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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 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS2002

Manipulation of Micro Scale Particles in an Optical Trap Using Interferometry

This research shows that micro particles can be manipulated via interferometric patterns superimposed on an optical tweezers beam. Interferometry allows the manipulation of intensity distributions, and thus, force distributions on a trapped particle. To demonstrate the feasibility of such manipulation, 458 nm light, from an argon-ion laser, was injected into a Mach Zender interferometer. One mirror in the interferometer was oscillated with a piezoelectric phase modulator. The light from the interferometer was then injected into a microscope to trap a 9.75 micron polystyrene sphere. By varying the phase modulation, the sphere was made to oscillate in a controlled fashion.

Seibel, Robin↗
NASA NTRS2004

Electrochemical Processes Enhanced by Acoustic Liquid Manipulation

Acoustic liquid manipulation is a family of techniques that employ the nonlinear acoustic effects of acoustic radiation pressure and acoustic streaming to manipulate the behavior of liquids. Researchers at the NASA Glenn Research Center are exploring new methods of manipulating liquids for a variety of space applications, and we have found that acoustic techniques may also be used in the normal Earth gravity environment to enhance the performance of existing fluid processes. Working in concert with the NASA Commercial Technology Office, the Great Lakes Industrial Technology Center, and Alchemitron Corporation (Elgin, IL), researchers at Glenn have applied nonlinear acoustic principles to industrial applications. Collaborating with Alchemitron Corporation, we have adapted the devices to create acoustic streaming in a conventional electroplating process.

Oeftering, Richard C.↗
NASA NTRS1994

Extended Impedance Control Using Real and Virtual Sensors for Redundant Manipulators

Control of a redundant manipulator based on an impedence control framework with multiple simultaneous control sources is described. Each control source provides a different behavior type. An application is decomposed into multiple simultaneous behaviors whose resultant behavior will provide the motion necessary to execute the task. The simultaneous control inputs are merged using impedance control to compute a resultant command to the manipulator. The task space of each behavior can have the dimensionality of the mechanism being controlled. Control of a seven degree of freedom manipulator is described here with an available task space for each behavior of dimensionality seven.

telerobotics control architecture simultaneous beh↗
NASA NTRS2011

Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed

The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.

Dorsey, John T.↗
NASA NTRS2013

Systems and Methods of Coordination Control for Robot Manipulation

Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

Chang, Chu-Yin↗
NASA NTRS2013

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Abdallah, Muhammad E.↗
NASA NTRS2015

Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight.

Dorsey, John T.↗
NASA NTRS2018

Robotics Platforms Incorporating Manipulators Having Common Joint Designs

Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Kennedy, Brett A.↗
NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗
NASA NTRSDate not supplied

Robotic Manipulation Testbeds with HPSC

Interoperability and scalability of robotic manipulators will be key to develop and sustain a lunar surface and cislunar ecosystem. From in-space servicing, assembly, and manufacturing (ISAM) to logistics, maintenance, and science operations, robotic manipulation is a critical NASA capability need and the demand for high-performance spaceflight computing will only rise as robotic tasks become more autonomous. With increased complexity, testbeds for research, feasibility studies, and technology demonstrations will be essential. The Dexterous Robotics Team at NASA Johnson Space Center has established multiple robotic manipulation testbeds taking a supervised autonomous remote operations approach and plans to infuse High-Performance Spaceflight Computing (HPSC) to emulate the flight environment and close the gap between space technology development and flight operations.

Alex Sowell↗
NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software (ARMS)

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗
NASA NTRS2022

Controlling Palm-Object Interactions via Friction for Enhanced In-Hand Manipulation

In-hand manipulation is necessary, yet challenging for robotic hands as robots begin to interact with real-world objects and environments. The intentional incorporation of an active palm can lead to improved dexterity. In this work, we demonstrate how controlling the palm-object interaction enables access to different sets of motion primitives. We first discuss how various properties of the palm affect in-hand manipulation, as well as grasping. Here, we focus on varying the friction force between the object and the palm by either changing the coefficient of friction or the normal load. We explore how these two design factors can be actively controlled to enable 5-degree-of-freedom object motion within the hand. We present variable-friction and variable-preload palms that enable on-the-fly switching between in-plane and out-of-plane manipulation modes. Additionally, we discuss their impact on grasp stability. Finally, we demonstrate how an object can be translated and pivoted within the hand by sequentially performing synchronized palm and finger actions.

Clark B Teeple↗
NASA NTRS1999

Autonomous Vision-Based Manipulation from a Rover Platform

Current rover designs use on-board manipulators to enhance their capabilities for planetary exploration and in-situ science. In this paper, we describe how these manipulators can be used to perform two types of operations: rock sample aquisition for return to earth and instrument placement for in-situ science meausrements.

autonomous manipulation rock acquisition instrumen↗
DOE OSTI2025

Compression–tension cell with sample manipulator for in situ X‐ray nanotomography experiments

In situ X-ray nanotomography experiments where tensile or compressive force is applied on the sample require specialized equipment. A compression-tension device with fluid flow-through capability has been designed for X-ray nanotomography beamlines. The compression-tension cell is equipped with a triaxial stage for sample alignment and a high sensitivity loadcell for measurement of applied force. To handle the <100 µm samples used for X-ray nanotomography imaging and for loading samples on the compression-tension cell a sample manipulator has been built. The sample manipulator is capable of selecting a single <100 µm particle for nanotomography scanning while viewing multiple samples under an optical microscope. To test the functionality of these two devices an initial compression experiment involving two glass beads was performed. To demonstrate instrument stability two spherical glass beads were compressed from a no load condition until one of the beads fractured. Nanotomography data were collected at each step of increasing compressive force. The experimentally observed contact area of the spherical glass beads was compared with the theoretical estimate using the Hertz analysis. To demonstrate the fluid flow capability, two calcite grains were compressed against each other under a calcite saturated solution. Surface topological changes were observed for the stressed grain contact area.

X-ray tomography↗
NASA NTRSDate not supplied

A Protoflight Lightweight Surface Manipulation System to Enable High-Load, Long-Reach Lunar Surface Operations

There is a current critical need under the Artemis program for a versatile, high-load, long reach manipulation system that can provide payload offloading and handling for lunar landers. The Lightweight Surface Manipulation System (LSMS) is a highly structurally efficient, long-reach robotic arm that can be sized for a wide range of missions and payload ranges. The LSMS has more than a decade of heritage and testing at NASA Langley Research Center (LaRC), including laboratory and field testing of multiple end-effector tools and operational scenarios. With the need for rapid development of a flight-proven offloading capability and the desire to have that device be reusable for future missions and services, a 4-year program was initiated this year under NASA’s Space Technology Mission Directorate, to develop and build a protoflight unit of the LSMS, capable of lifting 1,000 kg on the Moon at an 8-meter reach. The target mission is to fly on a large cargo lander as a technology demonstrator to validate self-leveling, deployment, and payload handling operations, with future flights adding additional tools and capabilities. This paper provides a summary of the prior decade of work on the LSMS, the current mission drivers and goals, and details the first year of development of the LSMS toward a protoflight unit.

lunar surface↗
DOE OSTI2025

A compact electromagnetic neutron nutator for precise neutron spin manipulation

A superconducting electromagnetic nutator (EMN) capable of generating a magnetic field vector along an arbitrary direction on a 2D plane has been designed. Its performance in precisely manipulating the neutron polarization vector has been tested at the HB2-D polarized development beamline at the High Flux Isotope Reactor. Unlike mechanical nutators that require physical handling or motor-driven actuation to rotate the magnetic field, the magnitude and orientation of the magnetic field produced by the EMN can be controlled electromagnetically. Further, the compact design (~15 mm depth, not including cryogenic housing) of this device ensures ease of coupling within existing superconducting neutron spin manipulation devices, such as magnetic Wollaston prisms (MWP), resonant radio frequency (RF) flippers, spherical neutron polarimetry (SNP) devices, etc.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2025

Characterization of Gas-Phase Native(-like) Proteins Using Structures for Lossless Ion Manipulations

High-resolution mobility-based ion separations in Structures for Lossless Ion Manipulations (SLIM) have been useful for ion mobility separations for a variety of molecular classes in the gas phase. Here, in this study, we present multipass SLIM separations for gas-phase proteins in their near-native state exhibiting charge-state-dependent arrival time distributions using carbonic anhydrase (29 kDa), alcohol dehydrogenase (148 kDa), and apo-transferrin (79 kDa). The experimental CCS values were obtained from calibration curves for the arrival times of Agilent Tune Mix ions. For multipass separations, the ATDs were converted to CCS values by deconvoluting the multipass arrival times into accurate single-pass values amenable to the single-pass calibration curves. Mass spectra of carbonic anhydrase (CA) showed three different charge states (z = 9+ to 11+). Their corresponding mobility peaks were baseline-separated by using 8-m single-pass separations. When compared to the corresponding drift tube ion mobility (DTIMS) measurements, the CCS values obtained from DTIMS and SLIM were in agreement within experimental error. Single-pass analysis of alcohol dehydrogenase (ADH) exhibits three predominant charge states (z = 23+ to 25+) with mobility overlap between adjacent charge states. The mobility peak resolution for ADH improved with multipass separations (up to 24-m path length). In addition, CCS distributions obtained for charge states z = 16+ to 18+ of apo-transferrin reveal a transition from a compact unimodal form (z = 18+ and 19+) to broader multimodal CCS distributions for z = 16+. For apo-transferrin, 40-m multipass separations were performed allowing for complete isolation of the selected mobility range corresponding to z = 17+, leading to selective isolation of a narrow arrival time window. The extended mobility separations provided minimal alterations to the structure of the proteins, and the experimentally derived CCS values showed minimal change as a function of the separation time or number of passes. Mobility-based ion separations for native-like proteins, using SLIM, open opportunities for native-IMS applications as well as other manipulations enabled by SLIM-like mobility-selective isolation and collection.

charge state distribution↗