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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 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Trajectory Generation for Flexible-Joint Space Manipulators

Space manipulator arms often exhibit significant joint flexibility and limited motor torque. Future space missions, including satellite servicing and large structure assembly, may involve the manipulation of massive objects, which will accentuate these limitations. Currently, astronauts use visual feedback on-orbit to mitigate oscillations and trajectory following issues. Large time delays between orbit and Earth make ground teleoperation difficult in these conditions, so more autonomous operations must be considered to remove the astronaut resource requirement and expand robotic capabilities in space. Trajectory planning for autonomous systems must therefore be considered to prevent poor trajectory tracking performance. We provide a model-based trajectory generation methodology that incorporates constraints on joint speed, motor torque, and base actuation for flexible-joint space manipulators while minimizing total trajectory time. Full spatial computer simulation results, as well as physical experiment results with a single-joint robot on an air bearing table, show the efficacy of our methodology.

Space robotics↗
NASA NTRS1996

Performance Robustness of Manipulator Collision Controller

In this paper, we propose that the manipulator impact control problem be approached from a stochastic optimal control perspective. The reason is that not only is such approach be able to model uncertainties in contact environment, force sensing, as well as manipulator dynamics, the controllers obtained is optimally robust in terms of performance. This result is verified by analyses and simulations.

model uncertainties contact environment force sens↗
DOE OSTI2026

Adiabatic fast passage spin manipulation measurements in solid polarized targets

Adiabatic fast passage (AFP) is a rapid method for reversing nuclear polarization and manipulating spin populations in polarized solid targets, avoiding the long repolarization times associated with dynamic nuclear polarization (DNP). We report AFP measurements in a 5 T, 1 K polarized-target system for irradiated 15 NH 3 , irradiated 14 ND 3 , and butanol-based materials prepared either with TEMPO doping or by irradiation. We also present a joint manipulated-lineshape analysis for spin-1 targets and demonstrate that vector and tensor polarizations can be extracted from AFP-manipulated deuteron NMR spectra even when the populations are not described by a single Boltzmann spin temperature. In conclusion, we report a reproducible polarization- and direction-dependent AFP response in a large irradiated 15 NH 3 sample. These ammonia results are presented as empirical observations under the specific sample–coil conditions of the experiment, with possible circuit-mediated mechanisms such as radiation damping or superradiant behavior discussed but not assigned as a definitive cause.

Adiabatic fast passage↗
DOE OSTI2026

Atomic-scale imaging and charge state manipulation of NV centers by scanning tunneling microscopy

Nitrogen-vacancy (NV) centers in diamond are among the most promising solid-state qubit candidates, owing to their exceptionally long spin coherence times, efficient spin-photon coupling, room-temperature operation, and steadily advancing fabrication and integration techniques. Despite significant progress in the field, atomic-scale characterization and control of individual NV centers have remained elusive. In this work, we utilize a conductive graphene capping layer to enable direct imaging and manipulation of NV - defects via scanning tunneling microscopy (STM). By investigating over 40 individual NV - centers, we identify their spectroscopic signatures and spatial configurations. Our dI/dV conductance spectra reveal the ground state resonance approximately 300 meV below the Fermi level and density-of-states maps uncover a two-lobed wavefunction aligned along the [111] crystallographic direction. Remarkably, we demonstrate the ability to manipulate the charge state of the NV centers from NV - to NV 0 through STM tip-induced gating. This work represents a significant advance in the atomic-scale imaging, spectroscopic characterization, and charge-state manipulation of NV centers, potentially paving the way for future quantum device development.

Raghavan, Arjun [Univ. of Illinois at Urbana-Champ↗
DOE OSTI2025

Ultrafast simultaneous manipulation of multiple ferroic orders through nonlinear phonon excitation

Recent experimental studies have demonstrated the possibility of utilizing strong terahertz pulses to manipulate individual ferroic orders on pico- and femtosecond timescales. Here, we extend these findings and showcase the simultaneous manipulation of multiple ferroic orders in BiFeO 3 , a material that is both ferroelectric and antiferromagnetic at room temperature. We find a concurrent enhancement of ferroelectric and antiferromagnetic second-harmonic generation (SHG) following the resonant excitation of a high-frequency fully-symmetric phonon mode. Based on first-principles calculations and phenomenological modeling, we ascribe this observation to the inherent coupling of the two ferroic orders to the nonequilibrium distortions induced in the crystal lattice by nonlinearly driven phonons. Our finding highlights the potential of nonlinear phononics as a technique for manipulating multiple ferroic order parameters at once. In addition, this approach provides a promising avenue to studying the dynamical magnetic and polarization behavior, as well as their intrinsic coupling, on ultrashort timescales.

36 MATERIALS SCIENCE↗
NASA NTRS1972

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 1: Technical

Information backing up the key features of the manipulator system concept and detailed technical information on the subsystems are presented. Space station assembly and shuttle cargo handling tasks are emphasized in the concept analysis because they involve shuttle berthing, transferring the manipulator boom between shuttle and station, station assembly, and cargo handling. Emphasis is also placed on maximizing commonality in the system areas of manipulator booms, general purpose end effectors, control and display, data processing, telemetry, dedicated computers, and control station design.

Source record↗
NASA NTRS1972

Manipulator technology for the space shuttle

A shuttle-attached manipulator is currently proposed as the payload-handling device for the space shuttle. Basic requirements for the manipulator involve length, force, compliance, and control. Approaches for studying control methods are presented and simulation methods are discussed. Basic details about the two earthbased manipulators selected for simulation experiments are related to the test methods. Preliminary data from one test are shown as an example of the direction of the testing. A computer-generated simulation is explained, and the relationship of the three simulations to the design problems is discussed.

Burroughs, E. G.↗
NASA NTRS1973

Studies to design and develop improved remote manipulator systems

Remote manipulator control considered is based on several levels of automatic supervision which derives manipulator commands from an analysis of sensor states and task requirements. Principle sensors are manipulator joint position, tactile, and currents. The tactile sensor states can be displayed visually in perspective or replicated in the operator's control handle of perceived by the automatic supervisor. Studies are reported on control organization, operator performance and system performance measures. Unusual hardware and software details are described.

Hill, J. W.↗
NASA NTRS1971

ADMAP (automatic data manipulation program)

Instructions are presented on the use of ADMAP, (automatic data manipulation program) an aerospace data manipulation computer program. The program was developed to aid in processing, reducing, plotting, and publishing electric propulsion trajectory data generated by the low thrust optimization program, HILTOP. The program has the option of generating SC4020 electric plots, and therefore requires the SC4020 routines to be available at excution time (even if not used). Several general routines are present, including a cubic spline interpolation routine, electric plotter dash line drawing routine, and single parameter and double parameter sorting routines. Many routines are tailored for the manipulation and plotting of electric propulsion data, including an automatic scale selection routine, an automatic curve labelling routine, and an automatic graph titling routine. Data are accepted from either punched cards or magnetic tape.

Mann, F. I.↗
NASA NTRS1973

Study to design and develop remote manipulator system

Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

Hill, J. W.↗
NASA NTRS1972

Design and fabricate a pair of Rancho anthropomorphic manipulator arms

The basic design features of the Rancho Anthropomorphic Manipulator (RAM), bilateral manipulator system are reported. In contrast with other previous electrically powered manipulators, the RAM features increased payload capability, structural integrity, position control, and the ability to interchange its own terminal devices. A set of detailed design drawings and a motion picture are considered.

Allen, J. R.↗
NASA NTRS1975

Simulation of man-machine interaction on shuttle payload manipulator

The main objective of this simulation was to evaluate the feasibility of a simplified control system for a remote manipulator for space shuttle payloads. The motion commanded by the operator through the control system to the six degree of freedom manipulator approximates that of a backhoe. Compatibility of low arm damping, heavy payloads, small clearances in the shuttle cargo bay and stringent mission timelines were evaluated. The effects of various devices to enhance visual cues were evaluated. Phase I of the simulation was capture of a payload flying free in space relative to the shuttle. Phase II was simulation of cargo stowage into a mockup of the space shuttle cargo bay. A shuttle remote manipulator control station mockup including TV monitors and hand controllers is used in the simulation. Results evaluating various parameters of the control system and the task, including arm flexibility, are presented.

Hookway, R. O.↗
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 NTRS1975

A manipulator arm for zero-g simulations

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

Brodie, S. B.↗
NASA NTRS1975

Television systems for remote manipulation

An analytical and experimental study was conducted to specify a video system for remote manipulation in space. An operator function analysis identified two basic characteristics, work volume and element relationship, which define four manipulation tasks chosen for examination. A visual function analysis developed a set of elemental scene parameters which grouped the visual dimensions into major areas of influence. Simulation testing was conducted with a four degree-of-freedom motion frame which allowed an operator to perform the manipulation tasks. Four video systems were included in the simulation testing: a black and white and a color monoscopic system, a stereoscopic system, and a black and white two-view system. A sequential experimental plan first provided an overall analysis of the effects of tasks, scene parameters, and video systems. This was followed by a detailed experimental examination of the critical dimensions identified in the first experiment. Results are discussed in terms of a recommended TV system.

Crooks, W. H.↗
NASA NTRS1975

Effect of hand-based sensors on manipulator control performance

The effect of hand based sensors (e.g tactile, force, and proximity sensors) on the performance of manipulator control is discussed. A brief overview is presented on various experimental hand based information systems which provide the manipulator controller some nonvisual awareness of the task environment. It is established that differences in manipulator task categories and motion phases require different hand based information systems to cope with control performance requirements.

Bejczy, A. K.↗
NASA NTRS1975

TV requirements for manipulation in space

A video system for remote manipulation in space was studied. Analysis of basic manipulation tasks and visual requirements; simulation testing to determine the effects of task, scene parameter, and type of video system on manipulation performance; and video system selection and specification are described.

Freedman, L. A.↗