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NASA NTRS1997

Mechanotransduction in bone: osteoblasts are more responsive to fluid forces than mechanical strain

Mechanical force applied to bone produces two localized mechanical signals on the cell: deformation of the extracellular matrix (substrate strain) and extracellular fluid flow. To study the effects of these stimuli on osteoblasts, MC3T3-E1 cells were grown on type I collagen-coated plastic plates and subjected to four-point bending. This technique produces uniform levels of physiological strain and fluid forces on the cells. Each of these parameters can be varied independently. Osteopontin (OPN) mRNA expression was used to assess the anabolic response of MC3T3-E1 cells. When fluid forces were low, neither strain magnitude nor strain rate was correlated with OPN expression. However, higher-magnitude fluid forces significantly increased OPN message levels independently of the strain magnitude or rate. These data indicate that fluid forces, and not mechanical stretch, influence OPN expression in osteoblasts and suggest that fluid forces induced by extracellular fluid flow within the bone matrix may play an important role in bone formation in response to mechanical loading.

Non-NASA Center↗

NASA NTRS2004

Foot-ground reaction force during resistive exercise in parabolic flight

INTRODUCTION: An interim resistance exercise device (iRED) was designed to provide resistive exercise as a countermeasure to spaceflight-induced loss of muscle strength and endurance as well as decreased bone mineral density. The purpose of this project was to compare foot-ground reaction force during iRED exercise in normal gravity (1 G) vs. microgravity (0 G) achieved during parabolic flight. METHODS: There were four subjects who performed three exercises (squat, heel raise, and deadlift) using the iRED during 1 G and 0 G at a moderate intensity (60% of maximum strength during deadlift exercise). Foot-ground reaction force was measured in the three orthogonal axes (x, y, z) using a force plate, and the magnitude of the resultant force vector was calculated (r = square root(x2 + y2 + z2)). Linear displacement (LD) was measured using a linear transducer. Peak force (Fpeak) and an index of total work (TWi) were calculated using a customized computer program. Paired t-tests were used to test if significant differences (p < or = 0.05) were observed between 1 G and 0 G exercise. RESULTS: Fpeak and TWi measured in the resultant axis were significantly less in 0 G for each of the exercises tested. During 0 G, Fpeak was 42-46% and TWi was 33-37% of that measured during 1 G. LD and average time to complete each repetition were not different from 1 G to 0 G. CONCLUSIONS: Crewmembers who perform resistive exercises during spaceflight that include the movement of a large portion of their body mass will require much greater external resistive force during 0 G than 1 G exercise to provide a sufficient stimulus to maintain muscle and bone mass.

Physical Education and Training↗

NASA NTRS2000

Propulsion Aeroelastic Analysis Developed for Flutter and Forced Response

The NASA Glenn Research Center at Lewis Field develops new technologies to increase the fuel efficiency of aircraft engines, improve the safety of engine operation, reduce emissions, and reduce engine noise. With the development of new designs for fans, compressors, and turbines to achieve these goals, the basic aeroelastic requirements are that there should be no flutter (self-excited vibrations) or high resonant blade stresses (due to forced response) in the operating regime. Therefore, an accurate prediction and analysis capability is required to verify the aeroelastic soundness of the designs. Such a three-dimensional viscous propulsion aeroelastic analysis capability has been developed at Glenn with support from the Advanced Subsonic Technology (AST) program. This newly developed aeroelastic analysis capability is based on TURBO, a threedimensional unsteady aerodynamic Reynolds-averaged Navier-Stokes turbomachinery code developed previously under a grant from Glenn. TURBO can model the viscous flow effects that play an important role in certain aeroelastic problems such as flutter with flow separation, flutter at high loading conditions near the stall line (stall flutter), flutter in the presence of shock and boundary-layer interaction, and forced response due to wakes and shock impingement. In aeroelastic analysis, the structural dynamics representation of the blades is based on normal modes. A finite-element analysis code is used to calculate these in-vacuum vibration modes and the associated natural frequencies. In an aeroelastic analysis using the TURBO code, flutter and forced response are modeled as being uncoupled. To calculate if a blade row will flutter, one prescribes the motion of the blade to be a harmonic vibration in a specified in-vacuum normal mode. An aeroelastic analysis preprocessor is used to generate the displacement field required for the analysis. The work done by aerodynamic forces on the vibrating blade during a cycle of vibration is calculated. If this work is positive, the blade is dynamically unstable, since it will extract energy from the flow, leading to an increase in the blade s oscillation amplitude. The forced-response excitations on a blade row are calculated by modeling the flow through two adjacent blade rows using the TURBO code. The blades are assumed to be rigid. As an option, a single blade row can be modeled with the upstream blade row influence represented by a time-varying disturbance (gust) at the inlet boundary. The unsteady forces on a blade row from such analyses are used in a structural analysis along with the blade structural dynamics characteristics and aerodynamic damping associated with blade vibration to calculate the resulting dynamic stresses on the blade.

Bakhle, Milind A.↗

NASA NTRS1995

Apparatus for providing sensory substitution of force feedback

A feedback apparatus for an operator to control an effector that is remote from the operator to interact with a remote environment has a local input device to be manipulated by the operator. Sensors in the effector's environment are capable of sensing the amplitude of forces arising between the effector and its environment, the direction of application of such forces, or both amplitude and direction. A feedback signal corresponding to such a component of the force, is generated and transmitted to the environment of the operator. The signal is transduced into an auditory sensory substitution signal to which the operator is sensitive. Sound production apparatus present the auditory signal to the operator. The full range of the force amplitude may be represented by a single, audio speaker. Auditory display elements may be stereo headphones or free standing audio speakers, numbering from one to many more than two. The location of the application of the force may also be specified by the location of audio speakers that generate signals corresponding to specific forces. Alternatively, the location may be specified by the frequency of an audio signal, or by the apparent location of an audio signal, as simulated by a combination of signals originating at different locations.

Massimino, Michael J.↗

NASA NTRS2008

Effects of Different Lifting Cadences on Ground Reaction Forces during the Squat Exercise

The purpose of this investigation was to determine the effect of different cadences on the ground reaction force (GRF(sub R)) during the squat exercise. It is known that squats performed with greater acceleration will produce greater inertial forces; however, it is not well understood how different squat cadences affect GRF(sub R). It was hypothesized that faster squat cadences will result in greater peak GRF(sub R). METHODS: Six male subjects (30.8+/-4.4 y, 179.5+/-8.9 cm, 88.8+/-13.3 kg) with previous squat experience performed three sets of three squats using three different cadences (FC = 1 sec descent/1 sec ascent; MC = 3 sec descent/1 sec ascent; SC = 4 sec descent/2 sec ascent) with barbell mass equal to body mass. Ground reaction force was used to calculate inertial force trajectories of the body plus barbell (FI(sub system)). Forces were normalized to body mass. RESULTS: Peak GRF(sub R) and peak FI(sub system) were significantly higher in FC squats compared to MC (p=0.0002) and SC (p=0.0002). Range of GRF(sub R) and FI(sub system) were also significantly higher in FC compared to MC (p<0.05), and MC were significantly higher than SC (p<0.05). DISCUSSION: Faster squat cadences result in significantly greater peak GRF(sub R) due to the inertia of the system. GRF(sub R) was more dependent upon decent cadence than on ascent cadence. PRACTICAL APPLICATION: This study demonstrates that faster squat cadences produce greater ground reaction forces. Therefore, the use of faster squat cadences might enhance strength and power adaptations to long-term resistance exercise training. Key Words: velocity, weight training, resistive exercise

Bentley, Jason R.↗

NASA NTRS2004

Climate Response to the Increase in Tropospheric Ozone since Preindustrial Times: A Comparison between Ozone and Equivalent CO2 Forcings

We examine the characteristics of the climate response to anthropogenic changes in tropospheric ozone. Using a general circulation model, we have carried out a pair of equilibrium climate simulations with realistic present-day and preindustrial ozone distributions. We find that the instantaneous radiative forcing of 0.49 W m(sup -2) due to the increase in tropospheric ozone since preindustrial times results in an increase in global mean surface temperature of 0.28 C. The increase is nearly 0.4 C in the Northern Hemisphere and about 0.2 C in the Southern Hemisphere. The largest increases (greater than 0.8 C) are downwind of Europe and Asia and over the North American interior in summer. In the lower stratosphere, global mean temperatures decrease by about 0.2 C due to the diminished upward flux of radiation at 9.6 micrometers. The largest stratospheric cooling, up to 1.0 C, occurs over high northern latitudes in winter, with possibly important implications for the formation of polar stratospheric clouds. To identify the characteristics of climate forcing unique to tropospheric ozone, we have conducted two additional climate equilibrium simulations: one in which preindustrial tropospheric ozone concentrations were increased everywhere by 18 ppb, producing the same global radiative forcing as present-day ozone but without the heterogeneity; and one in which CO2 was decreased by 25 ppm relative to present day, with ozone at present-day values, to again produce the same global radiative forcing but with the spectral signature of CO2 rather than ozone. In the first simulation (uniform increase of ozone), the global mean surface temperature increases by 0.25 C, with an interhemispheric difference of only 0.03 C, as compared with nearly 0.2 C for the heterogeneous ozone increase. In the second simulation (equivalent CO2), the global mean surface temperature increases by 0.36 C, 30% higher than the increase from tropospheric ozone. The stronger surface warming from CO2 is in part because CO2 forcing (obscured by water vapor) is shifted relatively poleward where the positive ice-albedo feedback amplifies the climate response and in part because the magnitude of the CO2 forcing in the mid-troposphere is double that of ozone. However, we find that CO2 is far less effective than tropospheric ozone in driving lower stratospheric cooling at high northern latitudes in winter.

Mickley L. J.↗

NASA NTRS2007

Aerosol Absorption and Radiative Forcing

We present a comprehensive examination of aerosol absorption with a focus on evaluating the sensitivity of the global distribution of aerosol absorption to key uncertainties in the process representation. For this purpose we extended the comprehensive aerosol-climate model ECHAM5-HAM by effective medium approximations for the calculation of aerosol effective refractive indices, updated black carbon refractive indices, new cloud radiative properties considering the effect of aerosol inclusions, as well as by modules for the calculation of long-wave aerosol radiative properties and instantaneous aerosol forcing. The evaluation of the simulated aerosol absorption optical depth with the AERONET sun-photometer network shows a good agreement in the large scale global patterns. On a regional basis it becomes evident that the update of the BC refractive indices to Bond and Bergstrom (2006) significantly improves the previous underestimation of the aerosol absorption optical depth. In the global annual-mean, absorption acts to reduce the shortwave anthropogenic aerosol top-of-atmosphere (TOA) radiative forcing clear-sky from -0.79 to -0.53 W m(sup -2) (33%) and all-sky from -0.47 to -0.13W m(sup -2 (72%). Our results confirm that basic assumptions about the BC refractive index play a key role for aerosol absorption and radiative forcing. The effect of the usage of more accurate effective medium approximations is comparably small. We demonstrate that the diversity in the AeroCom land-surface albedo fields contributes to the uncertainty in the simulated anthropogenic aerosol radiative forcings: the usage of an upper versus lower bound of the AeroCom land albedos introduces a global annual-mean TOA forcing range of 0.19W m(sup -2) (36%) clear-sky and of 0.12W m(sup -2) (92%) all-sky. The consideration of black carbon inclusions on cloud radiative properties results in a small global annual-mean all-sky absorption of 0.05W m(sup -2) and a positive TOA forcing perturbation of 0.02W m(sup -2). The long-wave aerosol radiative effects are small for anthropogenic aerosols but become of relevance for the larger natural dust and sea-salt aerosols.

Stier, Philip↗

NASA NTRS2009

Prediction of Spacecraft Vibration using Acceleration and Force Envelopes

The base forces in the GLAST X- and Z-axis sine vibration tests were similar to those derived using generic inputs (from users guide and handbook), but the base forces in the sine test were generally greater than the flight data. Basedrive analyses using envelopes of flight acceleration data provided more accurate predictions of the base force than generic inputs, and as expected, using envelopes of both the flight acceleration and force provided even more accurate predictions The GLAST spacecraft interface accelerations and forces measured during the MECO transient were relatively low in the 60 to 150 Hz regime. One may expect the flight forces measured at the base of various spacecraft to be more dependent on the mass, frequencies, etc. of the spacecraft than are the corresponding interface acceleration data, which may depend more on the launch vehicle configuration.

Gordon, Scott↗

NASA NTRS2010

Experimental Investigation of Forces Produced by Misaligned Steel Rollers

The International Space Station Solar Alpha Rotary Joint (SARJ) uses a roller-based mechanism for positioning of the solar arrays. The forces and moments that develop at the roller interfaces are influenced by the design including the kinematic constraints and the lubrication condition. To help understand the SARJ operation, a set of dedicated experiments were completed using roller pairs. Of primary interest was to measure the axial force directed along the axis of rotation of the roller as a function of shaft misalignment. The conditions studied included dry and clean surfaces; one surface plated by a gold film, and greased surfaces. For the case of a bare 440C roller against a nitrided 15-5 roller without lubrication, the axial force can be as great as 0.4 times the normal load for a shaft angle of 0.5 degree. Such a magnitude of force on a roller in the SARJ mechanism would cause roller tipping and contact pressures much greater than anticipated by the designers. For the case of a bare 440C roller against a nitrided 15-5 roller with grease lubrication, the axial force does not exceed about 0.15 times the normal load even for the largest misalignment angles tested. Gold films provided good lubrication for the short duration testing reported herein. Grease lubrication limited the magnitude of the axial force to even smaller magnitudes than was achieved with the gold films. The experiments demonstrate the critical role of good lubrication for the SARJ mechanism.

Krantz, Timothy↗

NASA NTRS2009

Flight Dynamics of Flexible Aircraft with Aeroelastic and Inertial Force Interactions

This paper presents an integrated flight dynamic modeling method for flexible aircraft that captures coupled physics effects due to inertial forces, aeroelasticity, and propulsive forces that are normally present in flight. The present approach formulates the coupled flight dynamics using a structural dynamic modeling method that describes the elasticity of a flexible, twisted, swept wing using an equivalent beam-rod model. The structural dynamic model allows for three types of wing elastic motion: flapwise bending, chordwise bending, and torsion. Inertial force coupling with the wing elasticity is formulated to account for aircraft acceleration. The structural deflections create an effective aeroelastic angle of attack that affects the rigid-body motion of flexible aircraft. The aeroelastic effect contributes to aerodynamic damping forces that can influence aerodynamic stability. For wing-mounted engines, wing flexibility can cause the propulsive forces and moments to couple with the wing elastic motion. The integrated flight dynamics for a flexible aircraft are formulated by including generalized coordinate variables associated with the aeroelastic-propulsive forces and moments in the standard state-space form for six degree-of-freedom flight dynamics. A computational structural model for a generic transport aircraft has been created. The eigenvalue analysis is performed to compute aeroelastic frequencies and aerodynamic damping. The results will be used to construct an integrated flight dynamic model of a flexible generic transport aircraft.

Nguyen, Nhan T.↗

NASA NTRS2010

Experimental Investigation of Forces Produced by Misaligned Steel Rollers

The International Space Station (ISS) Solar Alpha Rotary Joint (SARJ) uses a roller-based mechanism for positioning of the solar arrays. The forces and moments that develop at the roller interfaces are influenced by the design including the kinematic constraints and the lubrication condition. To help understand the SARJ operation, a set of dedicated experiments were completed using roller pairs. Of primary interest was to measure the axial force directed along the axis of rotation of the roller as a function of shaft misalignment. The conditions studied included dry and clean surfaces; one surface plated by a gold film, and greased surfaces. For the case of a bare 440C roller against a nitrided 15-5 roller without lubrication, the axial force can be as great as 0.4 times the normal load for a shaft angle of 0.5 deg. Such a magnitude of force on a roller in the SARJ mechanism would cause roller tipping and contact pressures much greater than anticipated by the designers. For the case of a bare 440C roller against a nitrided 15-5 roller with grease lubrication, the axial force does not exceed about 0.15 times the normal load even for the largest misalignment angles tested. Gold films provided good lubrication for the short duration testing reported herein. Grease lubrication limited the magnitude of the axial force to even smaller magnitudes than was achieved with the gold films. The experiments demonstrate the critical role of good lubrication for the SARJ mechanism.

Krantz, Timothy↗

NASA NTRS2010

Charge-Spot Model for Electrostatic Forces in Simulation of Fine Particulates

The charge-spot technique for modeling the static electric forces acting between charged fine particles entails treating electric charges on individual particles as small sets of discrete point charges, located near their surfaces. This is in contrast to existing models, which assume a single charge per particle. The charge-spot technique more accurately describes the forces, torques, and moments that act on triboelectrically charged particles, especially image-charge forces acting near conducting surfaces. The discrete element method (DEM) simulation uses a truncation range to limit the number of near-neighbor charge spots via a shifted and truncated potential Coulomb interaction. The model can be readily adapted to account for induced dipoles in uncharged particles (and thus dielectrophoretic forces) by allowing two charge spots of opposite signs to be created in response to an external electric field. To account for virtual overlap during contacts, the model can be set to automatically scale down the effective charge in proportion to the amount of virtual overlap of the charge spots. This can be accomplished by mimicking the behavior of two real overlapping spherical charge clouds, or with other approximate forms. The charge-spot method much more closely resembles real non-uniform surface charge distributions that result from tribocharging than simpler approaches, which just assign a single total charge to a particle. With the charge-spot model, a single particle may have a zero net charge, but still have both positive and negative charge spots, which could produce substantial forces on the particle when it is close to other charges, when it is in an external electric field, or when near a conducting surface. Since the charge-spot model can contain any number of charges per particle, can be used with only one or two charge spots per particle for simulating charging from solar wind bombardment, or with several charge spots for simulating triboelectric charging. Adhesive image-charge forces acting on charged particles touching conducting surfaces can be up to 50 times stronger if the charge is located in discrete spots on the particle surface instead of being distributed uniformly over the surface of the particle, as is assumed by most other models. Besides being useful in modeling particulates in space and distant objects, this modeling technique is useful for electrophotography (used in copiers) and in simulating the effects of static charge in the pulmonary delivery of fine dry powders.

Walton, Otis R.↗

NASA NTRS2011

Application of the Semi-Empirical Force-Limiting Approach for the CoNNeCT SCAN Testbed

The semi-empirical force-limited vibration method was developed and implemented for payload testing to limit the structural impedance mismatch (high force) that occurs during shaker vibration testing. The method has since been extended for use in analytical models. The Space Communications and Navigation Testbed (SCAN Testbed), known at NASA Glenn Research Center (GRC) as, the Communications, Navigation, and Networking re-Configurable Testbed (CoNNeCT) project utilized force-limited testing and analysis following the semi-empirical approach. This presentation presents the steps in performing a force-limited analysis and then compares the results to test data recovered during the CoNNeCT force-limited random vibration qualification test that took place at NASA Glenn Research Center (GRC) in the Structural Dynamics Laboratory (SDL) December 19, 2010 - January 7, 2011. A compilation of lessons learned and considerations for future force-limited tests is also included.

Staab, Lucas↗

NASA NTRS2012

Application of the Semi-Empirical Force-Limiting Approach for the CoNNeCT SCAN Testbed

The semi-empirical force-limiting vibration method was developed and implemented for payload testing to limit the structural impedance mismatch (high force) that occurs during shaker vibration testing. The method has since been extended for use in analytical models. The Space Communications and Navigation Testbed (SCAN Testbed), known at NASA as, the Communications, Navigation, and Networking re-Configurable Testbed (CoNNeCT), project utilized force-limiting testing and analysis following the semi-empirical approach. This paper presents the steps in performing a force-limiting analysis and then compares the results to test data recovered during the CoNNeCT force-limiting random vibration qualification test that took place at NASA Glenn Research Center (GRC) in the Structural Dynamics Laboratory (SDL) December 19, 2010 to January 7, 2011. A compilation of lessons learned and considerations for future force-limiting tests is also included.

Staab, Lucas D.↗

NASA NTRS2012

Characterization of Deficiencies in the Frequency Domain Forced Response Analysis Technique for Supersonic Turbine Bladed Disks

Turbine blades in rocket and jet engine turbomachinery experience enormous harmonic loading conditions. These loads result from the integer number of upstream and downstream stator vanes as well as the other turbine stages. Assessing the blade structural integrity is a complex task requiring an initial characterization of whether resonance is possible and then performing a forced response analysis if that condition is met. The standard technique for forced response analysis in rocket engine turbines is to decompose a computational fluid dynamics (CFD).generated flow field into its harmonic components, and to then perform a frequency response analysis at the problematic natural frequencies using cyclically symmetric structural dynamic models. Recent CFD analysis and water-flow testing at NASA/MSFC, though, indicates that this technique may miss substantial harmonic and non ]harmonic excitation sources that become present in complex flows. This complex content can only be captured by a CFD flow field encompassing at least an entire revolution. A substantial development effort to create a series of software programs to enable application of the 360 degree forcing function in a frequency response analysis on cyclic symmetric models has been completed (to be described in a future paper), but the question still remains whether the frequency response analysis itself is capable of capturing the excitation content sufficiently. Two studies comparing frequency response analysis with transient response analysis, therefore, of bladed-disks undergoing this complex flow environment have been performed. The first is of a bladed disk with each blade modeled by simple beam elements and the disk modeled with plates (using the finite element code MSC/NASTRAN). The focus of this model is to be representative of response of realistic bladed disks, and so the dimensions are roughly equivalent to the new J2X rocket engine 1st stage fuel pump turbine. The simplicity of the model allows the CFD load to be able to be readily applied, along with analytical and experimental variations in both the temporal and spatial fourier components of the excitation. In addition, this model is a first step in identifying response differences between transient and frequency forced response analysis techniques. The second phase assesses this difference for a much more realistic solid model of a bladed-disk in order to evaluate the effect of the spatial variation in loading on blade dominated modes. Neither research on the accuracy of the frequency response method when used in this context or a comprehensive study of the effect of test-observed variation on blade forced response have been found in the literature, so this research is a new contribution to practical structural dynamic analysis of gas turbines. The primary excitation of the upstream nozzles interacts with the blades on fuel pump of the J2X causes the 5th Nodal diameter modes to be excited, as explained by Tyler and Sofrin1, so a modal analysis was first performed on the beam/plate model and the 5ND bladed-disk mode at 40167 hz was identified and chosen to be the one excited at resonance (see figure 1). The first forced response analysis with this model focuses on identifying differences between frequency and transient response analyses. A hypothesis going into the analysis was that perhaps the frequency response was enforcing a temporal periodicity that did not really exist, and so therefore it would overestimate the response. As high dynamic response was a considerable source of stress in the J2X, examining this concept could potentially be beneficial for the program.

Brown, Andrew M.↗

NASA NTRS2013

Evaluation of preindustrial to present-day black carbon and its albedo forcing from Atmospheric Chemistry and Climate Model Intercomparison Project (ACCMIP)

As part of the Atmospheric Chemistry and Climate Model Intercomparison Project (ACCMIP), we evaluate the historical black carbon (BC) aerosols simulated by 8 ACCMIP models against observations including 12 ice core records, long-term surface mass concentrations, and recent Arctic BC snowpack measurements. We also estimate BC albedo forcing by performing additional simulations using offline models with prescribed meteorology from 1996-2000. We evaluate the vertical profile of BC snow concentrations from these offline simulations using the recent BC snowpack measurements. Despite using the same BC emissions, the global BC burden differs by approximately a factor of 3 among models due to differences in aerosol removal parameterizations and simulated meteorology: 34 Gg to 103 Gg in 1850 and 82 Gg to 315 Gg in 2000. However, the global BC burden from preindustrial to present-day increases by 2.5-3 times with little variation among models, roughly matching the 2.5-fold increase in total BC emissions during the same period.We find a large divergence among models at both Northern Hemisphere (NH) and Southern Hemisphere (SH) high latitude regions for BC burden and at SH high latitude regions for deposition fluxes. The ACCMIP simulations match the observed BC surface mass concentrations well in Europe and North America except at Ispra. However, the models fail to predict the Arctic BC seasonality due to severe underestimations during winter and spring. The simulated vertically resolved BC snow concentrations are, on average, within a factor of 2-3 of the BC snowpack measurements except for Greenland and the Arctic Ocean. For the ice core evaluation, models tend to adequately capture both the observed temporal trends and the magnitudes at Greenland sites. However, models fail to predict the decreasing trend of BC depositions/ice core concentrations from the 1950s to the 1970s in most Tibetan Plateau ice cores. The distinct temporal trend at the Tibetan Plateau ice cores indicates a strong influence from Western Europe, but the modeled BC increases in that period are consistent with the emission changes in Eastern Europe, the Middle East, South and East Asia. At the Alps site, the simulated BC suggests a strong influence from Europe, which agrees with the Alps ice core observations. At Zuoqiupu on the Tibetan Plateau, models successfully simulate the higher BC concentrations observed during the non-monsoon season compared to the monsoon season but overpredict BC in both seasons. Despite a large divergence in BC deposition at two Antarctic ice core sites, some models with a BC lifetime of less than 7 days are able to capture the observed concentrations. In 2000 relative to 1850, globally and annually averaged BC surface albedo forcing from the offline simulations ranges from 0.014 to 0.019Wm−2 among the ACCMIP models. Comparing offline and online BC albedo forcings computed by some of the same models, we find that the global annual mean can vary by up to a factor of two because of different aerosol models or different BC-snow parameterizations and snow cover. The spatial distributions of the offline BC albedo forcing in 2000 show especially high BC forcing (i.e., over 0.1W/sq. m) over Manchuria, Karakoram, and most of the Former USSR. Models predict the highest global annual mean BC forcing in 1980 rather than 2000, mostly driven by the high fossil fuel and biofuel emissions in the Former USSR in 1980.

snow cover↗

NASA NTRS2013

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Abdallah, Muhammad E.↗

NASA NTRS2014

Irrigation as an Historical Climate Forcing

Irrigation is the single largest anthropogenic water use, a modification of the land surface that significantly affects surface energy budgets, the water cycle, and climate. Irrigation, however, is typically not included in standard historical general circulation model (GCM) simulations along with other anthropogenic and natural forcings. To investigate the importance of irrigation as an anthropogenic climate forcing, we conduct two 5-member ensemble GCM experiments. Both are setup identical to the historical forced (anthropogenic plus natural) scenario used in version 5 of the Coupled Model Intercomparison Project, but in one experiment we also add water to the land surface using a dataset of historically estimated irrigation rates. Irrigation has a negligible effect on the global average radiative balance at the top of the atmosphere, but causes significant cooling of global average surface air temperatures over land and dampens regional warming trends. This cooling is regionally focused and is especially strong in Western North America, the Mediterranean, the Middle East, and Asia. Irrigation enhances cloud cover and precipitation in these same regions, except for summer in parts of Monsoon Asia, where irrigation causes a reduction in monsoon season precipitation. Irrigation cools the surface, reducing upward fluxes of longwave radiation (increasing net longwave), and increases cloud cover, enhancing shortwave reflection (reducing net shortwave). The relative magnitude of these two processes causes regional increases (northern India) or decreases (Central Asia, China) in energy availability at the surface and top of the atmosphere. Despite these changes in net radiation, however, climate responses are due primarily to larger magnitude shifts in the Bowen ratio from sensible to latent heating. Irrigation impacts on temperature, precipitation, and other climate variables are regionally significant, even while other anthropogenic forcings (anthropogenic aerosols, greenhouse gases, etc.) dominate the long term climate evolution in the simulations. To better constrain the magnitude and uncertainties of irrigation-forced climate anomalies, irrigation should therefore be considered as another important anthropogenic climate forcing in the next generation of historical climate simulations and multimodel assessments.

simulation↗