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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 1,585 records · Page 88
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

NPFTURBULENCE: Fast Response Temperature by Airborne Measurements

The original data were collected during the field campaign of the “Turbulent layers promoting New Particle Formation” experiment (NPFTURBULENCE; https://www.arm.gov/research/campaigns/aaf2024npfturbulence; https://www.arm.gov/publications/programdocs/doe-sc-arm-25-004.pdf ) over the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) Atmospheric Observatory (https://www.arm.gov/capabilities/observatories/sgp ) in north-central Oklahoma. The ARM Aerial Facility ArcticShark uncrewed aerial system (UAS, https://www.arm.gov/capabilities/observatories/aaf/uas) was based at Blackwell–Tonkawa Municipal Airport (IATA: BWL, ICAO: KBKN, FAA LID: BKN, 36.74475° N, 97.34918° W, 313.9 m MSL), for the field campaign from May 5 through May 29, 2024. The ArcticShark UAS performed 11 flights, including 10 research flights over the Central Facility of the ARM SGP to measure atmospheric state, turbulence, surface IR temperature and imagery, aerosol number concentration and size distribution. The current dataset presents fast response temperature in the atmospheric boundary layer and lower free troposphere measured on the airborne platform throughout the field campaign. The primary instruments used to create the current dataset were the fine wire thermocouple probe, Pitot-static system (part of the UAS control), and infrared gas analyzer sensor for H2O and CO2 (LI-840A). All parameters used in the temperature calculations (static and dynamic pressure, absolute humidity in form of dew point temperature) were included in the data set. For user convenience, one additional parameter was also included: the type of flight flag (level, up, down, turn, and combination of thereof).

Air temperature↗
NASA NTRS2001

Microstrip Antennas with Broadband Integrated Phase Shifting

The goal of this research was to investigate the feasibility of using a spiral microstrip antenna that incorporates a thin ferroelectric layer to achieve both radiation and phase shifting. This material is placed between the conductive spiral antenna structure and the grounded substrate. Application of a DC bias between the two arms of the spiral antenna will change the effective permittivity of the radiating structure and the degree of coupling between contiguous spiral arms, therefore changing the phase of the RF signal transmitted or received by the antenna. This could eliminate the need for a separate phase shifter apart from the antenna structure. The potential benefits of such an antenna element compared to traditional phased array elements include: continuous, broadband phase shifting at the antenna, lower overall system losses, lighter, more efficient, and more compact phased arrays, and simpler control algorithms. Professor Jennifer Bernhard, graduate student Gregory Huff, and undergraduate student Brian Huang participated in this effort from March 1, 2000 to February 28, 2001. No inventions resulted from the research undertaken in this cooperative agreement.

Bernhard, Jennifer T.↗
NASA NTRS2006

Reaction force of percussive corer, rotary-friction corer, and rotary-percussive corer

Future NASA exploration missions will increasingly require sampling, in-situ analysis and possibly the return of material to Earth for laboratory analysis. To address these objective, effective and optimized drilling techniques are needed. This requires developing comprehensive tools to be able to determine analytically what takes place during the operation and what are the control parameters that can be enhanced. In this study, three types of coring techniques were studied and were identified as potential candidates for operation from a possible future Mars Sample Return (MSR) mission rover. These techniques include percussive, rotary-friction, and rotary-percussive coring. Theoretical models were developed to predict the dynamic reaction forces transmitted from these three types of corers to the robotic arms that hold them. The predicted reaction forces will then be used in a dynamic simulation environment to simulate a representative corer tool to obtain a best estimate of a tool that can be operated from a small rover. The predicted dynamic reaction forces will be presented in this paper.

Ultrasonic Percussive corer↗
NASA NTRS2012

Benefits of a Single-Person Spacecraft for Weightless Operations

Historically, less than 20 percent of crew time related to extravehicular activity (EVA) is spent on productive external work. For planetary operations space suits are still the logical choice; however for safe and rapid access to the weightless environment, spacecraft offer compelling advantages. FlexCraft, a concept for a single-person spacecraft, enables any-time access to space for short or long excursions by different astronauts. For the International Space Station (ISS), going outside is time-consuming, requiring pre-breathing, donning a fitted space suit, and pumping down an airlock. For each ISS EVA this is between 12.5 and 16 hours. FlexCraft provides immediate access to space because it operates with the same cabin atmosphere as its host. Furthermore, compared to the space suit pure oxygen environment, a mixed gas atmosphere lowers the fire risk and allows use of conventional materials and systems. For getting to the worksite, integral propulsion replaces hand-over-hand translation or having another crew member operate the robotic arm. This means less physical exertion and more time at the work site. Possibly more important, in case of an emergency, FlexCraft can return from the most distant point on ISS in less than a minute. The one-size-fits-all FlexCraft means no on-orbit inventory of parts or crew time required to fit all astronauts. With a shirtsleeve cockpit, conventional displays and controls are used, there is no suit trauma and because the work is not strenuous, no rest days are required. Furthermore, there is no need to collect hand tools because manipulators are equipped with force multiplying end-effectors that can deliver the precise torque for the job. FlexCraft is an efficient solution for asteroid exploration allowing all crew to use one vehicle with no risk of contamination. And, because FlexCraft is a vehicle, its design offers better radiation and micro-meteoroid protection than space suits.

Griffin, Brand Norman↗
DOE OSTI2025

ARM-IRL: Adaptive Resilience Metric Quantification Using Inverse Reinforcement Learning

The resilience of safety-critical systems is gaining importance due to the rise in cyber and physical threats, especially within critical infrastructure. Traditional static resilience metrics may not capture dynamic system states, leading to inaccurate assessments and ineffective responses to cyber threats. This work aims to develop a data-driven, adaptive method for resilience metric learning. We propose a data-driven approach using inverse reinforcement learning (IRL) to learn a single, adaptive resilience metric. The method infers a reward function from expert control actions. Unlike previous approaches using static weights or fuzzy logic, this work applies adversarial inverse reinforcement learning (AIRL), training a generator and discriminator in parallel to learn the reward structure and derive an optimal policy. The proposed approach is evaluated on multiple scenarios: optimal communication network rerouting, power distribution network reconfiguration, and cyber–physical restoration of critical loads using the IEEE 123-bus system. The adaptive, learned resilience metric enables faster critical load restoration in comparison to conventional RL approaches.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2013

Power scaling of Tm-doped fibre lasers using an all-fibre composite Michelson-type cavity

We report a 4-W all-fibre Tm-doped fibre laser using a composite cavity with a centre wavelength of 1952.02 nm. The composite cavity consists of two interferometric laser arms that are efficiently combined. Each interferometric laser arm contains a double-clad Tm-doped silica fibre operating in cw mode and pumped by pigtailed laser diodes with a centre wavelength of 793 nm. A high combining efficiency of 93.9 % and a narrow linewidth of 0.1 nm are obtained. The output power of the laser can be scaled straight forwardly by improving the pump power and optimising the component parameters at 2 μm (control of laser radiation parameters)

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1993

Laser-initiated ordnance for air-to-air missiles

McDonnell Douglas Missile Systems Company (MDMSC) has developed a laser ignition subsystem (LIS) for air-to-air missile applications. The MDMSC subsystem is designed to activate batteries, unlock fins, and sequence propulsion system events. The subsystem includes Pyro Zirconium Pump (PZP) lasers, mechanical Safe & Arm, fiber-optic distribution system, and optically activated pyrotechnic devices (initiators, detonators, and thermal batteries). The LIS design has incorporated testability features for the laser modules, drive electronics, fiber-optics, and pyrotechnics. Several of the LIS have been fabricated and have supported thermal battery testing, integral rocket ramjet testing, and have been integrated into integral rocket ramjet flight test vehicles as part of the flight control subsystem.

Sumpter, David R.↗
NASA NTRS1998

The structure of somatosensory information for human postural control

The goal of the present study was to determine the properties of the somatosensory stimulus that alter its temporal coupling to body sway. Six standing subjects were tested while touching a metal plate positioned either directly in front of or lateral to the subject. In each condition, the plate moved 4 mm at 0.2 Hz in either the medial-lateral (ML) or anterior-posterior direction (AP). The results showed that coupling between body sway and touch plate movement was strongest when the touch plate moved in a direction along the longitudinal axis of the arm. Coupling strength was weaker when the touch plate moved perpendicular to the longitudinal axis of the arm. The results consistently show that a radial expansion stimulus was more effective than a lamellar-type stimulus at the fingertip. Moreover, somatosensory information from a surface is interpreted in terms of the orientation of the contact limb and the potential degrees of freedom available through its movement.

NASA Discipline Neuroscience↗
NASA NTRS2003

Minimizing Segregation during the Controlled Directional Solidification of Dendric Alloys

Gravity-driven convection induced in the liquid by density gradients of temperature or composition disrupts uniform dendritic growth during controlled directional solidification and promotes severe macrosegregation. The solute-rich region about the dendrite tip appears to play a pivotal role in channel initiation. Allen and Hunt referred to this region as an "initial transient" or dynamic region constituting steep concentration gradients. Experimental investigation also point to the role the tip region plays in developing microstructure. Hellawell and co-workers showed that flow-through dendritic channels could be effectively disrupted, and segregation minimized, during the gradient freezing of bulk castings by rotating the melt through a slight angle with respect to Earth's gravity vector. Adapting this principle to controlled directional solidification, it has been shown" that segregation in dendritic alloys can be minimized, and properties improved, by processing the sample near horizontal in conjunction with a slow axial rotation of the crucible. It is postulated that the observed microstructural uniformity arises by maintaining the developing solute field about the dendrite tip. Solute rejected during vertical directional solidification will rise or sink parallel to the primary dendrite arms during axial rotation setting the stage for accumulation, instabilities, and segregation. In contrast, during horizontal growth, the rejected solute will sink or rise perpendicular to the primary dendrite. Now, in the presence of a slight axial rotation, solute that was initially sinking (or rising) will find itself above (or below) its parent dendrite, i.e., still about the tip region. The following is intended to experimentally demonstrate the viability of this concept in coordination with a model that gives predictive insight regarding solute distribution about growing dendrites. Alloys based on the lead-tin eutectic system were used in this study. The system is well characterized, the constituent metals are available in a very pure form, and the thermophysical properties are well known. During solidification of hypoeutectic alloys, e.g., 55 wt pct Pb, the primary dendrites reject the less dense tin, and for the hypereutectic alloys, e.g., 75 wt pct Sn, the primary dendrites reject denser lead. Alloys were prepared by melting appropriate amounts of lead and tin in a glass crucible after which the homogeneous liquid was sucked directly into 5-mm i.d. glass tubes. The sample tube, containing approximately 30 cm of alloy, was then mechanically driven into the directional solidification furnace assembly and positioned such that approx. 20 cm of the sample was remelted. Subsequently, directional solidification was initiated by withdrawing the sample through a water-cooled jacket at a constant growth velocity of 2 ,microns/s. After 5 to 6 cm of growth, the sample was quickly removed from the furnace and quenched in a water bath to preserve the solid-liquid interface. Samples were directionally solidified vertically upward, nearly horizontally, and some in conjunction with an applied axial rotation of the crucible. Temperature gradients at the solid-liquid interface were measured with an in-siru K-type thermocouple. Solidified samples were cut perpendicular and parallel to the growth direction and conventionally prepared for microscopic examination.

Grugel, Richard N.↗
NASA NTRS1998

Gravitoinertial force background level affects adaptation to coriolis force perturbations of reaching movements

We evaluated the combined effects on reaching movements of the transient, movement-dependent Coriolis forces and the static centrifugal forces generated in a rotating environment. Specifically, we assessed the effects of comparable Coriolis force perturbations in different static force backgrounds. Two groups of subjects made reaching movements toward a just-extinguished visual target before rotation began, during 10 rpm counterclockwise rotation, and after rotation ceased. One group was seated on the axis of rotation, the other 2.23 m away. The resultant of gravity and centrifugal force on the hand was 1.0 g for the on-center group during 10 rpm rotation, and 1.031 g for the off-center group because of the 0.25 g centrifugal force present. For both groups, rightward Coriolis forces, approximately 0.2 g peak, were generated during voluntary arm movements. The endpoints and paths of the initial per-rotation movements were deviated rightward for both groups by comparable amounts. Within 10 subsequent reaches, the on-center group regained baseline accuracy and straight-line paths; however, even after 40 movements the off-center group had not resumed baseline endpoint accuracy. Mirror-image aftereffects occurred when rotation stopped. These findings demonstrate that manual control is disrupted by transient Coriolis force perturbations and that adaptation can occur even in the absence of visual feedback. An increase, even a small one, in background force level above normal gravity does not affect the size of the reaching errors induced by Coriolis forces nor does it affect the rate of reacquiring straight reaching paths; however, it does hinder restoration of reaching accuracy.

NASA Discipline Neuroscience↗
DOE OSTI2015

Irreversible Electroporation (IRE) Fails to Demonstrate Efficacy in a Prospective Multicenter Phase II Trial on Lung Malignancies: The ALICE Trial

PurposeTo assess safety and efficacy of irreversible electroporation (IRE) of lung malignancies.Materials and MethodsPatients with primary and secondary lung malignancies and preserved lung function were included in this prospective single arm trial. Primary and secondary endpoints were safety and efficacy. Recruitment goal was 36 subjects in 2 centers. Patients underwent IRE under general anesthesia with probe placement performed in Fluoroscopy-CT. The IRE system employed was NanoKnife{sup ®} (Angiodynamics). System settings for the ablation procedure followed the manufacturer’s recommendations. The Mann–Whitney U test was used to evaluate the correlation of nine technical parameters with local tumor control. Median follow up was 12 months.ResultsThe expected efficacy was not met at interim analysis and the trial was stopped prematurely after inclusion of 23 patients (13/10 between both centers). The dominant tumor entity was colorectal (n = 13). The median tumor diameter was 16 mm (8–27 mm). Pneumothoraces were observed in 11 of 23 patients with chest tubes required in 8 (35 %). Frequently observed alveolar hemorrhage never led to significant hemoptysis. 14/23 showed progressive disease (61 %). Stable disease was found in 1 (4 %), partial remission in 1 (4 %) and complete remission in 7 (30 %) patients. The relative increase of the current during ablation was significantly higher in the group treated successfully as compared to the group presenting local recurrence (p < 0.05). Needle tract seeding was found in three cases (13 %).ConclusionsIRE is not effective for the treatment of lung malignancies. We hypothesize that the energy deposition with current IRE probes is highly sensitive to air exposure.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2016

Is Pilocarpine Effective in Preventing Radiation-Induced Xerostomia? A Systematic Review and Meta-analysis

Purpose: To evaluate the efficacy of concomitant administration of pilocarpine on radiation-induced xerostomia in patients with head and neck cancers. Methods and Materials: The PubMed, Web of Science, Cochrane Library, and ClinicalTrials were searched to identify randomized, controlled trials studying the effect of concomitant administration of pilocarpine for radiation-induced xerostomia. Included trials were systematically reviewed, and quantifiable outcomes were pooled for meta-analysis. Outcomes of interest included salivary flow, clinician-rated xerostomia grade, patient-reported xerostomia scoring, quality of life, and adverse effects. Results: Six prospective, randomized, controlled trials in 8 articles were included in this systematic review. The total number of patients was 369 in the pilocarpine group and 367 in the control group. Concomitant administration of pilocarpine during radiation could increase the unstimulated salivary flow rate in a period of 3 to 6 months after treatment, and also reduce the clinician-rated xerostomia grade. Patient-reported xerostomia was not significantly impacted by pilocarpine in the initial 3 months but was superior at 6 months. No significant difference of stimulated salivary flow rate could be confirmed between the 2 arms. Adverse effects of pilocarpine were mild and tolerable. Conclusions: The concomitant administration of pilocarpine during radiation increases unstimulated salivary flow rate and reduces clinician-rated xerostomia grade after radiation. It also relieves patients' xerostomia at 6 months and possibly at 12 months. However, pilocarpine has no effect on stimulated salivary flow rate.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2024

Facile Integration of Robots into Experimental Orchestration at Scientific User Facilities

Integration of robots into scientific user facilities, such as the National Synchrotron Light Source II, improves their efficiency and capacity. Many such facilities use the opensource Bluesky project for experimental control and orchestration. However, there remains an open challenge in deploying robotic solutions at these facilities that are reconfigurable, extensible, and compatible with pre-existing software infrastructure. Herein, we introduce a framework that uses the Robotic Operating System 2 (ROS2) and Bluesky to provide extensible robotic applications, while working under the operational constraints of a large-scale user facility. We demonstrated this framework by integrating a robotic arm to pick and place a sample holder at a beamline, recording a 90% repeatability rate. This provides the groundwork for further new robotics applications at large-scale scientific user facilities that depend on Bluesky.

36 MATERIALS SCIENCE↗
DOE OSTI2016

A glutamate/aspartate switch controls product specificity in a protein arginine methyltransferase

Trypanosoma brucei PRMT7 (TbPRMT7) is a protein arginine methyltransferase (PRMT) that strictly monomethylates various substrates, thus classifying it as a type III PRMT. However, the molecular basis of its unique product specificity has remained elusive. Here, we present the structure of TbPRMT7 in complex with its cofactor product S-adenosyl-L-homocysteine (AdoHcy) at 2.8 Å resolution and identify a glutamate residue critical for its monomethylation behavior. TbPRMT7 comprises the conserved methyltransferase and β-barrel domains, an N-terminal extension, and a dimerization arm. The active site at the interface of the N-terminal extension, methyltransferase, and β-barrel domains is stabilized by the dimerization arm of the neighboring protomer, providing a structural basis for dimerization as a prerequisite for catalytic activity. Mutagenesis of active-site residues highlights the importance of Glu181, the second of the two invariant glutamate residues of the double E loop that coordinate the target arginine in substrate peptides/proteins and that increase its nucleophilicity. Strikingly, mutation of Glu181 to aspartate converts TbPRMT7 into a type I PRMT, producing asymmetric dimethylarginine (ADMA). Isothermal titration calorimetry (ITC) using a histone H4 peptide showed that the Glu181Asp mutant has markedly increased affinity for monomethylated peptide with respect to the WT, suggesting that the enlarged active site can favorably accommodate monomethylated peptide and provide sufficient space for ADMA formation. In conclusion, these findings yield valuable insights into the product specificity and the catalytic mechanism of protein arginine methyltransferases and have important implications for the rational (re)design of PRMTs.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS2004

Design of Timer Circuit for Dynamic Data System

The Branch That I work in is in the Aero Electronic Test Branch, which is part of the Research and Testing Division. The Aero Electronic Test Branch deals with electronic control and instrumentation systems. This branch supports the research and test study of wind tunnels such as the l0x10,9x15, and 8x6. Wind tunnels are used in research to test certain parts of a jet, plane, shuttle or any other flying object in certain test conditions. My assignment is to design a programmable trigger circuit on a 19 standard rack mount that will allow the circuit to latch and hold for a predefined amount of time entered by the user when receiving a signal. It should then re-arm itself within 0.25 seconds after the time is finished. The time should be able to be seen on a display showing the time entered. The time range has to be from 0-600 seconds in 0.01 second increments (600.00). From the information given, counters will be needed to design and build this circuit. A counter, in it s simplest form, is a group of flip flops that can temporarily store bits of information put into the circuit. They can be constructed in many different ways, such as in 4 flip flops (4-bit counter) or 8 flip flops and even higher. Counters are usually cascaded with other counters to reach higher bits, such as 16 or 24 bit counters. The application in which I will use the counters will be to count down from any programmable number that I input either by a keyboard or a thumbwheel. Also, I will use counters that will be used specifically as a frequency divider to divide the pulses that enter the circuit through an input signal from a crystal clock. The pulses will need to be divided so that it will function as a 100Hz clock putting out 100 pulses per second. A switch will be used to load my inputs in and more than likely a button also so that I can stop and hold the count at any point of time. I will use 5 BCD up/down programmable counters, and a certain amount (depending on what kind of "divide by N" counter I use) of frequency dividing counters for the assignment. After the design is carefully made, a task order will be written and then given to the manufacturer to create a rack mount circuit board that will match my specifications given. The applications in which this design will be used for is in the use of the six-component balance signal conditioner for measurement and electronic system control. It can be used as a timer system for the balance signal conditioner in which it does numerous tests for the Wind tunnel research, in which a preset time can be set for how long it performs its tests. Specifically, my design should be applied to the balance signal conditioner used for the 8x6 wind tunnel research. Hopefully this design should aid in more efficient research for the 8x6 wind tunnel.

Young, Nathaniel, III↗
DOE OSTI2021

Expected individual benefit of prophylactic platelet transfusions in hemato‐oncology patients based on bleeding risks

Abstract Background Prophylactic platelet transfusions prevent bleeding in hemato‐oncology patients, but it is unclear how any benefit varies between patients. Our aim was to assess if patients with different baseline risks for bleeding benefit differently from a prophylactic platelet transfusion strategy. Study design and methods Using the data from the randomized controlled TOPPS trial (Trial of Platelet Prophylaxis), we developed a prediction model for World Health Organization grades 2, 3, and 4 bleeding risk (defined as at least one bleeding episode in a 30 days period) and grouped patients in four risk‐quartiles based on this predicted baseline risk. Predictors in the model were baseline platelet count, age, diagnosis, disease modifying treatment, disease status, previous stem cell transplantation, and the randomization arm. Results The model had a c‐statistic of 0.58 (95% confidence interval [CI] 0.54–0.64). There was little variation in predicted risks (quartiles 46%, 47%, and 51%), but prophylactic platelet transfusions gave a risk reduction in all risk quartiles. The absolute risk difference (ARD) was 3.4% (CI −12.2 to 18.9) in the lowest risk quartile (quartile 1), 7.4% (95% CI −8.4 to 23.3) in quartile 2, 6.8% (95% CI −9.1 to 22.9) in quartile 3, and 12.8% (CI −3.1 to 28.7) in the highest risk quartile (quartile 4). Conclusion In our study, generally accepted bleeding risk predictors had limited predictive power (expressed by the low c‐statistic), and, given the wide confidence intervals of predicted ARD, could not aid in identifying subgroups of patients who might benefit more (or less) from prophylactic platelet transfusion.

Cornelissen, Loes L.↗
DOE OSTI2024

Mixed-phase Convective Clouds in the Polar Marine Boundary Layer

This proposal, a collaboration between two universities, firstly aims to describe the high-latitude CAO cloud regime using the array of instruments at the NSA (Barrow, Alaska) and at two mobile ARM sites (MARCUS 2017-18, and COMBLE 2020). These ARM data, and the multi-sensor variables we propose to derive, allow detailed descriptions of mesoscale organization of precipitation, thermodynamic profiles, vertical velocity, cloud depth, and cloud and precipitation properties. These observations are key for our second goal, which is to use output from validated cloud- and eddy-resolving simulations to gain insights into the linkages between microphysical processes, the MBL vertical structure, and the MBL dynamics that control cloud macrostructure.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1991

Collision avoidance sensor skin

The objective was to totally eliminate the possibility of a robot (or any mechanism for that matter) inducing a collision in space operations. We were particularly concerned that human beings were safe under all circumstances. This was apparently accomplished, and it is shown that GSFC has a system that is ready for space qualification and flight. However, it soon became apparent that much more could be accomplished with this technology. Payloads could be made invulnerable to collision avoidance and the blind spots behind them eliminated. This could be accomplished by a simple, non-imaging set of 'Capaciflector' sensors on each payload. It also is evident that this system could be used to align and dock the system with a wide margin of safety. Throughout, lighting problems could be ignored, and unexpected events and modeling errors taken in stride. At the same time, computational requirements would be reduced. This can be done in a simple, rugged, reliable manner that will not disturb the form factor of space systems. It will be practical for space applications. The lab experiments indicate we are well on the way to accomplishing this. Still, the research trail goes deeper. It now appears that the sensors can be extended to end effectors to provide precontact information and make robot docking (or any docking connection) very smooth, with minimal loads impacted back into the mating structures. This type of ability would be a major step forward in basic control techniques in space. There are, however, baseline and restructuring issues to be tackled. The payloads must get power and signals to them from the robot or from the astronaut servicing tool. This requires a standard electromechanical interface. Any of several could be used. The GSFC prototype shown in this presentation is a good one. Sensors with their attendant electronics must be added to the payloads, end effectors, and robot arms and integrated into the system.

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