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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 73 records · Page 4

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NASA NTRS1986

Hybrid position/force control of multi-arm cooperating robots

This paper extends the theory of hybrid position/force control to the case of multi-arm cooperating robots. Cooperation between n robot arms is achieved by controlling each arm such that the burden of actuation is shared between the arms in a nonconflicting way as they control the position of and force on a designated point on an object. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. Natural and artificial position and force constraints are defined for a point on the object and two selection matrices are obtained to control the arms. The position control loops are designed based on each manipulator's Cartesian space dynamic equations. In the position control subspace, a feature is provided which allows the robot arms to exert additional forces/torques to achieve compression, tension, or torsion in the object without affecting the execution of the motion trajectories. In the force control subspace, a method is introduced to minimize the total force/torque magnitude square while realizing the net desired force/torque on the environment.

Hayati, Samad↗

NASA NTRS1987

Coordination of multiple robot arms

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

Barker, L. K.↗

NASA NTRS1989

Optimal force distribution for payload positioning using a planar dual-arm robot

This paper presents a parameter optimization technique for deciding the force distribution on a payload being transported along a predetermined trajectory using two planar manipulator arms. The methodology begins by transforming the singular dynamics of two-arm transport to an ordinary set of differential equations and then proceeds to obtain a relation between the torques exerted by each arm. This relation is then used in a quadratic torque cost which is subsequently minimized to yield an optimal torque distribution. Significant savings in energy were found to occur when the arms were allowed to interact by transmission of forces through the payload. Even more significant are the savings found over one-arm transport of payloads where the arm torques are fixed by the prescribed trajectory.

Carignan, C. R.↗

NASA NTRS1990

A laboratory breadboard system for dual-arm teleoperation

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Bejczy, A. K.↗

NASA NTRS1990

Spiral structure of M51: Streaming motions across the spiral arms

The atomic hydrogen (HI) and the H alpha emission line in the grand-design spiral galaxy M51 have been observed with the Westerbork Synthesis Radio Telescope and the Taurus Fabry-Perot imaging spectrometer, respectively. Across the inner spiral arms significant tangential and radial velocity gradients are detected in the H alpha emission after subtraction of the axi-symmetric component of the velocity field. The shift is positive on the inside and negative on the outside of the northern arm. Across the southern arm this situation is reversed. The direction of the shifts is such that the material is moving inward and faster compared to circular rotation in both arms, consistent with the velocity perturbations predicted by spiral density wave models for gas downstream of a spiral shock. The observed shifts amount to 20 to 30 km (s-1), corresponding to streaming motions of 60 to 90 km (s-1) in the plane of the disk (inclination angle 20 degrees). Comparable velocity gradients have also been observed by Vogel et al. in the CO emission from the inner northern arm of M51. The streaming motions in M51 are about 2 to 3 times as large as the ones found in HI by Rots in M81, and successfully modelled by Visser with a self-consistent density wave model. Researchers have not been able to detect conclusively streaming motions in the HI emission from the arms, perhaps due to the relatively poor angular resolution (approx. 15 seconds) of the HI observations.

Tilanus, R. P. J.↗

NASA NTRS1991

Analytic and simulation studies on the use of torque-wheel actuators for the control of flexible robotic arms

This paper presents results of analytic and simulation studies to determine the effectiveness of torque-wheel actuators in suppressing the vibrations of two-link telerobotic arms with attached payloads. The simulations use a planar generic model of a two-link arm with a torque wheel at the free end. Parameters of the arm model are selected to be representative of a large space-based robotic arm of the same class as the Space Shuttle Remote Manipulator, whereas parameters of the torque wheel are selected to be similar to those of the Mini-Mast facility at the Langley Research Center. Results show that this class of torque-wheel can produce an oscillation of 2.5 cm peak-to-peak in the end point of the arm and that the wheel produces significantly less overshoot when the arm is issued an abrupt stop command from the telerobotic input station.

Montgomery, Raymond C.↗

NASA NTRS1998

The Anatomy of the Perseus Spiral Arm: 12 CO and IRAS Imaging Observations of the W3-W4-W5 Cloud Complex

Panoramic images of 12CO J = 1-0 and thermal dust emissions from the W3-W4-W5 region of the outer Galaxy are presented. These data and recently published H I 21 cm line emission images provide an approximate 1' resolution perspective to the dynamics and thermal energy content of the interstellar gas and dust components contained within a 9 deg. arc of the Perseus spiral arm. We tabulate the molecular properties of 1560 clouds identified as closed surfaces within the l-b-v CO data cube at a threshold of 0.9 K T* (sub R). Relative surface densities of the molecular (28:1) and atomic (2.5:1) gas components determined within the arm and interarm velocity intervals demonstrate that the gas component that enters the spiral arm is predominantly atomic. Molecular clouds must necessarily condense from the compressed atomic material that enters the spiral arm and are likely short lived within the interarm regions. From the distribution of centroid velocities of clouds, we determine a random cloud-to-cloud velocity dispersion of 4 km s (exp. -1) over the width of the spiral arm but find no clear evidence within the molecular gas for streaming motions induced by the spiral potential. The far-infrared images are analyzed with the CO J = 1-0 and H I 21 cm line emission. The enhanced UV (Ultraviolet) radiation field from members of the Cas OB6 association and embedded newborn stars provide a significant source of heating to the extended dust component within the Perseus arm relative to the quiescent cirrus regions. Much of the measured far-infrared flux (69% at 60 micrometers and 47% at 100 micrometers) originates from regions associated with star formation rather than the extended, infrared cirrus component.

Heyer, Mark H.↗

NASA NTRS1998

Gas Sensors Based on Single-Arm Waveguide Interferometers

Various optical technologies can be implemented in chemical sensing. Sensitive, rugged, and compact systems will be more likely built using interferometric waveguide sensors. Currently existing sensors comprise dual-arm systems with external reference arm, dual-arm devices with internal reference arm such as integrated Mach-Zehnder interferometer, and single-arm systems which employ the interference between different waveguide modes. These latter ones are the most compact and rugged but still sensitive enough to monitor volatile pollutants such as NH3 coming out of industrial refrigerators and fertilizer plants and stocks, NO, NO2, SO2, emitted by industrial burning processes. Single-arm devices in planar waveguide configuration most frequently use two orthogonally polarized modes TE (sub i) and TM (sub i) of the same order i. Sensing effect is based on the difference in propagation conditions for the modes caused by the environment. However, dual-mode single-order interferometers still have relatively low sensitivity with respect to the environment related changes in the waveguide core because of small difference between propagation constants of TE (sub i) and TM (sub i) modes of the same order. Substantial sensitivity improvement without significant complication can be achieved for planar waveguide interferometers using modes of different orders with much greater difference between propagation constants.

Sarkisov, Sergey↗

NASA NTRS2000

Unequal-Arms Michelson Interferometers

Michelson interferometers allow phase measurements many orders of magnitude below the phase stability of the laser light injected into their two almost equal-length arms. If, however, the two arms are unequal, the laser fluctuations can not be removed by simply recombining the two beams. This is because the laser jitters experience different time delays in the two arms, and therefore can not cancel at the photo detector. We present here a method for achieving exact laser noise cancellation, even in an unequal-arm interferometer. The method presented in this paper requires a separate readout of the relative phase in each arm, made by interfering the returning beam in each arm with a fraction of the outgoing beam. By linearly combining the two data sets with themselves, after they have been properly time shifted, we show that it is possible to construct a new data set that is free of laser fluctuations. An application of this technique to future planned space-based laser interferometer detector3 of gravitational radiation is discussed.

Tinto, Massimo↗

NASA NTRS2002

Thermal Nondestructive Evaluation Report: Inspection of the Refurbished Manipulator Arm System in the Manipulator Development Facility at Johnson Space Center 10-12 January 2001

On 4 December 2002, a failure of the Refurbished Manipulator Arm System (RMAS) occurred in the Manipulator Development Facility (MDF) at Johnson Space Center. When the Test Director commanded a should pitch maneuver to lift the arm from its payload bay pedestal, the yaw controls failed. This, coupled with a gravitational forces (due to the angle of the shoulder joint with respect to vertical), resulted in uncontrolled arm motion. The shoulder yaw joint moved approximately 20 degrees, causing the extended arm to strike and severely damage the port side MDF catwalk handrails. The arm motion stopped after impact with the handrails. On 10-12 January 2001, inspections were performed on the port face of the lower and upper arms of the RMAS using a infrared thermography developed at Langley Research Center. This paper presents the results of those nondestructive inspections and provides a complete description of the anomalies found and their locations.

Cramer, K. Elliott↗

NASA NTRS1998

The Anatomy of the Perseus Spiral ARM: (sup 12)CO and IRAS Imaging Observations of the W3-W4-W5 Cloud Complex

Panoramic images of (sup l2)CO J = 1-0 and thermal dust emissions from the W3-W4-W5 region of the outer Galaxy are presented. These data and recently published H (sub I) 21 cm line emission images provide an approx. 1 min resolution perspective to the dynamics and thermal energy content of the interstellar gas and dust components contained within a 9 deg arc of the Perseus spiral arm. We tabulate the molecular properties of 1560 clouds identified as closed surfaces within the l-b-v CO data cube at a threshold of 0.9 K T(sup *)(sub R). Relative surface densities of the molecular (28:1) and atomic (2.5: 1) gas components determined within the arm and interarm velocity intervals demonstrate that the gas component that enters the spiral arm is predominantly atomic. Molecular clouds must necessarily condense from the compressed atomic material that enters the spiral arm and are likely short lived within the interarm regions. From the distribution of centroid velocities of clouds, we determine a random cloud-to-cloud velocity dispersion of 4 km/s over the width of the spiral arm but find no clear evidence within the molecular gas for streaming motions induced by the spiral potential. The far-infrared images are analyzed with the CO J = 1-0 and H (sub I) 21 cm line emission. The enhanced UV radiation field from members of the Cas OB6 association and embedded newborn stars provide a significant source of heating to the extended dust component within the Perseus arm relative to the quiescent cirrus regions. Much of the measured far-infrared flux (69% at 60 microns and 47% at 100 microns) originates from regions associated with star formation rather than the extended, infrared cirrus component.

Heyer, Mark H.↗

NASA NTRS2001

Context-dependent arm pointing adaptation

We sought to determine the effectiveness of head posture as a contextual cue to facilitate adaptive transitions in manual control during visuomotor distortions. Subjects performed arm pointing movements by drawing on a digitizing tablet, with targets and movement trajectories displayed in real time on a computer monitor. Adaptation was induced by presenting the trajectories in an altered gain format on the monitor. The subjects were shown visual displays of their movements that corresponded to either 0.5 or 1.5 scaling of the movements made. Subjects were assigned to three groups: the head orientation group tilted the head towards the right shoulder when drawing under a 0.5 gain of display and towards the left shoulder when drawing under a 1.5 gain of display; the target orientation group had the home and target positions rotated counterclockwise when drawing under the 0.5 gain and clockwise for the 1.5 gain; the arm posture group changed the elbow angle of the arm they were not drawing with from full flexion to full extension with 0.5 and 1.5 gain display changes. To determine if contextual cues were associated with display alternations, the gain changes were returned to the standard (1.0) display. Aftereffects were assessed to determine the efficacy of the head orientation contextual cue compared to the two control cues. The head orientation cue was effectively associated with the multiple gains. The target orientation cue also demonstrated some effectiveness while the arm posture cue did not. The results demonstrate that contextual cues can be used to switch between multiple adaptive states. These data provide support for the idea that static head orientation information is a crucial component to the arm adaptation process. These data further define the functional linkage between head posture and arm pointing movements.

Clinical Trial↗

NASA NTRS1999

Unequal-Arms Michelson Interferometers

Michelson interferometers allow phase measurements many orders of magnitude below the phase stability of the laser light injected into their two almost equal-length arms. If, however, the two arms are unequal, the laser fluctuations can not be removed by simply recombining the two beams. This is because the laser jitters experience different time delays in the two arms, and therefore can not cancel at the photo detector. We present here a method for achieving exact laser noise cancellation, even in an unequal-arm interferometer. The method presented in this paper requires a separate readout of the relative phase in each arm, made by interfering the returning beam in each arm with a fraction of the outgoing beam. By linearly combining the two data sets with themselves, after they have been properly time-shifted, we show that it is possible to construct a new data set that is free of laser fluctuations. An application of this technique to future planned space-based laser interferometer detectors of gravitational radiation is discussed.

Tinto, Massimo↗

NASA NTRS2010

A Comparison of MERRA and NARR Reanalysis Datasets with the DOE ARM SGP Continuous Forcing data

In this study, the atmospheric state, precipitation, cloud fraction, and radiative fluxes from Modern Era Retrospective-analysis for Research and Applications (MERRA) and North American Regional Reanalysis (NARR) are collected and compared with the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) continuous forcing during the period 1999-2001. For the atmospheric state, the three datasets have excellent agreement for the horizontal wind components and air temperature. NARR and ARM have generally good agreement for humidity, except for several biases in the PBL and in the upper troposphere. MERRA, on the other hand, suffers from a year-round negative bias in humidity except for the month of June. For the vertical pressure velocity, significant differences exist with the largest biases occurring during the spring upwelling and summer downwelling periods. Although NARR and MERRA share many resemblances to each other, ARM outperforms these reanalyses in terms of correlation with cloud fraction. Because the ARM forcing is constrained by observed precipitation that gives the adequate mass, heat, and moisture budgets, much of the precipitation (specifically during the late spring/early summer) is caused by smaller-scale forcing that is not captured by the reanalyses. Both NARR and MERRA capture the seasonal variation of CF observed by ARM radar-lidar and GOES with high correlations (0.92-0.78), but having negative biases of 14% and 3%, respectively. Compared to the ARM observations, MERRA shows a better agreement for both SW and LW fluxes except for LW-down (due to a negative bias in water vapor), NARR has significant positive bias for SW-down and negative bias for LW-down under clear- and all-sky conditions . The NARR biases result from a combination of too few clouds and a lack of sufficient extinction by aerosols and water vapor in the atmospheric column. The results presented here represent only one location for a limited time period, and more comparisons at different locations and longer time period are needed.

Kennedy, Aaron D.↗

NASA NTRS2017

Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.

Park, In-Won↗

DOE OSTI2026

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The four trajectory data sets support aerosol, cloud, and planetary boundary-layer research. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

ARM Cloud and Precipitation Measurements and Science Group (CPMSG) 2024 Workshop Report

The mission of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility is to improve the understanding and representation of cloud and aerosol processes and their interaction with the Earth's surface in Earth system models (ESMs) by providing comprehensive field observations and supporting advanced data analytics. The ARM Cloud and Precipitation Measurements and Science Group (CPMSG) was chartered in March 2019 to help improve the performance and scientific impact of ARM measurements of clouds and precipitation. The group aims to identify and address gaps in measurement capabilities, maximize the scientific impact of ARM data, and effectively serve the scientific community. To achieve these goals, the group includes experts in cloud and precipitation science, as well as representatives from ARM infrastructure, including instrument mentors, engineers, data quality officers, and data product translators. Prior to CPMSG, early discussions on cloud and precipitation measurements primarily focused on improving radar systems, but have since evolved to include a broader scope involving radiometers and other instruments. Since its formation, the CPMSG has gathered feedback using science traceability matrices. CPMSG aims to keep these as living documents to show the measurement needs, scientific drivers, roadblocks, maturity of measurements and retrievals, and pathways to model improvements. The group meets quarterly to discuss and prioritize measurement and operational improvements.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

ARM Cloud and Precipitation Measurements and Science Group (CPMSG) 2024 Workshop Report

54 ENVIRONMENTAL SCIENCES↗