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DOE OSTI2015

Improved Large Aperture Collector Manufacturing

The parabolic trough is the most established CSP technology and carries a long history of design experimentation dating back to the 1970’s. This has led to relatively standardized collector architectures, a maturing global supply chain, and a fairly uniform cost reduction strategy. Abengoa has deployed more than 1,500MWe of CSP troughs across several countries and has built and tested full-scale prototypes of many R&D concepts. The latest trough R&D efforts involved efforts to internalize non-CSP industry experience including a preliminary DFMA principles review done with Boothroyd Dewhurst, a construction literature review by the Arizona State University School of Construction Management, and two more focused manufacturing engineering subcontracts done by Ricardo Inc. and the nonprofit Edison Welding Institute. The first two studies highlighted strong opportunities in lowering part count, standardizing components and fasteners, developing modular designs to support prefabrication and automation, and devising simple, error-proof manual assembly methods. These principles have delivered major new cost savings in otherwise “mature” products in analogous industries like automotive, truck trailer manufacture, metal building fabrication, and shipbuilding. For this reason, they were core in the design development of the SpaceTube® collector, and arguably key to its early successes. The latter two studies were applied specifically to the first-generation SpaceTube® design and were important in setting the direction of the present SolarMat project. These studies developed a methodology to analyze the costs of manufacture and assembly, and identify new tooling concepts for more efficient manufacture. Among the main opportunities identified in these studies were the automated mirror arm manufacturing concept and the need for a less infrastructure-intensive assembly line, both of which now form central pillars of the SolarMat project strategy. These new designs will be supported by new technology in the area of quality control inspection, in which state of the art photogrammetry and laser CMM inspection methods will be used to qualify parts and assemblies, and in which the recently-developed Absorber Reflection Method will enable in-line quality control inspection of modules produced by the new high-rate production line.

14 SOLAR ENERGY↗

NASA NTRS1989

Application of recursive manipulator dynamics to hybrid software/hardware simulation

Computer simulations of robotic mechanisms have traditionally solved the dynamic equations of motion for an N degree of freedom manipulator by formulating an N dimensional matrix equation combining the accelerations and torques (forces) for all joints. The use of an alternative formulation that is strictly recursive is described. The dynamic solution proceeds on a joint by joint basis, so it is possible to perform inverse dynamics at arbitrary joints. The dynamic formulation is generalized with respect to both rotational and translational joints, and it is also directly extendable to branched manipulator chains. A hardware substitution test is described in which a servo drive motor was integrated with a simulated manipulator arm. The form of the dynamic equation permits calculation of acceleration given torque or vice versa. Computing torque as a function of acceleration is required for the hybrid software/hardware simulation test described. For this test, a joint servo motor is controlled in conjunction with the simulation, and the dynamic torque on the servo motor is provided by a load motor on a common driveshaft.

Hill, Christopher J.↗

NASA NTRS1992

Hand/Eye Coordination For Fine Robotic Motion

Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.

Lokshin, Anatole M.↗

NASA NTRS2003

Ocular Counter-Rolling During Centrifugation and Static Tilt

Activation of the gravity sensors in the inner ear-the otoliths-generates reflexes that act to maintain posture and gaze. Ocular counter-rolling (OCR) is an example of such a reflex. When the head is tilted to the side, the eyes rotate around the line of sight in the opposite direction (i.e., counter-rolling). While turning comers, undergoing centrifugation, or making side-to-side tilting head movements, the OCR reflex orients the eyes towards the sum of the accelerations from body movements and gravity. Deconditioning of otolith-mediated reflexes following adaptation to microgravity has been proposed as the basis of many of the postural, locomotor, and gaze control problems experienced by returning astronauts. Evidence suggests that OCR is reduced postflight in about 75% of astronauts tested; but the data are sparse, primarily due to difficulties in recording rotational eye movements. During the Neurolab mission, a short-arm human centrifuge was flown that generated sustained sideways accelerations of 0.5-G and one-G to the head and upper body. This produces OCR; and so for the first time, the responses to sustained centrifugation could be studied without the influence of Earth's gravity on the results. This allowed us to determine the relative importance of sideways and vertical acceleration in the generation of OCR. This also provided the first test of the effects of exposure to artificial gravity in space on postflight otolith-ocular reflexes. There was little difference between the responses to centrifugation in microgravity and on Earth. In both conditions, the induced OCR was roughly proportional to the applied acceleration, with the OCR magnitude during 0.5-G centrifugation approximately 60% of that generated during one-G centrifugation. The overall mean OCR from the four payload crewmembers in response to one-G of sideways acceleration was 5.7 plus or minus 1.1 degree (mean and SD) on Earth. Inflight one-G centrifugation generated 5.7 plus or minus 1.1 degree of OCR, which was a small but significant decrease in OCR magnitude. The postflight OCR was 5.9 plus or minus 1.4 degree, which was not significantly different from preflight values. During both 0.5-G and one-G centrifugation in microgravity, where the head vertical gravitational component was absent, the OCR magnitude was not significantly different from that produced by an equivalent acceleration during static tilt on Earth. This suggests that the larger OCR magnitude observed during centrifugation on Earth was due to the larger body vertical linear acceleration component, which may have activated either the otoliths or the body tilt receptors. In contrast to previous studies, there was no decrease in OCR gain postflight. Our findings raise the possibility that inflight exposure to artificial gravity, in the form of intermittent one-G and 0.5-G centripetal acceleration, may have been a countermeasure to deconditioning of otolith-based orientation reflexes.

Cohen, Bernard↗

DOE OSTI2026

Intern Poster Session 08/13: Autonomous Nuclear Robotics: Applications in nuclear waste inspection and hot cell experiments

The nuclear industry is experiencing renewed interest in autonomous robotics, yet most deployed systems remain teleoperated with limited autonomy. This work presents two contributions toward fully autonomous nuclear robotic systems: autonomous waste inspection at the Hanford Site and an autonomous hot cell laboratory framework. Inspections of Hanford's underground waste storage tanks are performed manually at significant cost and personnel exposure. We developed a reinforcement-learning (RL) training pipeline for a custom-built inspection arm. In parallel, we are designing an autonomous laboratory framework for post-irradiation examination in hot cells at the Specimen Preparation Laboratory (SPL) that integrates computer vision, task and motion planning, hardware execution, and operator-in-the-loop control. These systems demonstrate a path toward safer, more efficient nuclear operations by reducing human exposure while maintaining rigorous human oversight at critical decision points.

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

NASA NTRS1999

Recovery of postural equilibrium control following space flight

DSO 605 represents the first large study of balance control following spaceflight. Data collected during DSO 605 confirm the theory that postural ataxia following short duration spaceflight is of vestibular origin. We used the computerized dynamic posturography technique developed by Nashner et al. to study the role of the vestibular system in balance control in astronauts during quiet stance before and after spaceflight. Our results demonstrate unequivocally that balance control is disrupted in all astronauts immediately after return from space. The most severely affected returning crew members performed in the same way as vestibular deficient patients exposed to this test battery. We conclude that otolith mediated spatial reference provided by the terrestrial gravitational force vector is not used by the astronauts balance control systems immediately after spaceflight. Because the postflight ataxia appears to be mediated primarily by CNS adaptation to the altered vestibular inputs caused by loss of gravitational stimulation, we believe that intermittent periods of exposure to artificial gravity may provide an effective in-flight countermeasure. Specifically, we propose that in-flight centrifugation will allow crew members to retain their terrestrial sensory-motor adapted states while simultaneously developing microgravity adapted states. The dual-adapted astronaut should be able to make the transition from microgravity to unit gravity with minimal sensory-motor effects. We have begun a ground based program aimed at developing short arm centrifuge prescriptions designed to optimize adaptation to altered gravitational environments. Results from these experiments are expected to lead directly to in-flight evaluation of the proposed centrifuge countermeasure. Because our computerized dynamic posturography system was able to (1) quantify the postflight postural ataxia reported by crew members and observed by flight surgeons and scientists, (2) track the recovery of normal (preflight) balance control, (3) differentiate between rookie and veteran subjects, and (4) provide normative and clinical databases for comparison, and because our study successfully characterized postflight balance control recovery in a large cross-section of Shuttle crew members, we recommend that this system and protocol be adopted as a standard dependent measure for evaluating the efficacy of countermeasures and/or evaluating the postflight effects of changing mission durations or activities.

Paloski, William H.↗

DOE OSTI2018

Ice Nucleating Particle Sources at Oliktok Point Field Campaign Report

The Ice Nucleating Particle Sources at Oliktok Point U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) facility field campaign focused on chemically characterizing springtime aerosol sources at Oliktok Point, Alaska. This work was completed to improve our understanding of air masses influencing the site and altering ice nucleating particle (INP) concentrations measured by Dr. Jessie Creamean of the National Oceanic and Atmospheric Administration (NOAA) during her coordinated, simultaneous ARM field campaign “Exploratory Ice Nucleation Measurements at Oliktok”. Together these ARM field campaigns comprised INPOP (Ice Nucleating Particles at Oliktok Point). The field campaign took place at the Oliktok Point Third ARM Mobile Facility (AMF3) site from March 1 to May 31, 2017. A Davis rotating uniform motion (DRUM) impactor was deployed to collect particles for offline analysis for single-particle chemical characterization (aerosol mixing state). Barring a few interruptions due to power outages at the site, daily samples (24-h duration) were collected for analysis by computer-controlled scanning electron microscopy with energy dispersive X-ray spectroscopy (CCSEM-EDX). Unfortunately our user facility grant at the Pacific Northwest National Laboratory (PNNL) Environmental Molecular Sciences Laboratory (EMSL) was placed on hold from October 2017 to February 2018, limiting our ability to do CCSEM-EDX, as our access is also limited at the Michigan Center for Materials Characterization. Therefore, only a subset of these samples were chosen in consultation with J. Creamean and analyzed by CCSEM-EDX. We have proposed to analyze additional samples, targeting samples collected during marine air masses, as part of our DOE Atmospheric System Research (ASR) proposal “Investigating marine and terrestrial aerosol processes and cloud ice nucleation during the Alaskan Arctic melt season”. The size-resolved aerosol mixing state data produced from the ARM field campaign represent the first of such observations in the springtime at Oliktok Point. Since this AMF3 site is located within the North Slope of Alaska (NSA) oil fields near Prudhoe Bay, the site is continually influenced by combustion emissions, with natural sources also contributing to the background aerosol population.

North Slope of Alaska, Oliktok Point, aerosols, or↗

NASA NTRS1991

The Filled Arm Fizeau Telescope (FFT)

Attention is given to the design of a Mills Cross imaging interferometer in which the arms are fully filled with mirror segments of a Ritchey-Chretien primary and which has sensitivity to 27th magnitude per pixel and resolution a factor of 10 greater than Hubble. The optical design, structural configuration, thermal disturbances, and vibration, material, control, and metrology issues, as well as scientific capabilities are discussed, and technology needs are identified. The technologies under consideration are similar to those required for the development of the other imaging interferometers that have been proposed over the past decade. A comparison of the imaging capabilities of a 30-m diameter FFT, an 8-m telescope with a collecting area equal to that of the FFT, and the HST is presented.

Synnott, S. P.↗

NASA NTRS1991

Experimental testbed for cooperative robotic manipulators

The robotic testbed facility within Rensselaer's Center for Intelligent Robotic Systems for Space Exploration consists of two PUMA robot manipulators, each mounted on a moving platform. Each platform has a tilt and rotate capability and can move along a two rail linear track. One purpose of this system is to demonstrate the coordination of two arms in relative motion to each other. The system is also useful for investigating the integration problems that occur in an environment that is heavily dependent upon the acquisition, transmission, and processing of data in the form of information, knowledge, and control commands.

Desrochers, A.↗

NASA NTRS1994

Graphical programming: A systems approach for telerobotic servicing of space assets

Satellite servicing is in many ways analogous to subsea robotic servicing in the late 1970's. A cost effective, reliable, telerobotic capability had to be demonstrated before the oil companies invested money in deep water robot serviceable production facilities. In the same sense, aeronautic engineers will not design satellites for telerobotic servicing until such a quantifiable capability has been demonstrated. New space servicing systems will be markedly different than existing space robot systems. Past space manipulator systems, including the Space Shuttle's robot arm, have used master/slave technologies with poor fidelity, slow operating speeds and most importantly, in-orbit human operators. In contrast, new systems will be capable of precision operations, conducted at higher rates of speed, and be commanded via ground-control communication links. Challenge presented by this environment include achieving a mandated level of robustness and dependability, radiation hardening, minimum weight and power consumption, and a system which accommodates the inherent communication delay between the ground station and the satellite. There is also a need for a user interface which is easy to use, ensures collision free motions, and is capable of adjusting to an unknown workcell (for repair operations the condition of the satellite may not be known in advance). This paper describes the novel technologies required to deliver such a capability.

Pinkerton, James T.↗

NASA NTRS1995

STS Flight 64 Mission Highlights

The pre-launch, launch, in-flight, and landing activities of STS Flight 64 are highlighted in this video. Footage of the astronauts (Richard, Hammond, Lee, Helms, Meade, and Linenger) suiting up, the payload activities with the Shuttle arm, the deployment of the Spartan satellite, the untethered spacewalk of Lee and other in-space experiments with Lee and Meade (including a body roll), the pre-landing shots and actual landing, and some footage of the Mission Operations Control Room watching the Space Shuttle maneuvers are included.

Source record↗

NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗

NASA NTRS1993

Demonstration of A High-Fidelity Predictive/Preview Display Technique for Telerobotic Servicing in Space

A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May, 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique isbased on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. Togenerate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available...

Bejczy, A. K.↗

NASA NTRSDate not supplied

Spacesuit Reach Capability and Work Volume Assessment

Work volumes and reach envelopes define the locations where work objects or interfaces can be placed around a person to reduce ergonomic risk. Spacesuits, however, show unique reach patterns, due to the stiffness and mechanical constraints from pressurization. This study measured the reach motion patterns and capabilities from subjects wearing a pressurized spacesuit using a 3D motion capture system. The subjects performed arm and hand motions, focusing on extreme lateral and vertical positions. These motions defined the maximum ranges. They also performed on-suit reaches to measure where they could or couldn’t reach on the suit surface to determine where critical controls and devices could be placed on the suit. A parametric model of the reach volume was statistically built using the collected hand position data. The observed shape and size of the work volume substantially vary by persons, depending on anthropometry and strength capability. It was also indicated that the traditional metrics (e.g., simple spherical or cylindrical representations) estimated from “unsuited” persons or computer simulations may not accurately capture such variations. The results of this study can help to design and optimize space hardware and task activities, to protect crewmembers from overexertion or injuries.

Han Kim↗

NASA NTRS2015

Investigation of Combustion Control in a Dump Combustor Using the Feedback Free Fluidic Oscillator

A feedback free fluidic oscillator was designed and integrated into a single element rocket combustor with the goal of suppressing longitudinal combustion instabilities. The fluidic oscillator uses internal fluid dynamics to create an unsteady outlet jet at a specific frequency. An array of nine fluidic oscillators was tested to mimic modulated secondary oxidizer injection into the combustor dump plane. The combustor has a coaxial injector that uses gaseous methane and decomposed hydrogen peroxide with an overall O/F ratio of 11.7. A sonic choke plate on an actuator arm allows for continuous adjustment of the oxidizer post acoustics enabling the study of a variety of instability magnitudes. The fluidic oscillator unsteady outlet jet performance is compared against equivalent steady jet injection and a baseline design with no secondary oxidizer injection. At the most unstable operating conditions, the unsteady outlet jet saw a 67% reduction in the instability pressure oscillation magnitude when compared to the steady jet and baseline data. Additionally, computational fluid dynamics analysis of the combustor gives insight into the flow field interaction of the fluidic oscillators. The results indicate that open loop high frequency propellant modulation for combustion control can be achieved through fluidic devices that require no moving parts or electrical power to operate.

Meier, Eric J.↗

DOE OSTI2017

The Flow Visualization for the Separation of Air-water Bubbly Two-phase Flow Through a Vertical T-junction

T-junction is a typical structure in many industrial systems such as power plants, chemical process, and hydrocarbon production industries. The separation of two-phase flow passing through T-junction is a common flow phenomenon. There are lots of investigations regarding two-phase flow separation in branching tees and wyes tees. The characteristic of the two-phase flow between the two outlets are always non-uniform, and this kind of fluid status may contribute to the unpredictable damage of downstream facilities. For the nuclear power plants, severe accidents analysis is important especially for Light-Water Reactors (LWR) when Loss of Coolant Accident (LOCA) occurs. The small break of the pipe may cause the coolant become two-phase flow due to the pressure drop. Under certain conditions, the behavior of T-junction is similar to a gas-liquid separator, as a result of the gas enters the side arm and the liquid flows straight along the run arm. The partial separation of gas-liquid mixtures can reduce the load on the main separator, probably leading to smaller units. The study aims to establish complete visual observations for the benchmark of Computational Fluid Dynamics (CFD) model. As a consequence, a vertical T-junction (D = 26 mm) experimental loop was set up for the purpose of elaborating the complex two-phase fluid phenomena. In this experiment, variables were manipulated under highly controlled conditions and a photographic method was proposed to analyze the images of phase separation. Furthermore, the images obtained by camera have been discussed to receive valuable information about the two phase flow behavior around the T-junction.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2022

Miktoarm Star Polymers: Synthesis and Applications

Polymers with precisely controlled structure and function are in high demand across a diverse array of applications spanning the life sciences and nanotechnology. One prototypical example is a class of branched block copolymers known as miktoarm stars (μ-stars), which contain two or more arm compositions connected at a common junction. Miktoarm stars have attracted considerable attention since their physical properties can be different from conventional linear block copolymers. This perspective highlights the latest developments and historical context in the field of miktoarm star polymers, including design strategies, synthetic techniques, and advanced characterization tools used to avoid common preparation pitfalls and tailor properties for emerging applications. Furthermore, our contemporary perspective on μ-star polymers is a resource for inspiring future research into this exciting class of materials at the intersection of chemistry, physics, and advanced technology.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS1988

Recursive Dynamic Equations For Two Robot Arms In A Closed Chain

Paper discusses use of difference equations from Kalman filtering and Bryson-Frazier smoothing to solve equations of forward dynamics of closed chain of robot-arm links. "Forward dynamics" is computation of linear and angular accelerations of joints between links, given set of applied or prescribed joint torques. Paper lays foundation for potential use of filtering and smoothing techniques in dynamics of robots and in design of controls for robots.

Rodriguez, Guillermo↗