SEARCH · Search NASA

Results for “presence”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 37 records · Page 2

All sources NASA NTRS DOE OSTI

NASA NTRS2017

Analysis of Mixed Aryl/Alkyl Esters by Pyrolysis Gas Chromatography-Mass Spectrometry in the Presence of Perchlorate

Mars is an important target for Astrobiology. A key goal of the MSL mission was to determine whether Mars was habitable in the past, a que-tion that has now been definitely determined to be yes. Another key goal for Mars exploration is to understand the origin and distribution of organic material on Mars; this question is being addressed by the SAM instrument on MSL, and will also be informed by two upcoming Mars exploration missions, ExoMars and Mars 2020. These latter two missions have instrumentation capable of detecting and characterize organic molecules. Over the next decade, these missions will analyze organics in surface, near-surface and sub-surface samples. Each mission has the capability to analyze organics by different methods (pyrolysis gas chromatography-mass spectrometry [py-GC-MS]; laser desorption and thermal volatilization GC-MS; and Raman spectroscopy). Plausibly extraterrestrial organics were recently discovered by the Mars Science Laboratory (MSL), providing an important first step towards understanding the organic inventory on Mars [1]. The compounds detected were chlorobenzenes and chloroalkanes, but it was argued that chlorination of these compounds occurred during pyrolysis of samples containing unchlorinated organics in the presence of perchlorate. A recent report analyzed a suite of aromatic (benzene, toluene, benzoic acid, phthalic acid, and mellitic acid) and aliphatic (acetic acid, propane, propanol, and hexane) by pyrolysis under SAM-like conditions in the presence of perchlorate to attempt to constrain possible precursor molecules for the organic molecules detected on Mars. For aromatic compounds, the aromatic acids all readily produced SAM-relevant chlorobenzes, whereas benzene and toluene did not. This observation suggests that the chlorobenzene detected on Mars could have derived from compounds like mellitic acid, consistent with the previous hypothesis by Benner et al. [3]. Among the aliphatic molecules, it was shown that pyrolysis of alkanes and alcohols in the presence of perchlorates produced polychlorine containing chloro-alkanes similar to what was observed on Mars. Surpris-ingly, however, similar treatment of acetic acid pro-duced chloroketones, instead, and no chloroalkanes were reported. This suggests that the chloroalkanes detected in the Sheepbed mudstone were not derived from aliphatic carboxylic acids, but instead were from more reduced alcohols or even alkanes, or perhaps were degradation products of more complicated organic material. Because organics analyses on mars will rely heavily on py-GC-MS of perchlorate-containing samples over the next decade, it is important to understand the fate of organic molecules of biotic and abiotic origin under such conditions. In this work we begin a series of experiments to improve our understanding of products generated during py-GC-MS of increasingly complex organic molecules (esters, amides, peptides, nucleic acids, fatty acids) in the presence of perchlorate.

Burton, A. S.↗

DOE OSTI2023

Presence of aromatic-rich organic matter and its characterization in grout materials: Implications for radionuclide immobilization

Grout materials are commonly used to immobilize low-level radioactive waste. Organic moieties can be unintentionally present in common ingredients used to make these grout waste forms, which may result in the formation of organo-radionuclide species. These species can positively or negatively affect the immobilization efficiency. However, the presence of organic carbon compounds is rarely considered in models or characterized chemically. Here, we quantify the organic pool of grout formulations with and without slag, as well as the individual dry ingredients used to make the grout samples (ordinary Portland cement (OPC), slag and fly ash), including total organic carbon (TOC) and black carbon, followed by aromaticity evaluation and molecular characterization via Electro Spray Ionization Fourier-Transform Ion Cyclotron Resonance Mass Spectrometry (ESI-FTICRMS). All dry grout ingredients contained significant amounts of organic carbon, ranging from 550 mg/kg to 6250 mg/kg for the TOC pool, with an averaged abundance of 2933 ± 2537 mg/kg, of which 60 ± 29% was composed of black carbon. The significant abundance of a black carbon pool implies the presence of the aromatic-like compounds, which was further identified by both phosphate buffer-assisted aromaticity evaluation (e.g., >1000 mg-C/kg as aromatic-like carbon in the OPC) and dichloromethane (DCM) extraction with ESIFTICRMS analysis. Besides aromatic-like compounds, other organic moieties were also detected in the OPC, such as carboxyl-containing aliphatic molecules. While the organic compound only consists of minor fractions of the grout materials investigated, our observations of the presence of various radionuclide-binding organic moieties suggests the potential formation of organo-radionuclides, such as radioiodine, which might be present at lower molar concentrations than TOC. Here, evaluating the role of organic carbon complexation in controlling the disposed radionuclides, especially for those radionuclides with strong association with organic carbon, has important implications for the long-term immobilization of radioactive waste in grout systems.

36 MATERIALS SCIENCE↗

DOE OSTI2023

Probing mass orderings in presence of a very light sterile neutrino in a liquid argon detector

Results from experiments like LSND and MiniBooNE hint towards the possible presence of an extra eV scale sterile neutrino. The addition of such a neutrino will significantly impact the standard three flavor neutrino oscillations. In particular, it can give rise to additional degeneracies due to additional sterile parameters. For an eV scale sterile neutrino, the cosmological constraints dictate that the sterile state is heavier than the three active states. However, for lower masses of sterile neutrinos, the sterile state can be lighter than one and/or more of the three states. In such cases, the mass ordering of the sterile neutrinos also becomes unknown, along with the mass ordering of the active states. In this paper, we explore the mass ordering sensitivity in the presence of a sterile neutrino assuming the mass squared difference |Δ 41 | to be in the range 10 –4 –1 eV 2 . We study (i) how the ordering of the active states, i.e. the determination of the sign of Δ 31 gets affected by the presence of a sterile neutrino in the above mass range, (ii) the possible determination of the sign of Δ 41 for Δ 41 in the range 10 –4 –0.1 eV 2 . This analysis is done in the context of a liquid argon detector using beam neutrinos traveling a distance of 1300 km and atmospheric neutrinos that propagate through a distance ranging from 10 – 10000 km, allowing resonant matter effects. Apart from presenting separate results from these sources, we also do a combined study and probe the synergy between these two in giving an enhanced sensitivity.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2021

Plutonium Redox Transformation in the Presence of Iron, Organic Matter, and Hydroxyl Radicals: Kinetics and Mechanistic Insights

Plutonium (Pu) redox and complexation processes in the presence of natural organic matter and associated iron can impact the fate and transport of Pu in the environment. In this work, we studied the fate of Pu(IV) in the presence of humic acid (HA) and Fe(II) upon reaction with H 2 O 2 that may be generated by photochemical and other reactions. A portion of Pu(IV) was oxidized to Pu(V/VI), which is primarily ascribed to the generation of reactive intermediates from the oxidation of Fe(II) and Fe(II)–HA complexes by H 2 O 2 . The kinetics of Pu(IV) oxidation is pH-dependent and can be described by a model that incorporates Pu redox kinetics with published HA-modified Fenton reaction kinetics. At pH 3.5, the presence of HA slowed Pu(IV) oxidation, while at pH 6, HA accelerated Pu(IV) oxidation in the first several hours followed by a reverse process where the oxidized Pu(V/VI) was reduced back to Pu(IV). Analysis of Pu-associated particle size suggests that Pu oxidation state is a major driver in its complexation with HA and formation of colloids and heteroaggregates. Our results revealed the H 2 O 2 -driven oxidation of Pu(IV)–HA–Fe(II) colloids with implications to the transient mobilization of Pu(V/VI) in organic-rich redox transition zones.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2024

Plutonium Speciation and Oxidation State Distributions in the Presence of Citrate

We explored the speciation and kinetics of the Pu(VI)-citrate and Pu(III)-citrate systems (pH m = 2.5–11.0, I = 0.1 M NaCl, T = 23 °C, O 2 (g) < 2 ppm) using ultraviolet–visible–near-infrared (UV–vis–NIR) spectrophotometry, solvent extraction, and PHREEQC modeling. Formation constants were determined for PuO 2 (HcitH)(aq) (log K° 1,1 = 1.09 ± 0.05) and PuO 2 (HcitH)(citH) 3– (log K° 1,2 = -0.20 ± 0.07), and evidence for (PuO 2 ) m (citH –k ) n (OH) x 2m(3+k)n–x was identified under alkaline conditions. Pu(VI) species were found to be less stable in the presence of citrate than in the absence of citrate (t ≤ 168 days); the rate of reduction increased with increasing pH. Further, the direct reduction of Pu(VI) to Pu(IV) was required to fit experimental data in the presence of citrate but did not improve the fit for Pu in the absence of citrate. We also observed increased Pu(III) stability in the presence of citrate (t ≤ 293 days), with higher concentrations of Pu(III) favored at lower pH. Finally, we provide evidence of a radiolysis-driven mechanism for the citrate-mediated reduction of plutonium that involves electron transfer from the oxidative breakdown of citrate. Our work highlights the need to investigate the redox effect of organic ligands on plutonium oxidation states under repository-relevant conditions.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2025

Large-Scale Compatibilization of Postconsumer Polyolefins in the Presence of Paraffin Wax as a Rheology Modifier

Postconsumer polyolefins (r-POs) are leading plastic waste contributors today. This study reports, for the first time, the compatibilization of r-POs at a 50 kilogram (kg) scale with a styrene block copolymer compatibilizer in the presence of paraffin waxes as rheology modifiers (RMs). The addition of the rheological modifier (RM) and compatibilizer enhances the melt flow indices (MFIs) and mechanical properties, respectively. One aspect of this study is to compare the effectiveness of low-cost paraffin wax to that of specialized and expensive RMs in r-POs. The mechanical and rheological properties such as the melt flow index (MFI) of r-POs were compared in the presence of two types of RMs. Next, the study explores the challenges encountered when scaling the compatibilization of r-POs in the presence of paraffin wax from a 10-g to a 50-kg scale. The mechanical properties were determined and compared for samples at different scales. The study further investigated the effect of the method used for blending paraffin wax with r-PO and its impact on the value of their MFI and mechanical properties. This at-scale validation could pave the way for the commercialization of r-POs.

crystallinity↗

DOE OSTI2024

The corrosion behavior of borosilicate glass in the presence of cementitious waste forms

Borosilicate glasses are widely used for radioactive waste disposal due to their ability to incorporate a variety of contaminants and radionuclides while exhibiting high durability in various disposal scenarios. This research evaluated the dissolution of borosilicate glass using both single-pass-flow-through (ASTM C1662-18) and product consistency test (ASTM C1285-21) methods with different solutions, including a cementitious-contacted water (called grout-contacted, GC, from this point) and solutions with varying levels of dissolved cementitious species such as Si, Ca, Al. Here, the results indicated that the presence of Ca plays a crucial role in suppressing glass corrosion, as evidenced by the slower normalized dissolution rates, which were one order of magnitude lower for boron and two orders of magnitude lower for rhenium, observed in both Ca-amended and GC solutions compared to the pH 12 buffer solution. This effect is attributed to the formation of a dense, low-porosity, and strongly bonded calcium silicate hydrate (CSH) layer on the glass surface, which implies that a glass corrosion process is influenced by ion exchange involving alkali ions Na + , K + , Ca 2+ , and hydrogen-containing species. A small number of glass particles treated in the GC solution showed minor corrosion pits in the form of shallow craters with an average diameter of approximately 500 μm. This observation is correlated with a significant reduction, 2000 to 3000 times lower, in the cumulative volume of glass pores, indicating that smaller pore voids were “sealed” in the presence of Ca 2+ ions, likely attributed to the formation of CSH precipitation or other corrosion products such as calcium carbonate saturated from the grout solution. These findings suggest that the presence of dissolved Ca in the GC solution can slow down the dissolution of borosilicate glass, contrary to the expected trend of higher dissolution rates resulting from exposure to high alkaline and thus higher pH solutions.

36 MATERIALS SCIENCE↗

DOE OSTI2024

Transport and losses of energetic particles in tokamaks in the presence of Alfvén activity using the new full orbit TAPaS code coupled to FAR3d

Recent developments and tools integrated into the TAPaS code are presented, enabling realistic scenario simulations of particle dynamics within experimental tokamak magnetic equilibria. In particular, the enhanced capabilities of TAPaS enable seamless coupling with external simulations, provided the metric and equilibrium magnetic field of the external code are known. Coupling TAPaS with the gyro-fluid code FAR3d, the transport and losses of energetic particles in the presence Alfvén eigenmodes (AEs) in DIII-D plasma discharge #159243 were investigated. Detailed analyses of prompt losses with and without collisions were performed. Then, further analysis was performed in the presence of electromagnetic perturbations resulting from AEs activity. The results indicate that, for the energies and the initial conditions considered here, the presence of AEs enhances the particle losses.

Alfven eigenmodes↗

DOE OSTI2022

Integrating Public Health Surveillance and Environmental Data to Model Presence of Histoplasma in the United States

In the United States, the true geographic distribution of the environmental fungus Histoplasma capsulatum remains poorly understood but appears to have changed since it was first characterized. Histoplasmosis is caused by inhalation of the fungus and can range in severity from asymptomatic to life-threatening. Due to limited public health surveillance and under detection of infections, it is challenging to directly use reported case data to characterize spatial risk. Using monthly and yearly county-level public health surveillance data and various environmental and socioeconomic characteristics, we use a spatio-temporal occupancy model to estimate latent, or unobserved, presence of H. capsulatum , accounting for imperfect detection of histoplasmosis cases. We estimate areas with higher probabilities of the presence of H. capsulatum in the East North Central states around the Great Lakes, reflecting a shift of the endemic region to the north from previous estimates. The presence of H. capsulatum was strongly associated with higher soil nitrogen levels. In this investigation, we were able to mitigate challenges related to reporting and illustrate a shift in the endemic region from historical estimates. This work aims to help inform future surveillance needs, clinical awareness, and testing decisions for histoplasmosis.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2020

High-resolution cryo-EM reconstructions in the presence of substantial aberrations

Here, an analysis is performed of how uncorrected antisymmetric aberrations, such as coma and trefoil, affect cryo-EM single-particle reconstruction (SPR) results, and an analytical formula quantifying information loss owing to their presence is inferred that explains why Fourier-shell coefficient-based statistics may report significantly overestimated resolution if these aberrations are not fully corrected. The analysis is validated with reference-based aberration refinement for two cryo-EM SPR data sets acquired with a 200 kV microscope in the presence of coma exceeding 40 µm, and 2.3 and 2.7 Å reconstructions for 144 and 173 kDa particles, respectively, were obtained. The results provide a description of an efficient approach for assessing information loss in cryo-EM SPR data acquired in the presence of higher order aberrations, and address inconsistent guidelines regarding the level of aberrations that is acceptable in cryo-EM SPR experiments.

3D reconstruction and image processing↗

DOE OSTI2022

Presence Detection in Connected Lighting Systems

Despite established technology and decades of experience, presence detection still faces challenges, including resistance to its use. This report provides context for current presence detection in lighting, considers various failure modes and their causes, characterizes various approaches to implementing presence detection, and describes performance evaluation as conducted in classrooms and offices at the Living Lab.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2025

Plutonium Oxidation State Distribution in the Presence of WIPP-Relevant Organics and Iron Corrosion Products

The oxidation state and solubility of plutonium (Pu) in high ionic strength synthetic WIPP (Waste Isolation Pilot Plant) brines as a function of pC H+ in the presence and absence of WIPP-relevant organic ligands (EDTA [Ethylenediaminetetraacetic acid], oxalate, citrate, acetate) and iron corrosion products (magnetite and metallic iron) at 𝑇 = 23 ± 2 ∘C was thoroughly studied by long-term batch solubility experiments (between approximately 800-1,100 days) from an undersaturation approach. The oxidation state of Pu in the WIPP environment has been a topic of interest since the initial Compliance Certification Application (CCA). This study aims to investigate the solubility of Pu under the expected WIPP conditions and to determine the oxidation state of the solid phase that will control the solubility. One of the most important results of this study is that the Pu oxidation state was analyzed both from the surface area of the corrosion products and in the precipitated solid. The analysis of the Pu oxidation state on the surface of the iron mineral from the ongoing undersaturated experiments is more relevant to the performance assessment of nuclear waste disposal than short term batch (plutonium-iron phase) experiments. The X-ray Absorption Near-Edge Spectroscopy (XANES) analysis showed that Pu oxidation state is different on the metal surface and in the precipitated solid. Pu(III) is the dominant oxidation state in the metallic iron (Fe 0 ) system in the presence and absence of organics. Pu(IV) is the dominant oxidation state in the magnetite system in the presence and absence of organics. Also, organics stabilize Pu(IV) in the magnetite system. Analysis of Pu in the precipitated solid by Extended X-ray Absorption Fine Structure (EXAFS) analysis showed that Pu formed an inner-sphere complex with iron with minor amounts of PuO 2 present. X-ray diffraction (XRD) results indicate that metallic iron and magnetite did not oxidize in three years in the alkaline and high ionic strength system. Under these conditions (8 < pC H+ < 10 at T = (22 ± 2) °C under nitrogen atmosphere, the solubility of Pu changes by up to three orders of magnitude (10 -5 and 10 -8 M). The spread in solubility is highest at pC H+ = 9. Pu(III) and Pu(IV) showed different solubility behavior in the synthetic WIPP brine. A summary of the data collected in this report will be submitted to Sandia National Laboratories as part of a parameter update report which will outline the changes to the OXSTAT parameter for the 2026 Compliance Recertification Application (CRA-2026). The experiments performed were done according to the U.S. Department of Energy (DOE) approved Test Plan entitled “Effects of Radiolysis, Organic Complexation, and Redox Conditions on the Speciation and Oxidation State Distribution of Pu(III/IV)” (LCO-ACP-25). All data reported were obtained under the Los Alamos National Laboratory-Carlsbad Office (LANL-CO) Quality Assurance Program, which is compliant with the DOE Carlsbad Field Office, Quality Assurance Program Document (CBFO/QAPD).

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2025

Evaluation of Technologies to Mitigate the Presence of Gaseous Elemental Mercury in Waste Disposal Containers

A study was conducted to evaluate sorbent technologies that can mitigate the presence of elemental mercury (Hg⁰) in waste containers for mercury-contaminated debris (MCD). Decontamination and demolition (D&D) activities at the Y-12 National Security Complex (Y-12) and other U.S. Department of Energy (DOE) Oak Ridge Reservation (ORR) facilities generate MCD requiring offsite disposal. The debris is packaged in appropriate waste containers and may be temporarily stored onsite prior to transport for treatment and/or disposal. During transportation of loads that had no visible liquid Hg at the point of origin, temperature changes can cause Hg⁰ to evaporate, condense, and form droplets on container walls. Furthermore, vibration during transportation could cause beads of Hg to be released from the debris, container walls, and ceiling, resulting in pools of liquid Hg⁰ on the container floor. Waste acceptance criteria (WAC) limitations for commercial disposal facilities, the Nevada National Security Site (NNSS), and ORR mixed low-level waste landfills prohibit the presence of any free liquids in containers identified as a solid waste form. Potential solutions to mitigate the presence of residual liquids that could be formed through vapor condensation include the use of sorbents or similar materials to capture and stabilize volatile Hg⁰ vapors and thus ensure compliance with landfill WAC requirements. This report summarizes data from small-scale laboratory experiments conducted to evaluate sorbent materials for Hg⁰ vapor suppression and sorption of liquid Hg⁰ that could form under relevant transportation and disposal conditions. A series of experiments was conducted to evaluate commercial sorbent materials and their effectiveness for Hg⁰ sorption across a temperature range from 19.4°C to 60°C. The impact of residual moisture on sorption was investigated under relevant conditions, and leaching tests were performed to assess the stability of Hg⁰ captured sorbent materials. The results provide estimates for sorbent quantities needed for a given Hg⁰ mass loading based on experimental results exposing sorbents to gaseous and liquid Hg⁰ at various mass ratios. Overall, sorbents that were most effective for Hg⁰ vapor suppression were brominated activated carbons, mackinawite-based sorbents coated on vermiculite, and sulfur-modified granular activated carbon. Elevated temperatures and moisture conditions did not result in significant increases of Hg⁰ headspace concentrations, and the materials also demonstrated high sorption capacities for the sorption of liquid Hg⁰.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2024

Identifying the speciation of salt-based actinides in the presence of contaminants [Slides]

Molten salt reactors (MSR) present advantages over light water reactors, such as higher safety and energy efficiency, convenient waste processing, and the ability to use more abundant thorium instead of uranium as the fuel source. However, due to the high temperatures associated with these reactors the reactor container corrosion product can have a high influence on the molten salt system, and they are considered as a part of the fuel salt system. It is essential to have a comprehensive understanding of the chemical reactions that are occurring in the molten salt in the presence of contaminants such as nickel, manganese, chromium chlorides and oxides. Because they can change the local structure of these salts and the local structures of these salts govern the thermophysical properties of the molten salts, which would determine the safety and operational parameters of the reactor. This study is focused on identifying f-element materials speciation resulting from reaction with corrosion/degradation products in a molten salt environment to understand the flow of MSR. In this work, f-element chlorides are mixed with alkali and alkali earth metals and corrosion products such as transition metal chlorides are introduced systematically, inside a glovebox. Then these are heated to around 700 ? and slowly cooled to room temperature. Afterwards, these are analyzed using different characterization techniques such as powder X-ray diffraction, UV-vis and Raman spectroscopy and solid-state NMR. The initial work was conducted with lanthanide chlorides as a surrogate for actinides and the acquired data strongly indicates that in the presence of corrosion products new phase formation/ change in coordination environments occurs. This work has been presented at multiple conference presentations. The proposed work would allow to extend this work to actinides (depleted uranium and thorium) and this would assist to identify the speciation of actinide chloride in the presence of corrosion products. Also, this work would open an opportunity to compare the coordination behavior of lanthanides with the actinides.

37 - INORGANIC, ORGANIC, PHYSICAL AND ANALYTICAL C↗

DOE OSTI2021

A Decade of Radial-velocity Monitoring of Vega and New Limits on the Presence of Planets

We present an analysis of 1524 spectra of Vega spanning 10 yr, in which we search for periodic radial-velocity variations. A signal with a periodicity of 0.676 day and a semi-amplitude of ∼10 m s{sup −1} is consistent with the rotation period measured over much shorter time spans by previous spectroscopic and spectropolarimetric studies, confirming the presence of surface features on this A0 star. The activity signal appears to evolve on long timescales, which may indicate the presence of failed fossil magnetic fields on Vega. TESS data reveal Vega’s photometric rotational modulation for the first time, with a total amplitude of only 10 ppm. A comparison of the spectroscopic and photometric amplitudes suggests that the surface features may be dominated by bright plages rather than dark spots. For the shortest orbital periods, transit and radial-velocity injection recovery tests exclude the presence of transiting planets larger than 2 R {sub ⊕} and most non-transiting giant planets. At long periods, we combine our radial velocities with direct imaging from the literature to produce detection limits for Vegan planets and brown dwarfs out to distances of 15 au. Finally, we detect a candidate radial-velocity signal with a period of 2.43 days and a semi-amplitude of 6 m s{sup −1}. If caused by an orbiting companion, its minimum mass would be ∼20 M {sub ⊕}; because of Vega’s pole-on orientation, this would correspond to a Jovian planet if the orbit is aligned with the stellar spin. We discuss the prospects for confirmation of this candidate planet.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2022

Substructure at High Speed. I. Inferring the Escape Velocity in the Presence of Kinematic Substructure

Abstract The local escape velocity provides valuable inputs to the mass profile of the galaxy, and requires understanding the tail of the stellar speed distribution. Following Leonard & Tremaine, various works have since modeled the tail of the stellar speed distribution as ∝ ( v esc − v ) k , where v esc is the escape velocity, and k is the slope of the distribution. In such studies, however, these two parameters were found to be largely degenerate and often a narrow prior is imposed on k in order to constrain v esc . Furthermore, the validity of the power-law form can breakdown in the presence of multiple kinematic substructures or other mis-modeled features in the data. In this paper, we introduce a strategy that for the first time takes into account the presence of kinematic substructure. We model the tail of the velocity distribution as a sum of multiple power laws as a way of introducing a more flexible fitting framework. Using mock data and data from FIRE simulations of Milky Way-like galaxies, we show the robustness of this method in the presence of kinematic structure that is similar to the recently discovered Gaia Sausage. In a companion paper, we present the new measurement of the escape velocity and subsequently the mass of the Milky Way using Gaia eDR3 data.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1981

Research issues in implementing remote presence in teleoperator control

The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

Corker, K.↗

NASA NTRS1992

Contact detection and contact motion for error recovery in the presence of uncertainties

Due to various kinds of uncertainties, a robot motion may fail and result in some unintended contact between the object held by the robot and the environment, which greatly hampers robotics applications on tasks with high-precision requirements, such as assembly tasks. Aiming at automatically recovering a robotic task from such a failure, this paper discusses, in the presence of uncertainties, contact detection based on contact motion for recovery. It presents a framework for on-line recognizing contacts using multiple sensor modalities in the presence of sensing uncertainties and means for ensuring successful compliant motions in the presence of sensing and control uncertainties.

Xiao, Jing↗