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NASA NTRS2002

Rocket-Based Combined Cycle Flowpath Testing for Modes 1 and 4

Under sponsorship of the NASA Glenn Research Center (NASA GRC), the Johns Hopkins University Applied Physics Laboratory (JHU/APL) designed and built a five-inch diameter, Rocket-Based Combined Cycle (RBCC) engine to investigate mode 1 and mode 4 engine performance as well as Mach 4 inlet performance. This engine was designed so that engine area and length ratios were similar to the NASA GRC GTX engine is shown. Unlike the GTX semi-circular engine design, the APL engine is completely axisymmetric. For this design, a traditional rocket thruster was installed inside of the scramjet flowpath, along the engine centerline. A three part test series was conducted to determine Mode I and Mode 4 engine performance. In part one, testing of the rocket thruster alone was accomplished and its performance determined (average Isp efficiency = 90%). In part two, Mode 1 (air-augmented rocket) testing was conducted at a nominal chamber pressure-to-ambient pressure ratio of 100 with the engine inlet fully open. Results showed that there was neither a thrust increment nor decrement over rocket-only thrust during Mode 1 operation. In part three, Mode 4 testing was conducted with chamber pressure-to-ambient pressure ratios lower than desired (80 instead of 600) with the inlet fully closed. Results for this testing showed a performance decrease of 20% as compared to the rocket-only testing. It is felt that these results are directly related to the low pressure ratio tested and not the engine design. During this program, Mach 4 inlet testing was also conducted. For these tests, a moveable centerbody was tested to determine the maximum contraction ratio for the engine design. The experimental results agreed with CFD results conducted by NASA GRC, showing a maximum geometric contraction ratio of approximately 10.5. This report details the hardware design, test setup, experimental results and data analysis associated with the aforementioned tests.

Rice, Tharen↗
NASA NTRS2002

A Framework for Creating a Function-based Design Tool for Failure Mode Identification

Knowledge of potential failure modes during design is critical for prevention of failures. Currently industries use procedures such as Failure Modes and Effects Analysis (FMEA), Fault Tree analysis, or Failure Modes, Effects and Criticality analysis (FMECA), as well as knowledge and experience, to determine potential failure modes. When new products are being developed there is often a lack of sufficient knowledge of potential failure mode and/or a lack of sufficient experience to identify all failure modes. This gives rise to a situation in which engineers are unable to extract maximum benefits from the above procedures. This work describes a function-based failure identification methodology, which would act as a storehouse of information and experience, providing useful information about the potential failure modes for the design under consideration, as well as enhancing the usefulness of procedures like FMEA. As an example, the method is applied to fifteen products and the benefits are illustrated.

Arunajadai, Srikesh G.↗
NASA NTRS2004

Excitation of Coupled Slotline Mode in Finite Ground CPW with Unequal Ground Plane Widths

The coupling between the desired CPW mode and the unwanted coupled slotline mode is presented for finite ground coplanar waveguides with unequal ground plane widths. Measurements, quasi-static conformal mapping, and Finite-Difference Time-Domain analysis are performed to determine the dependence of the slotline mode excitation on the physical dimensions of the FGC line and on the frequency range of operation. It is shown that the ratio of the slotline mode to the CPW mode can be as high as 18 dB. The use of airbridges is shown to reduce the slotline mode by 15 dB, but that the slotline mode fully reestablishes itself after 2000 microns. Furthermore, these results are independent of frequency.

Ponchak, George E.↗
NASA NTRS2004

Characterization of the Edge Crack Torsion (ECT) Test for Mode III Fracture Toughness Measurement of Laminated Composites

The edge crack torsion (ECT) test is designed to initiate mode III delamination growth in composite laminates. The test has undergone several design changes during its development. The objective of this paper was to determine the suitability of the current ECT test design a mode III fracture test. To this end, ECT tests were conducted on specimens manufactured from IM7/8552 and S2/8552 tape laminates. Three-dimensional finite element analyses were performed. The analysis results were used to calculate the distribution of mode I, mode II, and mode III strain energy release rate along the delamination front. The results indicated that mode IIIdominated delamination growth would be initiated from the specimen center. However, in specimens of both material types, the measured values of GIIIc exhibited significant dependence on delamination length. Load-displacement response of the specimens exhibited significant deviation from linearity before specimen failure. X-radiographs of a sample of specimens revealed that damage was initiated in the specimens prior to failure. Further inspection of the failure surfaces is required to identify the damage and determine that mode III delamination is initiated in the specimens.

Ratcliffe, James G.↗
NASA NTRS2000

Mode-routed fiber-optic add-drop filter

New elements mode-converting two-mode grating and mode-filtering two-mode coupler are disclosed and used as elements in a system for communications, add-drop filtering, and strain sensing. Methods of fabrication for these new two-mode gratings and mode-filtering two-mode couplers are also disclosed.

Moslehi, Behzad↗
NASA NTRS2007

SDO Delta H Mode Design and Analysis

While on orbit, disturbance torques on a three axis stabilized spacecraft tend to increase the system momentum, which is stored in the reaction wheels. Upon reaching the predefined momentum capacity (or maximum wheel speed) of the reaction wheel, an external torque must be used to unload the momentum. The purpose of the Delta H mode is to manage the system momentum. This is accomplished by driving the reaction wheels to a target momentum state while the attitude thrusters, which provide an external torque, are used to maintain the attitude. The Delta H mode is designed to meet the mission requirements and implement the momentum management plan. Changes in the requirements or the momentum management plan can lead to design changes in the mode. The momentum management plan defines the expected momentum buildup trend, the desired momentum state and how often the system is driven to the desired momentum state (unloaded). The desired momentum state is chosen based on wheel capacity, wheel configuration, thruster layout and thruster sizing. For the Solar Dynamics Observatory mission, the predefined wheel momentum capacity is a function of the jitter requirements, power, and maximum momentum capacity. Changes in jitter requirements or power limits can lead to changes in the desired momentum state. These changes propagate into the changes in the momentum management plan and therefore the Delta H mode design. This paper presents the analysis and design performed for the Solar Dynamics Observatory Delta H mode. In particular, the mode logic and processing needed to meet requirements is described along with the momentum distribution formulation. The Delta H mode design is validated using the Solar Dynamics Observatory High Fidelity simulator. Finally, a summary of the design is provided along with concluding remarks.

Mason, Paul A.↗
NASA NTRS2006

Nonlinear Spring Finite Elements for Predicting Mode I-Dominated Delamination Growth in Laminated Structure with Through-Thickness reinforcement

One particular concern of polymer matrix composite laminates is the relatively low resistance to delamination cracking, in particular when the dominant type of failure is mode I opening. One method proposed for alleviating this problem involves the insertion pultruded carbon pins through the laminate thickness. The pins, known as z-pins, are inserted into the prepreg laminate using an ultrasonic hammer prior to the curing process, resulting in a field of pins embedded normal to the laminate plane as illustrated in Figure. 1. Pin diameters range between 0.28-mm to 0.5-mm and standard areal densities range from 0.5% to 4%. The z-pins are provided by the manufacturer, Aztex(Registered TradeMark) , in a low-density foam preform, which acts to stabilize orientation of the pins during the insertion process [1-3]. Typical pin materials include boron and carbon fibers embedded in a polymer matrix. A number of methods have been developed for predicting delamination growth in laminates reinforced with z-pins. During a study on the effect of z-pin reinforcement on mode I delamination resistance, finite element analyses of z-pin reinforced double cantilever beam (DCB) specimens were performed by Cartie and Partridge [4]. The z-pin bridging stresses were modeled by applying equivalent forces at the pin locations. Single z-pin pull-out tests were performed to characterize the traction law of the pins under mode I loading conditions. Analytical solutions for delamination growth in z-pin reinforced DCB specimens were independently derived by Robinson and Das [5] and Ratcliffe and O'Brien [6]. In the former case, pin bridging stresses were modeled using a distributed load and in the latter example the bridging stresses were discretely modeled by way of grounded springs. Additionally, Robinson and Das developed a data reduction strategy for calculating mode I fracture toughness, G(sub Ic), from a z-pin reinforced DCB specimen test [5]. In both cases a traction law similar to that adopted by Cartie and Partridge was used to represent z-pin failure under mode I loading conditions. In the current work spring elements available in most commercial finite element codes were used to model z-pins. The traction law used in previous analyses [4-6] was employed to represent z-pin damage. This method is intended for and is limited to simulating z-pins in composite laminate structure containing mode I-dominated delamination cracking. The current technique differs from previous analyses in that spring finite elements (available in commercial codes) are employed for simulating zpins, reducing the complexity of the analysis construction process. Furthermore, the analysis method can be applied to general structure that experiences mode I-dominated delamination cracking, in contrast to existing analytical solutions that are only applicable to coupon DCB specimens.

Ratcliffe, James G.↗
NASA NTRS2010

Lunar Reconnaissance Orbiter (LRO) Thruster Control Mode Design and Flight Experience

National Aeronautics and Space Administration s (NASA) Goddard Space Flight Center (GSFC) in Greenbelt, MD, designed, built, tested, and launched the Lunar Reconnaissance Orbiter (LRO) from Cape Canaveral Air Force Station on June 18, 2009. The LRO spacecraft is the first operational spacecraft designed to support NASA s return to the Moon, as part of the Vision for Space Exploration. LRO was launched aboard an Atlas V 401 launch vehicle into a direct insertion trajectory to the Moon. Twenty-four hours after separation the propulsion system was used to perform a mid-course correction maneuver. Four days after the mid-course correction a series of propulsion maneuvers were executed to insert LRO into its commissioning orbit. The commission period lasted eighty days and this followed by a second set of thruster maneuvers that inserted LRO into its mission orbit. To date, the spacecraft has been gathering invaluable data in support of human s future return to the moon. The LRO Attitude Control Systems (ACS) contains two thruster based control modes: Delta-H and Delta-V. The design of the two controllers are similar in that they are both used for 3-axis control of the spacecraft with the Delta-H controller used for momentum management and the Delta-V controller used for orbit adjust and maintenance maneuvers. In addition to the nominal purpose of the thruster modes, the Delta-H controller also has the added capability of performing a large angle slew maneuver. A suite of ACS components are used by the thruster based control modes, for both initialization and control. For initialization purposes, a star tracker or the Kalman Filter solution is used for providing attitude knowledge and upon entrance into the thruster based control modes attitude knowledge is provided via rate propagation using a inertial reference unit (IRU). Rate information for the controller is also supplied by the IRU. Three-axis control of the spacecraft in the thruster modes is provided by eight 5-lbf class attitude control thrusters configured in two sets of four thrusters for redundancy purposes. Four additional 20-lbf class thrusters configured in two sets of two thrusters are used for Lunar Orbit Insertion maneuvers. The propulsion system is one the few systems on-board the LRO spacecraft that has built in redundancy. The Delta-H controller consists of a Proportional-Derivative (PD) controller with a structural filter on the thrusters and a Proportional controller on the reaction wheels. The PD control that employs the thrusters is used for attitude and rate control. The Proportional controller on the reaction wheels is used for commanding the wheels to a new momentum state. The ground commands used for the Delta-H controller are the system momentum vector, reaction wheel momentum, maximum expected command time, and which set of attitude control thrusters to use. The ability to command both the system momentum vector and reaction wheel momentum in the Delta-H controller provides both a capability and an additional source of operator error. Large angle slews via the Delta-H controller is achievable via this commands because these commands are used for the exit mode criteria. Setting these commands to non-consistent values prevents the mode from exiting nominally.

Hsu, Oscar C.↗
NASA NTRS2010

Climatological Aspects of the Optical Properties of Fine/Coarse Mode Aerosol Mixtures

Aerosol mixtures composed of coarse mode desert dust combined with fine mode combustion generated aerosols (from fossil fuel and biomass burning sources) were investigated at three locations that are in and/or downwind of major global aerosol emission source regions. Multiyear monitoring data at Aerosol Robotic Network sites in Beijing (central eastern China), Kanpur (Indo-Gangetic Plain, northern India), and Ilorin (Nigeria, Sudanian zone of West Africa) were utilized to study the climatological characteristics of aerosol optical properties. Multiyear climatological averages of spectral single scattering albedo (SSA) versus fine mode fraction (FMF) of aerosol optical depth at 675 nm at all three sites exhibited relatively linear trends up to 50% FMF. This suggests the possibility that external linear mixing of both fine and coarse mode components (weighted by FMF) dominates the SSA variation, where the SSA of each component remains relatively constant for this range of FMF only. However, it is likely that a combination of other factors is also involved in determining the dynamics of SSA as a function of FMF, such as fine mode particles adhering to coarse mode dust. The spectral variation of the climatological averaged aerosol absorption optical depth (AAOD) was nearly linear in logarithmic coordinates over the wavelength range of 440-870 nm for both the Kanpur and Ilorin sites. However, at two sites in China (Beijing and Xianghe), a distinct nonlinearity in spectral AAOD in logarithmic space was observed, suggesting the possibility of anomalously strong absorption in coarse mode aerosols increasing the 870 nm AAOD.

Eck, T. F.↗
NASA NTRS2013

Upper Bounds on r-Mode Amplitudes from Observations of Low-Mass X-Ray Binary Neutron Stars

We present upper limits on the amplitude of r-mode oscillations and gravitational-radiation-induced spin-down rates in low-mass X-ray binary neutron stars, under the assumption that the quiescent neutron star luminosity is powered by dissipation from a steady-state r-mode. For masses <2M solar mass we find dimensionless r-mode amplitudes in the range from about 1×10(exp−8) to 1.5×10(exp−6). For the accreting millisecond X-ray pulsar sources with known quiescent spin-down rates, these limits suggest that approx. less than 1% of the observed rate can be due to an unstable r-mode. Interestingly, the source with the highest amplitude limit, NGC 6440, could have an r-mode spin-down rate comparable to the observed, quiescent rate for SAX J1808−3658. Thus, quiescent spin-down measurements for this source would be particularly interesting. For all sources considered here, our amplitude limits suggest that gravitational wave signals are likely too weak for detection with Advanced LIGO. Our highest mass model (2.21M solar mass) can support enhanced, direct Urca neutrino emission in the core and thus can have higher r-mode amplitudes. Indeed, the inferred r-mode spin-down rates at these higher amplitudes are inconsistent with the observed spin-down rates for some of the sources, such as IGR J00291+5934 and XTE J1751−305. In the absence of other significant sources of internal heat, these results could be used to place an upper limit on the masses of these sources if they were made of hadronic matter, or alternatively it could be used to probe the existence of exotic matter in them if their masses were known.

gravitational waves↗
NASA NTRS2013

Representation of Nucleation Mode Microphysics in a Global Aerosol Model with Sectional Microphysics

In models, nucleation mode (1 nm<Dp <10 nm) particle microphysics can be represented explicitly with aerosol microphysical processes or can be parameterized to obtain the growth and survival of nuclei to the model's lower size boundary. This study investigates how the representation of nucleation mode microphysics impacts aerosol number predictions in the TwO-Moment Aerosol Sectional (TOMAS) aerosol microphysics model running with the GISS GCM II-prime by varying its lowest diameter boundary: 1 nm, 3 nm, and 10 nm. The model with the 1 nm boundary simulates the nucleation mode particles with fully resolved microphysical processes, while the model with the 10 nm and 3 nm boundaries uses a nucleation mode dynamics parameterization to account for the growth of nucleated particles to 10 nm and 3 nm, respectively.We also investigate the impact of the time step for aerosol microphysical processes (a 10 min versus a 1 h time step) to aerosol number predictions in the TOMAS models with explicit dynamics for the nucleation mode particles (i.e., 3 nm and 1 nm boundary). The model with the explicit microphysics (i.e., 1 nm boundary) with the 10 min time step is used as a numerical benchmark simulation to estimate biases caused by varying the lower size cutoff and the time step. Different representations of the nucleation mode have a significant effect on the formation rate of particles larger than 10 nm from nucleated particles (J10) and the burdens and lifetimes of ultrafinemode (10 nm≤Dp ≤70 nm) particles but have less impact on the burdens and lifetimes of CCN-sized particles. The models using parameterized microphysics (i.e., 10 nm and 3 nm boundaries) result in higher J10 and shorter coagulation lifetimes of ultrafine-mode particles than the model with explicit dynamics (i.e., 1 nm boundary). The spatial distributions of CN10 (Dp ≥10 nm) and CCN(0.2 %) (i.e., CCN concentrations at 0.2%supersaturation) are moderately affected, especially CN10 predictions above ∼700 hPa where nucleation contributes most strongly to CN10 concentrations. The lowermost-layer CN10 is substantially improved with the 3 nm boundary (compared to 10 nm) in most areas. The overprediction in CN10 with the 3 nm and 10 nm boundaries can be explained by the overprediction of J10 or J3 with the parameterized microphysics, possibly due to the instantaneous growth rate assumption in the survival and growth parameterization. The errors in CN10 predictions are sensitive to the choice of the lower size boundary but not to the choice of the time step applied to the microphysical processes. The spatial distribution of CCN(0.2 %) with the 3 nm boundary is almost identical to that with the 1 nm boundary, but that with the 10 nm boundary can differ more than 10-40% in some areas. We found that the deviation in the 10 nm simulations is partly due to the longer time step (i.e., 1 h time step used in the 10 nm simulations compared to 10 min time step used in the benchmark simulations), but, even with the same time step, the 10 nm cutoff showed noticeably higher errors than the 3 nm cutoff. In conclusion, we generally recommend using a lower diameter boundary of 3 nm for studies focused on aerosol indirect effects but down to 1 nm boundary for studies focused on CN10 predictions or nucleation.

microphysics↗
NASA NTRS2014

Single Mode Theory for Impedance Eduction in Large-Scale Ducts with Grazing Flow

An impedance eduction theory for a rigid wall duct containing an acoustic liner with an unknown impedance and uniform grazing flow is presented. The unique features of the theory are: 1) non-planar waves propagate in the hard wall sections of the duct, 2) input data consist solely of complex acoustic pressures acquired on a wall adjacent to the liner, and 3) multiple higher-order modes may exist in the direction perpendicular to the liner and the opposite rigid wall. The approach is to first measure the axial propagation constant of a dominant higher-order mode in the liner sample section. This axial propagation constant is then used in conjunction with a closed-form solution to a reduced form of the convected Helmholtz equation and the wall impedance boundary condition to educe the liner impedance. The theory is validated on a conventional liner whose impedance spectrum is educed in two flow ducts with different cross sections. For the frequencies and Mach numbers of interest, no higher-order modes propagate in the hard wall sections of the smaller duct. A benchmark method is used to educe the impedance spectrum in this duct. A dominant higher-order vertical mode propagates in the larger duct for similar test conditions, and the current theory is applied to educe the impedance spectrum. Results show that when the theory is applied to data acquired in the larger duct with a dominant higher-order vertical mode, the same impedance spectra is educed as that obtained in the small duct where only the plane wave mode is present and the benchmark method is used. This result holds for each higher-order vertical mode that is considered.

Watson, Willie R.↗
NASA NTRS2018

An Abrupt Transition to an Intergranular Failure Mode in the Near-Threshold FCG Regime in Ni-Based Superalloys

Cyclic near-threshold FCG behavior of two disk superalloys was evaluated, and was shown to exhibit an unexpected sudden failure mode transition from a mostly transgranular failure mode at higher stress intensities to an almost completely intergranular failure mode in the threshold regime. The change in failure modes was associated with a crossover effect in which the conditions that produced higher FCG rates in the Paris regime resulted in lower FCG rates and increased ΔKth values in the threshold region. High resolution scanning and transmission electron microscopy was used to carefully characterize the crack tips at these near-threshold conditions. Formation of stable Al-oxide followed by Cr and Ti oxides was found to occur at the crack tip prior to formation of unstable oxides. To contrast with the threshold failure mode regime, a quantitative assessment of the role that the intergranular failure mode has on cyclic FCG behavior in the Paris regime was also performed. It was demonstrated that the even a very limited intergranular failure content dominates the FCG response under mixed mode failure conditions.

fatigue crack growth↗
NASA NTRS2017

Ramp Traffic Console (RTC) Ramp Manager Traffic Console (RMTC) Observer Mode User Manual

This document serves as a user manual for the Observer Mode Ramp Traffic Console (RTC) in Charlotte Douglas International Airport Ramp Control Tower. It describes the elements of the full RTC interface and provides explanations for how to interact with the RTC while managing ramp traffic using one of the four RTC sector displays. The RTC provides digitally updated data for all flights including Earliest Off Block Times (EOBT) and Traffic Management Initiatives. Use of the RTC in observer mode allows only for observer and reading of data provided on RTC. In Observer Mode, the RTC may not be used to make data entries. This includes pushback, holds, and proceed inputs as well as updates to a flights data using the flight menu. However, using the RTC in Observer Mode allows for real time observation of ramp operations including pushback and hold entries made by the ramp sector controllers. The pushback advisories and Traffic Management Initiative information is also provided in Observer Mode. The RTC also provides notifications, runway departure counts and lists and near arrival flight lists as additional sources of information for management of ramp traffic. There are also detailed instructions for how to manage traffic with Surface Time Based Metering (STBM) advisories provided on RTC if in STBM mode. This document also provides instructions for use of the Ramp Manager Traffic Console (RMTC) while performing ramp manager functions such as managing the priority flight list, setting ramp status, and setting the metering mode. The RTC and RMTC ramp tool are one component of a suite of ATD-2 Tools.

Stevens, Lindsay K.↗
NASA NTRS2018

An Abrupt Transition to an Intergranular Failure Mode in the Near-Threshold Fatigue Crack Growth Regime in Ni-Based Superalloys

Cyclic near-threshold fatigue crack growth (FCG) behavior of two disk superalloys was evaluated and was shown to exhibit an unexpected sudden failure mode transition from a mostly transgranular failure mode at higher stress intensity factor ranges to an almost completely intergranular failure mode in the threshold regime. The change in failure modes was associated with a crossover of FCG resistance curves in which the conditions that produced higher FCG rates in the Paris regime resulted in lower FCG rates and increased Kth values in the threshold region. High-resolution scanning and transmission electron microscopy were used to carefully characterize the crack tips at these near-threshold conditions. Formation of stable Al-oxide followed by Cr-oxide and Ti-oxides was found to occur at the crack tip prior to formation of unstable oxides. To contrast with the threshold failure mode regime, a quantitative assessment of the role that the intergranular failure mode has on cyclic FCG behavior in the Paris regime was also performed. It was demonstrated that even a very limited intergranular failure content dominates the FCG response under mixed mode failure conditions.

Telesman, J.↗
NASA NTRS2019

Few-Mode Fiber Coupled Superconducting Nanowire Single-Photon Detectors for Photon Efficient Optical Communications

The NASA Glenn Research Center's development of a high-photon efficiency real-time optical communications ground receiver has added superconducting nanowire single-photon detectors (SNSPDs) coupled with few-mode fibers (FMF). High data rate space-to-ground optical communication links require enhanced ground receiver sensitivity to reduce spacecraft transmitter constraints, and therefore require highly efficient coupling from fiber to detector. In the presence of atmospheric turbulence the received optical wave front can be severely distorted introducing higher-order spatial mode components to the received signal. To reduce mode filtering and mismatch loss and the resulting degradations to detector coupling efficiency, we explore the use of few-mode fiber coupling to commercial single-pixel SNSPDs. Graded index 20-µm few-mode fibers allow the commercial single pixel SNSPD's active area to couple with equal efficiency as single mode fibers. Here we determine detector characteristics such as count rate, detection efficiency, dark counts, and jitter, as well as detection efficiencies for higher-order fiber spatial modes. Additionally, we assess the laboratory performance of the detectors in an optical system which emulates future deep space optical communications links.

Vyhnalek, Brian E.↗
NASA NTRS2022

A Coupled Evaluation of Operational MODIS and Model Aerosol Products for Maritime Environments Using Sun Photometry: Evaluation of the Fine and Coarse Mode

Although satellite retrievals and data assimilation have progressed to where there is a good skill for monitoring maritime Aerosol Optical Depth (AOD), there remains uncertainty in achieving further degrees of freedom, such as distinguishing fine and coarse mode dominated species in maritime environments (e.g., coarse mode sea salt and dust versus fine mode terrestrial anthropogenic emissions, biomass burning, and maritime secondary production). For the years 2016 through 2019, we performed an analysis of 550 nm total AOD550, fine mode AOD (FAOD550; also known as FM AOD in the literature), coarse mode AOD (CAOD550), and fine mode fraction (η550) between Moderate Resolution Spectral Imaging Radiometer (MODIS) V6.1 MOD/MYD04 dark target aerosol retrievals and the International Cooperative for Aerosol Prediction (ICAP) core four multi-model consensus (C4C) of analyses/short term forecasts that assimilate total MODIS AOD550. Differences were adjudicated by the global shipboard Maritime Aerosol Network (MAN) and selected island AERONET sun photometer observations with the application of the spectral deconvolution algorithm (SDA). Through a series of conditional and regional analyses, we found divergence included regions of terrestrial influence and latitudinal dependencies in the remote oceans. Notably, MODIS and the C4C and its members, while having good correlations overall, have a persistent +0.04 to +0.02 biases relative to MAN and AERONET for typical AOD550 values (84th% < 0.28), with the C4C underestimating significant events thereafter. Second, high biases in AOD550 are largely associated with the attribution of the fine mode in satellites and models alike. Thus, both MODIS and C4C members are systematically overestimating AOD550 and FAOD550 but perform better in characterizing the CAOD550. Third, for MODIS, findings are consistent with previous reports of a high bias in the retrieved Ångström Exponent, and we diagnosed both the optical model and cloud masking as likely causal factors for the AOD550 and FAOD550 high bias, whereas for the C4C, it is likely from secondary overproduction and perhaps numerical diffusion. Fourth, while there is no wind-speed-dependent bias for surface winds <12 m s−1, the C4C and MODIS AOD550s also overestimate CAOD550 and FAOD550, respectively, for wind speeds above 12 m/s. Finally, sampling bias inherent in MAN, as well as other circumstantial evidence, suggests biases in MODIS are likely MODIS and the C4C products have their own strengths and challenges for a given climate application and discuss needed research. even larger than what was diagnosed here. We conclude with a discussion on how

Aerosols↗
NASA NTRS2023

Transformable Linkage-Based Gripper for Multi-Mode Grasping and Manipulation

Gripper hardware design often involves a trade-off between distinct and sometimes opposing goals (e.g., high grasping force vs. gentleness). To address this trade-off within a single device, we present a multi-mode gripper with fingers that are scissor linkages, that can actively transform between three distinct modes by varying the number and locations of mechanical singularities. Each of these modes has properties that are suitable for specific needs. Mode 1 provides high grip strength, using a short lever arm and rigid structure. Mode 2 allows precise finger positioning and in-hand manipulation, using two independently controlled DOFs per finger. Mode 3 provides underactuated grasping that can passively adapt to delicate or irregularly shaped objects, with four DOFs per finger. The kinematic relationships, joint torques, and fingertip forces are derived analytically for each of the three modes. Gripper performance and the kinematic model are verified experimentally.

Junghan Kwon↗