRSDate not supplied

COLDArm Pressure-Sinkage Testing: Implications for Assessing Lunar Trafficability

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

Regolith↗

NASA NTRSDate not supplied

COLDArm Pressure-Sinkage Testing: Implications for Assessing Lunar Trafficability

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

Regolith↗

DOE OSTI2018

Is Corn Stover Harvest Predictable Using Farm Operation, Technology, and Management Variables?

Core Ideas Corn stover removal was not common in 2010. Crop sequences were similar for stover and non‐stover harvest farms. State‐level variation occurred in the relative size of farms removing corn stover. Soil erosion control measures were not frequently adopted by either farm group. Crop residue management, provision of animal feed or bedding, and increased income are potential reasons for harvesting corn ( Zea mays L.) stover. Reasons for not doing so include the need for crop residue to restore or increase soil organic matter, protect against wind and water erosion, and cycle plant nutrients. Bioenergy market development may increase the number of producers harvesting corn stover. Can farming practice data predict the likelihood for harvesting corn stover at a national scale? Farm operation, technology, and management variables from the 2010 Agricultural Resource Management Survey (ARMS) of U.S. corn growers were compared between operations that removed corn stover and those that did not. Nationwide, stover was removed from approximately 6.3% of all corn operations, indicating stover harvest was not a common practice in 2010. Factors increasing the likelihood for stover harvest included producing feed corn, managing crop residues for pest control, and farmland ownership. Technology and conservation practice adoption rates were similar in both groups. Excessive stover removal can increase soil degradation. Both groups had erosion control adoption rates of ≤10%, which may provide an additional disincentive to harvest stover. Overall, the evaluated variables were similar between producers that did and did not harvest stover. This assessment provides a 2010 national baseline that can be used for future evaluations as bioenergy and bioproduct markets develop.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2013

ARM Airborne Continuous carbon dioxide measurements

The heart of the AOS CO2 Airborne Rack Mounted Analyzer System is the AOS Manifold. The AOS Manifold is a nickel coated aluminum analyzer and gas processor designed around two identical nickel-plated gas cells, one for reference gas and one for sample gas. The sample and reference cells are uniquely designed to provide optimal flushing efficiency. These cells are situated between a black-body radiation source and a photo-diode detection system. The AOS manifold also houses flow meters, pressure sensors and control valves. The exhaust from the analyzer flows into a buffer volume which allows for precise pressure control of the analyzer. The final piece of the analyzer is the demodulator board which is used to convert the DC signal generated by the analyzer into an AC response. The resulting output from the demodulator board is an averaged count of CO2 over a specified hertz cycle reported in volts and a corresponding temperature reading. The system computer is responsible for the input of commands and therefore works to control the unit functions such as flow rate, pressure, and valve control.The remainder of the system consists of compressors, reference gases, air drier, electrical cables, and the necessary connecting plumbing to provide a dry sample air stream and reference air streams to the AOS manifold.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2013

ARM Airborne Continuous carbon dioxide measurements

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1989

Control of intelligent robots in space

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

Freund, E.↗

DOE OSTI2017

Continued Benefit to Rectal Separation for Prostate Radiation Therapy: Final Results of a Phase III Trial

Purpose: SpaceOAR, a Food and Drug Administration–approved hydrogel intended to create a rectal–prostate space, was evaluated in a single-blind phase III trial of image guided intensity modulated radiation therapy. A total of 222 men were randomized 2:1 to the spacer or control group and received 79.2 Gy in 1.8-Gy fractions to the prostate with or without the seminal vesicles. The present study reports the final results with a median follow-up period of 3 years. Methods and Materials: Cumulative (Common Terminology Criteria for Adverse Events, version 4.0) toxicity was evaluated using the log-rank test. Quality of life (QOL) was examined using the Expanded Prostate Cancer Index Composite (EPIC), and the mean changes from baseline in the EPIC domains were tested using repeated measures models. The proportions of men with minimally important differences (MIDs) in each domain were tested using repeated measures logistic models with prespecified thresholds. Results: The 3-year incidence of grade ≥1 (9.2% vs 2.0%; P=.028) and grade ≥2 (5.7% vs 0%; P=.012) rectal toxicity favored the spacer arm. Grade ≥1 urinary incontinence was also lower in the spacer arm (15% vs 4%; P=.046), with no difference in grade ≥2 urinary toxicity (7% vs 7%; P=0.7). From 6 months onward, bowel QOL consistently favored the spacer group (P=.002), with the difference at 3 years (5.8 points; P<.05) meeting the threshold for a MID. The control group had a 3.9-point greater decline in urinary QOL compared with the spacer group at 3 years (P<.05), but the difference did not meet the MID threshold. At 3 years, more men in the control group than in the spacer group had experienced a MID decline in bowel QOL (41% vs 14%; P=.002) and urinary QOL (30% vs 17%; P=.04). Furthermore, the control group were also more likely to have experienced large declines (twice the MID) in bowel QOL (21% vs 5%; P=.02) and urinary QOL (23% vs 8%; P=.02). Conclusions: The benefit of a hydrogel spacer in reducing the rectal dose, toxicity, and QOL declines after image guided intensity modulated radiation therapy for prostate cancer was maintained or increased with a longer follow-up period, providing stronger evidence for the benefit of hydrogel spacer use in prostate radiation therapy.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

DOE OSTI2026

Cimel Sunphotometer (CSPHOT): lunar aerosol optical depth, filtered and quality-controlled with pre-field and post-field calibration applied, Level 2.0, version 3 data (a1-level)

Cimel Sunphotometer (CSPHOT): lunar aerosol optical depth, filtered and quality-controlled with pre-field and post-field calibration applied, Level 2.0, version 3 data

ARM↗

NASA NTRS1989

Manipulation strategies for massive space payloads

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

Book, Wayne J.↗