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Exploiting Trap Type and Color for Monitoring Macadamia Felted Coccid Acanthococcus ironsidei (Williams) and Associated Parasitic Wasps in Macadamia Orchards in Hawai’i
Acanthococcus ironsidei (Williams) (Hemiptera: Eriococcidae) is an invasive pest of macadamia, Macadamia integrifolia, in Hawai’i, causing death to macadamia trees and decreased nut productivity. Monitoring relies on wrapping double-sided sticky tapes over tree branches to trap dispersing crawlers (i.e., mobile immature stage), but this is tedious for growers, especially in large orchards. From September to November 2022 and December 2022 to February 2023, at two commercial macadamia orchards on Hawai’i Island, the use of colored sticky cards was assessed for improving the monitoring of A. ironsidei and to investigate the Hymenopteran parasitoid complex that inhabits macadamia canopies. At each study site, four different colored sticky cards (yellow, lime green, dark green, and white) were placed on the lower canopy of five trees, and on each tree, a transparent double-sided sticky tape was deployed. At bi-weekly intervals, the sticky cards were replaced and re-randomized on each tree, and the double-sided sticky tapes were replaced. The results showed that the sticky cards captured both A. ironsidei crawlers and (winged) male adults, while the double-sided sticky tapes captured only crawlers. The trap color did not have significant effects on the captures of A. ironsidei male adults at the sites, while the captures of crawlers on sticky cards were lowest on the dark green sticky traps at one site. The captures of A. ironsidei adult males on white sticky traps were generally correlated with the number of crawlers captured on the double-sided sticky tapes. The parasitoid complex captured had disparities in the attraction to color; however, the yellow, lime green and dark green colors were seemingly more effective for monitoring Encarsia lounsburyi (Berlese & Paoli), a reported parasitoid of A. ironsidei. These results have useful practical implications for improved monitoring of A. ironsidei crawlers, male adults and associated natural enemies.
Multidisciplinary Dynamic Testing Challenges in Validating the NASA Artemis Architecture
NASA is in the midst of bold and exciting next steps in human exploration and spaceflight. The designs of the new Space Launch System (SLS), the Orion spacecraft and the Exploration Ground Systems (EGS) for vehicle processing and launch are essentially complete and there has been significant progress in manufacturing and assembly of specific hardware for the Artemis I and Artemis II missions. Equally as important, the program level and integrated system level testing and analyses are also well underway to support integrated verification, validation, and certificate of flight readiness (CoFR) for the first Artemis mission. Testing and analysis are key to addressing technical challenges that the Artemis missions offer. Building block approaches are required that provide the right balance between component, system, and/or element level testing that satisfies verification and validation objectives and where, uncertainties are quantified and minimized. Artemis I is a system of systems that requires a fusion of test and analysis that adeptly characterizes critical interfaces between major program elements. NASA is implementing new in-situ testing that fuse traditional aerospace structures with civil structures, such as the Integrated Modal Test for the Artemis I vehicle where the Mobile Launcher and Crawler Transporter serve as a support structure whose dynamics couple with that of the Artemis I vehicle. This new paradigm requires a closer inspection of structural behavior of the Crawler Transporter and the Mobile Launcher as they now serve multiple purposes. This requires a paradigm shift to look beyond experimental modal techniques and incorporates operational modal analysis techniques to validate dynamic models from data collected during rollout to the launch pad. A further complicating factor is the Crawler Transporter generated ground forces have numerous harmonics making extracting dynamic responses of the Artemis I, Mobile Launcher, and Crawler Transporter coupled system challenging. This discussion explores all these challenges with and attempts to understand how we best build confidence in systems and system-of-systems performance capabilities and margins and understand uncertainties.
Gravity gradient enhancement during tethered payload retrieval
Kane's (1984) Crawler System for satellite retrieval is enhanced by incorporating out-of-plane as well as in-plane motion. It is shown that a fixed length deployed tether applies stabilizing restoring forces to the payload during retrieval phase, and in effect, significantly reduces both the in-plane equilibrium hangoff angles and the build-up of in-plane and out-of-plane swinging. These Crawler System characteristics suggest that a simpler control system can be utilized and that significantly faster deployment and retrieval scenarios are possible without compromising safety.
Generic, Extensible, Configurable Push-Pull Framework for Large-Scale Science Missions
The push-pull framework was developed in hopes that an infrastructure would be created that could literally connect to any given remote site, and (given a set of restrictions) download files from that remote site based on those restrictions. The Cataloging and Archiving Service (CAS) has recently been re-architected and re-factored in its canonical services, including file management, workflow management, and resource management. Additionally, a generic CAS Crawling Framework was built based on motivation from Apache s open-source search engine project called Nutch. Nutch is an Apache effort to provide search engine services (akin to Google), including crawling, parsing, content analysis, and indexing. It has produced several stable software releases, and is currently used in production services at companies such as Yahoo, and at NASA's Planetary Data System. The CAS Crawling Framework supports many of the Nutch Crawler's generic services, including metadata extraction, crawling, and ingestion. However, one service that was not ported over from Nutch is a generic protocol layer service that allows the Nutch crawler to obtain content using protocol plug-ins that download content using implementations of remote protocols, such as HTTP, FTP, WinNT file system, HTTPS, etc. Such a generic protocol layer would greatly aid in the CAS Crawling Framework, as the layer would allow the framework to generically obtain content (i.e., data products) from remote sites using protocols such as FTP and others. Augmented with this capability, the Orbiting Carbon Observatory (OCO) and NPP (NPOESS Preparatory Project) Sounder PEATE (Product Evaluation and Analysis Tools Elements) would be provided with an infrastructure to support generic FTP-based pull access to remote data products, obviating the need for any specialized software outside of the context of their existing process control systems. This extensible configurable framework was created in Java, and allows the use of different underlying communication middleware (at present, both XMLRPC, and RMI). In addition, the framework is entirely suitable in a multi-mission environment and is supporting both NPP Sounder PEATE and the OCO Mission. Both systems involve tasks such as high-throughput job processing, terabyte-scale data management, and science computing facilities. NPP Sounder PEATE is already using the push-pull framework to accept hundreds of gigabytes of IASI (infrared atmospheric sounding interferometer) data, and is in preparation to accept CRIMS (Cross-track Infrared Microwave Sounding Suite) data. OCO will leverage the framework to download MODIS, CloudSat, and other ancillary data products for use in the high-performance Level 2 Science Algorithm. The National Cancer Institute is also evaluating the framework for use in sharing and disseminating cancer research data through its Early Detection Research Network (EDRN).
Ground Systems Development and Operations: Exploration Begins Here
Hunger Hydraulik of Lohr, Germany has been selected as the vendor to build replacement Jacking, Leveling and Equalization cylinders for one Crawler Transporter. A site visit has been scheduled and a overview of how the Crawler Transporter fits into KSC launch operations will be presented as information. The presentation will be presented on July 11, 2012 by Pepper Phillips, the Program Manager for GSDO.
Operational Modal Analysis of the Artemis I Dynamic Rollout Test and Wet Dress Rehearsal
NASA has developed an expendable heavy lift launch vehicle capability, the Space Launch System (SLS), to support lunar and deep space exploration. The uncrewed Artemis I was the first flight of this new launch vehicle and tested critical systems for the upcoming crewed Artemis II flight to the moon. Accelerations were recorded at a multitude of locations on Artemis, the Mobile Launcher (ML), and the Crawler Transporter (CT)during the rollout of Artemis I from the Vehicle Assembly Building (VAB) to Launch Pad 39B March 2022 and is referred to as the Artemis I Dynamic Rollout Test (DRT). While Artemis I was at Launch Pad 39B, the Wet Dress Rehearsal (WDR) was performed to demonstrate launch readiness and acceleration measurements were also recorded. Finally, Artemis I rolled back from Launch Pad 39B to the VAB in April 2022, where acceleration measurements were also recorded and is referred to as the rollback portion of DRT. Because the forces during rollout and at the launch pad acting on Artemis I, the ML, and the CT are not directly measurable, Operational Modal Analysis (OMA) techniques, instead of traditional Experimental Modal Analysis (EMA) techniques, were used to identify modal characteristics. The OMA analysis of DRT and WDR directly builds upon the lessons learned from the OMA analysis of an earlier rollout of the ML from the VAB. DRT and WDR dynamic characteristics will be used to support SLS Integrated Modal Test finite element model correlation efforts and Exploration Ground System ML and CT finite element model verification and validation, which are part of the Building Block approach the Space Launch System program has implemented. The dynamic characteristics extracted from DRT as well as the rollout acceleration time histories themselves will be used in the development of generic rollout forcing functions that will provide refined estimates of the Artemis IV rollout forces, which will have the heavier and larger SLS Block 1B launch vehicle and Mobile Launcher 2 (ML-2). This paper briefly describes Artemis I, the ML, and the CT physical characteristics, DRT rollout/rollback and WDR data collection, the challenges in implementing OMA techniques due in part to the CT harmonics, and how these challenges were overcome to obtain the Artemis I DRT configuration and WDR configuration modal characteristics.
Operational Modal Analysis of the Artemis I Dynamic Rollout Test and Wet Dress Rehearsal
NASA has developed an expendable heavy lift launch vehicle capability, the Space Launch System (SLS), to support lunar and deep space exploration. The uncrewed Artemis I was the first flight of this new launch vehicle and tested critical systems for the upcoming crewed Artemis II flight to the moon. Accelerations were recorded at a multitude of locations on Artemis, the Mobile Launcher (ML), and the Crawler Transporter (CT)during the rollout of Artemis I from the Vehicle Assembly Building (VAB) to Launch Pad 39B March 2022 and is referred to as the Artemis I Dynamic Rollout Test (DRT). While Artemis I was at Launch Pad 39B, the Wet Dress Rehearsal (WDR) was performed to demonstrate launch readiness and acceleration measurements were also recorded. Finally, Artemis I rolled back from Launch Pad 39B to the VAB in April 2022, where acceleration measurements were also recorded and is referred to as the rollback portion of DRT. Because the forces during rollout and at the launch pad acting on Artemis I, the ML, and the CT are not directly measurable, Operational Modal Analysis (OMA) techniques, instead of traditional Experimental Modal Analysis (EMA) techniques, were used to identify modal characteristics. The OMA analysis of DRT and WDR directly builds upon the lessons learned from the OMA analysis of an earlier rollout of the ML from the VAB. DRT and WDR dynamic characteristics will be used to support SLS Integrated Modal Test finite element model correlation efforts and Exploration Ground System ML and CT finite element model verification and validation, which are part of the Building Block approach the Space Launch System program has implemented. The dynamic characteristics extracted from DRT as well as the rollout acceleration time histories themselves will be used in the development of generic rollout forcing functions that will provide refined estimates of the Artemis IV rollout forces, which will have the heavier and larger SLS Block 1B launch vehicle and Mobile Launcher 2 (ML-2). This paper briefly describes Artemis I, the ML, and the CT physical characteristics, DRT rollout/rollback and WDR data collection, the challenges in implementing OMA techniques due in part to the CT harmonics, and how these challenges were overcome to obtain the Artemis I DRT configuration and WDR configuration modal characteristics.
Spray System Documentation
The intent of this document is to provide background information on key design decisions for the Automatic Spray System, developed at LLNL. The document will overview mechanical, electrical, and toolpath critical decisions. The purpose of this design is to repeatably and uniformly spray parts with a variety of materials. The main aspects of the design are an atomizing air siphon spray nozzle and two rotary axes, C and B. Both axes are controlled by a NEMA17 stepper motor. The C axis is essentially a turntable that rotates the part to be sprayed. The B axis is where the atomizing spray nozzle is attached to the “crawler,” which is a stepper motor on an internal gear. Traditionally, spraying of hemispherical mandrels was done by a trained operator. Depending on the operator, there may be varying thickness in the spray coating. Moving towards an automated spraying system will reduce this variability and increase thickness consistency and uniformity.
WRPS Hanford Update [Slides]
The purpose of this report is to coordinate with the staff from WRPS, the current contract holder for operations at the Hanford site to better inform design decisions for the Autonomous systems for Hanford waste tank handling project. The project goals are to support risk reduction associated with monitoring, inspection and mapping of Hanford tank underground pits and includes: 1. A pit mock-up demonstration of Idaho National Laboratory’s (INL) Autonomous Pit Exploration System (APES) technology, which has two configurations: A. The Autonomous Robotic Arm, which is a proposed collaboration with Florida International University (FIU) and has capabilities to visually inspect, monitor, map and conduct simple tool manipulation tasks in the tank pits, and B. The robotic crawler configuration, which has capabilities to deploy to the bottom of the pits and conduct closer and bottom-up visual inspections. 2. An Implementation Plan that identifies Hanford site-wide application of the INL remote robotics technologies to enhance the performance of the tank farm systems and the characterization of the waste they contain to mitigate risk and optimize the overall waste mission. 3. A first-of-a-kind environmental digital twin will be produced. Digital twins to date require permanently installed sensors in order to produce asset specific predictions. This project will use the intermittent signals during inspections from deployed sensors on robotic systems to produce the data sets used by AI/ML to enable predictions of issues on tanks.
Digitally Optimized Autonomous Robotic System for Hanford Waste Tank Handling [Slides]
Idaho National Laboratory (INL) is developing a robotic system and digital twin to perform monitoring, inspection, and mapping of underground tank pits at the Hanford Site, operated by the U.S. Department of Energy (USDOE). The Autonomous Pit Exploration System (APES) will consist of four primary components: an electric vehicle truck with a robotic system developed by INL to deploy payloads into the tanks through small diameter preexisting risers, a robotic arm developed by Florida International University (FIU) for the purposes of deploying a variety of payloads into the tank pit environment, and a small robotic COTS crawler platform for examining the bottom of the pits.
A trip to the moon begins with an Apollo/ Saturn V transporter.
Crawler transport for moving Saturn 5 mobile rocket launcher complete with umbilical tower
Roof Support Near Coal-Mining Face
Hydraulically-powered legs mounted on crawlers and carrying sections of conveyors provide roof support close to working face and above workspace at all times.
Overview of the National Aeronautics and Space Administration tether activities
NASA research concerning the use of tethers in space is reviewed, including joint research with the Italian Space Agency. Tether applications under consideration are described, such as a tethered fuel depot and a tethered gravity laboratory platform for the Space Station, providing artificial gravity to and from Mars, payload recovery and waste management, aerothermodynamic magnetospheric physics, and electrodynamic propulsion, braking, and power generation for the Space Shuttle. Also, tether flight demonstrations are examined, including the Small Expendable Deployer System, the Get-Away Tether Experiment, the Tether Elevator Crawler System, and the Kinetic Isolation Tether Experiment.
GetAway Tether Experiment (GATE) for the Tether Dynamics Explorer (TDE) series
Designs for the GetAway Tether Experiment (GATE) can easily be adapted and applied to the Tether Dynamics Explorer (TDE) series. The GATE development schedule coincides with the planned first flight of the TDE. GATE technology has centered on the development of miniature deployers/actuators, sensors, control laws and simulation capability. The sensors currently under development are a tension sensor and a video based tether tracker. Both sensors are currently undergoing laboratory testing and development. The actuators currently being investigated are a small reel/deployed for active control of the tether and a small tether crawler to damp vibrations of the tether. Laboratory results are presented and the designs reviewed and discussed.
Induced gravity Mars transportation systems configuration and hardware penalties
The need for an induced gravity environment in-transit to Mars is assessed based on current knowledge. Two possible alternatives to constant in-transit spinning, periodic spinning and Mars surface reconditioning are discussed and compared. Four propulsion options: cryogenic/aerobraking, solid core nuclear thermal, solar electric and nuclear electric are evaluated for concept adaptability to induced gravity, and salient differences from their microgravity counterparts are assessed. Configurations to the systems level are presented and accompanied by mass estimates. Hardware subsystems required for induced gravity vehicles, such as tether crawlers, tether reels, high-power roll-ring assemblies, etc., have been defined to a sufficient level of detail to confidently determine mass penalties. Results of this study show the mass penalties and complexity involved in producing an induced gravity environment.
Eddy-Current Measurement Of Turning Or Curvature
Rotatable conductive plate covers sensing coil to varying degree. Curvature of pipe at remote or otherwise inaccessible location inside pipe measured using relatively simple angular-displacement eddy-current probe. Crawler and sensor assemblies move along inside of pipe on wheels. Conductive plate pivots to follow curvature of pipe, partly covering one of eddy-current coils to degree depending on local curvature on pipe.
Adaptive Noise Suppression Using Digital Signal Processing
A signal to noise ratio dependent adaptive spectral subtraction algorithm is developed to eliminate noise from noise corrupted speech signals. The algorithm determines the signal to noise ratio and adjusts the spectral subtraction proportion appropriately. After spectra subtraction low amplitude signals are squelched. A single microphone is used to obtain both eh noise corrupted speech and the average noise estimate. This is done by determining if the frame of data being sampled is a voiced or unvoiced frame. During unvoice frames an estimate of the noise is obtained. A running average of the noise is used to approximate the expected value of the noise. Applications include the emergency egress vehicle and the crawler transporter.