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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 1,603 records · Page 89
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Development and evaluation of a musculoskeletal model of the elbow joint complex

This paper describes the development and evaluation of a musculoskeletal model that represents human elbow flexion-extension and forearm pronation-supination. The length, velocity, and moment arm for each of the eight musculotendon actuators were based on skeletal anatomy and position. Musculotendon parameters were determined for each actuator and verified by comparing analytical torque-angle curves with experimental joint torque data. The parameters and skeletal geometry were also utilized in the musculoskeletal model for the analysis of ballistic elbow joint complex movements. The key objective was to develop a computational model, guided by parameterized optimal control, to investigate the relationship among patterns of muscle excitation, individual muscle forces, and movement kinematics. The model was verified using experimental kinematic, torque, and electromyographic data from volunteer subjects performing ballistic elbow joint complex movements.

Gonzalez, Roger V.↗
NASA NTRS1994

Testing of an End-Point Control Unit Designed to Enable Precision Control of Manipulator-Coupled Spacecraft

This paper presents an end-point control concept designed to enable precision telerobotic control of manipulator-coupled spacecraft. The concept employs a hardware unit (end-point control unit EPCU) that is positioned between the end-effector of the Space Shuttle Remote Manipulator System and the payload. Features of the unit are active compliance (control of the displacement between the end-effector and the payload), to allow precision control of payload motions, and inertial load relief, to prevent the transmission of loads between the end-effector and the payload. This paper presents the concept and studies the active compliance feature using a simulation and hardware. Results of the simulation show the effectiveness of the EPCU in smoothing the motion of the payload. Results are presented from initial, limited tests of a laboratory hardware unit on a robotic arm testbed at the l Space Flight Center. Tracking performance of the arm in a constant speed automated retraction and extension maneuver of a heavy payload with and without the unit active is compared for the design speed and higher speeds. Simultaneous load reduction and tracking performance are demonstrated using the EPCU.

Montgomery, Raymond C.↗
NASA NTRS2012

Coherent Detector for Near-Angle Scattering and Polarization Characterization of Telescope Mirror Coatings

A report discusses the difficulty of measuring scattering properties of coated mirrors extremely close to the specular reflection peak. A prototype Optical Hetero dyne Near-angle Scatterometer (OHNS) was developed. Light from a long-coherence-length (>150 m) 532-nm laser is split into two arms. Acousto-optic modulators frequency shift the sample and reference beams, establishing a fixed beat frequency between the beams. The sample beam is directed at very high f/# onto a mirror sample, and the point spread function (PSF) formed after the mirror sample is scanned with a pinhole. This light is recombined by a non-polarizing beam splitter and measured through heterodyne detection with a spectrum analyzer. Polarizers control the illuminated and analyzed polarization states, allowing the polarization dependent scatter to be measured. The bidirectional reflective or scattering distribution function is normally measured through use of a scattering goniometer instrument. The instrumental beam width (collection angle span) over which the scatterometer responds is typically many degrees. The OHNS enables measurement at angles as small as the first Airy disk diameter.

Macenka, Steven A.↗
DOE OSTI2014

Soot Particle Aerosol Mass Spectrometer (SP-AMS) BBOP

We collected rapid (1 second time response) measurements of aerosol chemical composition (ug/m3) of biomass burning plumes (including wild fires and controlled agricultural burns) sampled on the DOE G1 aircraft during the 2013 Biomass Burning Observation Project (BBOP) using the Soot Particle Aerosol Mass Spectrometer (SP-AMS) developed and deployed by Aerodyne Research, Inc.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1979

Development of concepts for satellite retrieval devices

The teleoperator being developed to augment the Space Transportation System (STS) for satellite placement, retrieval, or servicing at altitudes or orbital planes where it would be impractical to use the shuttle is primarily a general purpose propulsion stage that can be fitted with manipulator arms, automated servicers and satellite retrieval devices for particular missions. Design concepts for a general purpose retrieval device for docking with a satellite to which a grappling fixture has been attached, and for a retrieval device for docking with the Solar Maximum Mission (SMM) spacecraft were defined. The mechanical aspects of these two devices are discussed as well as the crew operations involved and problems created by the requirement for remote control. Drawings for the two retrieval device concepts are included.

Pruett, E. C.↗
DOE OSTI2016

Hyperthermia and Radiation Therapy in Locoregional Recurrent Breast Cancers: A Systematic Review and Meta-analysis

Purpose: To conduct a systematic review and meta-analysis to evaluate the outcome of hyperthermia (HT) and radiation therapy (RT) in locally recurrent breast cancers (LRBCs). Methods and Materials: A total of 708 abstracts were screened from 8 databases according to the PRISMA guidelines. Single-arm and 2-arm studies, treating LRBCs with HT and RT but without surgery (for local recurrence) or concurrent chemotherapy were considered. The evaluated endpoint was complete response (CR). Results: Thirty-one full text articles, pertaining to 34 studies, were shortlisted for the meta-analysis. Eight were 2-arm (randomized, n=5; nonrandomized, n=3), whereas 26 were single-arm studies. In all, 627 patients were enrolled in 2-arm and 1483 in single-arm studies. Patients were treated with a median of 7 HT sessions, and an average temperature of 42.5°C was attained. Mean RT dose was 38.2 Gy (range, 26-60 Gy). Hyperthermia was most frequently applied after RT. In the 2-arm studies, a CR of 60.2% was achieved with RT + HT versus 38.1% with RT alone (odds ratio 2.64, 95% confidence interval [CI] 1.66-4.18, P<.0001). Risk ratio and risk difference were 1.57 (95% CI 1.25-1.96, P<.0001) and 0.22 (95% CI 0.11-0.33, P<.0001), respectively. In 26 single-arm studies, RT + HT attained a CR of 63.4% (event rate 0.62, 95% CI 0.57-0.66). Moreover, 779 patients had been previously irradiated (696 from single-arm and 83 from 2-arm studies). A CR of 66.6% (event rate 0.64, 95% CI 0.58-0.70) was achieved with HT and reirradiation (mean ± SD dose: 36.7 ± 7.7 Gy). Mean acute and late grade 3/4 toxicities with RT + HT were 14.4% and 5.2%, respectively. Conclusions: Thermoradiation therapy enhances the likelihood of CR rates in LRBCs over RT alone by 22% with minimal acute and late morbidities. For even those previously irradiated, reirradiation with HT provides locoregional control in two-thirds of the patients. Thermoradiation therapy could therefore be considered as an effective and safe palliative treatment option for LRBCs.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2022

A Demonstration of Intelligent Container Surveillance Using Stationary and Mobile Camera Platforms

Surveillance of nuclear material storage containers is required to ensure that the container safety boundary is maintained during the service life of the container. As many of these container types are the first and only containment barrier to release protecting the worker, public, and environment, it is imperative to develop robust surveillance tools to characterize container degradation. Machine learning (ML) techniques have matured quickly in the past decade and are slowly becoming a routine application in data analysis. While more popular architectures have been developed with different applications in mind, these can be easily translated to container surveillance requirements. In this study, we developed a ML model based on the Detectron2 framework to identify slip lid containers and common exterior container defects, primarily dents. Commercial-off-the-shelf cameras are combined into a stationary camera array or are mounted to a robotic arm to provide more mobility for positioning needs. Results from the model evaluations on the images indicate that the stationary camera arrays outperform the accuracy of the mobile camera systems for both individual camera and composite image detections. Overall, however, the detection accuracies of the systems fell short of 50% and were less than satisfactory. Future efforts to improve the system involve focusing on a single camera deployable solution that combines a controllable light source that eliminates one of the biggest environmental factors that influence ML model detection performance. Additional training set collection is planned to build a more robust model that enables accurate detection from a wider range of imaging conditions.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
NASA NTRS1974

A manipulator system designed for Free-Flying Teleoperator Spacecraft

A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spacecraft operating in conjunction with the Shuttle or Tug, is presented. The manipulator arm incorporates two 4-ft segments to the wrist with actuators located at the shoulder, elbow, and wrist. The wrist provides three degrees-of-freedom through pitch, yaw and continuous roll joints. An interchangeable end effector provides multiple task performance and satellite worksite versatility. A tip force of 10 lbs and a torque of 15 ft-lbs is provided. Man-in-the-loop simulations, using both unilateral and bilateral control techniques, were conducted. Based upon the simulation, a new, but relatively simple, control technique was proposed for the manipulator system.

Tewell, J. R.↗
NASA NTRS1992

Robot Control Based On Spatial-Operator Algebra

Method for mathematical modeling and control of robotic manipulators based on spatial-operator algebra providing concise representation and simple, high-level theoretical frame-work for solution of kinematical and dynamical problems involving complicated temporal and spatial relationships. Recursive algorithms derived immediately from abstract spatial-operator expressions by inspection. Transition from abstract formulation through abstract solution to detailed implementation of specific algorithms to compute solution greatly simplified. Complicated dynamical problems like two cooperating robot arms solved more easily.

Rodriguez, Guillermo↗
NASA NTRS1988

Robot Manipulators

Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

Source record↗
NASA NTRS2003

STS-114 Crew Interview: James M. Kelly, PLT

Pilot James M. Kelly, Lieutenant Colonel USAF, is shown during a prelaunch interview. He expresses the major goals of the mission which are to replace the Expedition Six crew of the International Space Station (ISS), install the Raffello Multi-Purpose Logistics Module, deliver the External Stowage Platform to the ISS, and replace the Control Moment Gyroscope (CMG). The major task that he has is to be the backup pilot for Commander Eileen Collins. He talks about the three new research racks brought up to the International Space Station inside the U.S. Destiny Laboratory along with the Window Observational Research Facility (WORF), Human Research Facility 2 (HRF-2), and a Minus Eighty Degree Laboratory Freezer (MELF-1). Kelly also explains how he uses the ISS' Robotic arm to lift the MPLM out of Atlantis' payload bay and attach it to the Unity node to unload hardware, supplies and maintenance items. This will be his second trip to the International Space Station.

Source record↗
NASA NTRS2004

Special Purpose Crew Restraints for Teleoperation

With permanent human presence onboard the International Space Station (ISS), and long duration space missions being planned for the moon and Mars, humans will be living and working in microgravity over increasingly long periods of time. In addition to weightlessness, the confined nature of a spacecraft environment results in ergonomic challenges such as limited visibility, and access to the activity area. These challenges can result in prolonged periods of unnatural postures for the crew, ultimately causing pain, injury, and loss of productivity. Determining the right set of human factors requirements and providing an ergonomically designed environment is crucial to mission success. While a number of general purpose restraints have been used on ISS (handrails, foot loops), experience has shown that these general purpose restraints may not be optimal, or even acceptable for some tasks that have unique requirements. For example, some onboard activities require extreme stability (e.g., glovebox microsurgery), and others involve the use of arm, torso and foot movements in order to perform the task (e-g. robotic teleoperation); standard restraint systems will not work in these situations. The Usability Testing and Analysis Facility (WAF) at the NASA Johnson Space Center began evaluations of crew restraints for these special situations by looking at NASAs Robonaut. Developed by the Robot Systems Technology Branch, Robonaut is a humanoid robot that can be remotely operated through a tetepresence control system by an operator. It was designed to perform work in hazardous environments (e.g., Extra Vehicular Activities). A Robonaut restraint was designed, modeled for the population, and ultimately tested onboard the KC-135 microgravity aircraft. While in microgravity, participants were asked to get in and out of the restraint from different locations, perform maximum reach exercises, and finally to teleoperate Robonaut while in the restraint. The sessions were videotaped, and participants completed a questionnaire at the end of each flight day. Results from this evaluation are being used to develop the human factors design requirements for teleoperation tasks in microgravity.

Whitmore, Mihriban↗
NASA NTRS1973

Study of design and control of remote manipulators. Part 2: Vibration considerations in manipulator design

An investigation is reported involving a mathematical procedure using 4 x 4 transformation matrices for analyzing the vibrations of flexible manipulators. Previous studies with the procedure are summarized and the method is extended to include flexible joints as well as links, and to account for the effects of various power transmission schemes. A systematic study of the allocation of structural material and the placement of components such as motors and gearboxes was undertaken using the analytical tools developed. As one step in this direction the variables which relate the vibration parameters of the arm to the task and environment of the arm were isolated and nondimensionalized. The 4 x 4 transformation matrices were also used to develop analytical expressions for the terms of the complete 6 x 6 compliance matrix for the case of two flexible links joined by a rotating joint, flexible about its axis of rotation.

Book, W. J.↗
DOE OSTI2013

Designing Tripodal and Triangular Gadolinium Oxide Nanoplates and Self-Assembled Nanofibrils as Potential Multimodal Bioimaging Probes

Here, we report the shape-controlled synthesis of tripodal and triangular gadolinium oxide (Gd2O3) nanoplates. In the presence of lithium ions, the shape of the nanocrystals is readily controlled by tailoring reaction parameters such as temperature and time. We observe that the morphology transforms from an initial tripodal shape to a triangular shape with increasing reaction time or elevated temperatures. Highly uniform Gd2O3 nanoplates are self-assembled into nanofibril-like liquid-crystalline superlattices with long-range orientational and positional order. In addition, shape-directed self-assemblies are investigated by tailoring the aspect ratio of the arms of the Gd2O3 nanoplates. Due to a strong paramagnetic response, Gd2O3 nanocrystals are excellent candidates for MRI contrast agents and also can be doped with rare-earth ions to form nanophosphors, pointing to their potential in multimodal imaging. In this work, we investigate the MR relaxometry at high magnetic fields (9,4 and 14.1 T) and the optical properties including near-IR to visible upconversion luminescence and X-ray excited optical luminescence of doped Gd2O3 nanoplates. The complex shape of Gd2O3 nanoplates, coupled with their magnetic properties and their ability to phosphoresce under NIR or X-ray excitation which penetrate deep into tissue, makes these nanoplates a promising platform for multimodal imaging in biomedical applications.

Paik, T↗
NASA NTRS2002

Embedded Real-Time Linux for Instrument Control and Data Logging

When I moved to the west. coast to take a job at NASA's Ames Research Center in Mountain View, CA, I was impressed with the variety of equipment and software which scientists at the center use to conduct their research. was happy to find that I was just as likely to see a machine running Lenox as one running Windows in the offices and laboratories of NASA Ames (although many people seem to use Moos around here). I was especially happy to find that the particular group with whom I was going to work, the Atmospheric Physics Branch at Ames, relied almost entirely on Lenox machines for their day-to-day work. So it was no surprise that when it was time to construct a new control system for one of their most important pieces of hardware, a switch from an unpredictable DOS-based platform to an Embedded Linux-based one was a decision easily made. The system I am working on is called the Solar Spectral Flux Radiometer (SSFR), a PC-104 based system custom-built by Dr. Warren Gore at Ames. Dr. Gore, Dr. Peter Pilewskie, Dr. Maura Robberies and Larry Pezzolo use the SSFR in their research. The team working on the controller project consists of Dr. Gore, John Pommier, and myself. The SSFR is used by the ,cities Atmospheric Radiation Group to measure solar spectral irradiance at moderate resolution to determine the radiative effect of clouds, aerosols, and gases on climate, and also to infer the physical properties of aerosols and clouds. Two identical SSFR's have been built and successfully deployed in three field missions: 1) the Department of Energy Atmospheric Radiation Measurement (ARM) Enhanced Shortwave Experiment (ARESE) II in February/March, 2000; 2) the Puerto Rico Dust Experiment (PRIDE) in July, 2000; and 3) the South African Regional Science Initiative (SAFARI) in August/September, 2000. Additionally, the SSFR was used to acquire water vapor spectra using the Ames Diameter base-path multiple-reflection absorption cell in a laboratory experiment.

Clanton, Sam↗
NASA NTRS2005

CHAMP - Camera, Handlens, and Microscope Probe

CHAMP (Camera, Handlens And Microscope Probe) is a novel field microscope capable of color imaging with continuously variable spatial resolution from infinity imaging down to diffraction-limited microscopy (3 micron/pixel). As an arm-mounted imager, CHAMP supports stereo-imaging with variable baselines, can continuously image targets at an increasing magnification during an arm approach, can provide precision range-finding estimates to targets, and can accommodate microscopic imaging of rough surfaces through a image filtering process called z-stacking. Currently designed with a filter wheel with 4 different filters, so that color and black and white images can be obtained over the entire Field-of-View, future designs will increase the number of filter positions to include 8 different filters. Finally, CHAMP incorporates controlled white and UV illumination so that images can be obtained regardless of sun position, and any potential fluorescent species can be identified so the most astrobiologically interesting samples can be identified.

Mungas, G. S.↗
NASA NTRS1992

Flexible robotic arm

A plurality of identical modules are serially connected together with each module including a base plate and a top plate interconnected by a universal joint assembly so that the top plate is adapted to pivotally nutate around the base plate to describe a cone in space. An array of twenty-four electromagnets, sequentially energized in sets of three, are arranged in a ring around the periphery of the base plate. Selective energization of the eight sets of electromagnets causes the rim of the top plate to be magnetically attracted to the energized electromagnets. The tilt of the top pivot plate is detected and controlled over a range of 360°, thus permitting a series string of modules to assume any desired elongated configuration.

Israel A Moya↗
DOE OSTI2018

TeMoto 2.0: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems - 18438

Tele-operated robots provide safe means for executing tasks in hazardous environments such as underground mines, space, disaster and legacy nuclear facility decommissioning sites, etc. The desire to use these systems in increasingly complex and dynamic environments presents a variety of technical and educational challenges including (i) insufficient field knowledge of system developers, (ii) restricted data bandwidth, and (iii) insufficient operator situational awareness. Lack of field knowledge is commonly addressed by actively educating robotics engineers in the perspective areas. The Nuclear Robotics Group (NRG) at the University of Texas at Austin trains students to have the necessary skill and knowledge in both the robotic and nuclear domains. To address the second two deficiencies, the NRG has developed TeMoto: a speech and hand gesture based supervisory teleoperation software. TeMoto addresses several chronic technical issues associated with most teleoperation systems including the operator's situational awareness, communication delays and interface intuitiveness. This paper reviews recent efforts to update and extend the TeMoto architecture (TeMoto 2.0) to support more complex semi-autonomous behaviors and eliminate the unnecessary and confining concept of a human interface as a separate component from the rest of the robot's sensors and actuators. This paper outlines the key architectural changes and demonstrations using a dual-arm mobile manipulator to complete semi-autonomous tasks. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗