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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
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

Cloud Droplet Measurement System for the ARM Tethered Balloon System (TBS) Field Campaign Report

The Mesa Photonics' cloud droplet measurement system (CDMS) performs in situ measurement of droplet size distribution and droplet number density in clouds. These characteristics are important cloud microphysical properties that are critical input parameters for atmospheric models and are also useful for proper calibration and validation of performance of other atmospheric measurement instrumentation. This small campaign was the first project (out of two) that involved integration of the CDMS into the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility’s tethered balloon system (TBS) and its initial testing at the ARM Southern Great Plains (SGP) atmospheric observatory. The follow-up campaign (AFC07016) involved testing of the CDMS under relevant conditions at the third ARM Mobile Facility (AMF3) at Oliktok Point, Alaska and making in situ measurements in clouds. The goal of this small field campaign was to deploy the CDMS on the ARM TBS, demonstrate its integrity and compatibility with the TBS, and test the wireless telecommunication system in preparation for subsequent in-cloud measurements at ARM’s North Slope of Alaska (NSA) observatory at Utqiagvik (formerly Barrow). The specific technical objectives included: (1) Integration of the Mesa Photonics' CDMS into the ARM TBS, (2) testing of the wireless telecommunication system of the CDMS, (3) evaluating the data acquisition software and image processing algorithms especially under high-background-illumination conditions, and (4) testing the ruggedness of the instrument's optical alignment and other performance characteristics. All objectives have been successfully met. The mounting hardware was designed and built mostly at Sandia National Laboratories (SNL), which allowed reliable mounting of the CDMS on the TBS and co-locating the CDMS with other instruments. The field tests were performed by the principal investigator (PI) in collaboration with the TBS operational crew led by D. Dexheimer. The field testing demonstrated good compatibility of the CDMS with the TBS. During the TBS flights, the crew did not experience any operational issues with the CDMS. The instrument demonstrated reliable operational characteristics, including sufficient battery life and good thermal management. The wireless telecommunication system has been successfully tested at TBS flight altitudes of up to 1000 m. During all flights, the CDMS raw data were wirelessly transmitted to the ground station and processed in real time. The ruggedness of the instrument's optical alignment was evaluated by performing calibration of the CDMS (using Mesa Photonics' fixed-size monodisperse droplet generator) before and after the campaign. The calibration was stable within the instrument's measurement precision. In summary, the campaign demonstrated good compatibility of the Mesa Photonics' CDMS with the ARM TBS. The flight tests confirmed the mechanical integrity of the CDMS and stability of its optical layout, as well as reliability of the wireless telecommunication system. Successful completion of this campaign provided a solid basis for the next campaign (AFC07016, November 2020), that involved testing of the CDMS during in-cloud TBS flights at AMF3 at Oliktok Point.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Development of the ARM Lagrangian Large-Scale Forcing Data (ARMLAGTRAJ) Value-Added Product Based on the lagtraj Framework

The Atmospheric Radiation Measurement (ARM) large-scale forcing data developed based on the constrained variational analysis (VARANAL) value-added product (VAP) (Zhang and Lin 1997, Zhang et al. 2001, Xie et al. 2004, Tang et al. 2019) has been widely used for single-column models (SCMs), cloud-resolving models (CRMs), and large-eddy simulation models (LESs) to understand and improve physical processes in models. Recently, the U.S. Department of Energy (DOE) ARM user facility conducted several major field campaigns using ship-based moving observational platforms. For example, the Marine ARM GPCI Investigation of Clouds (MAGIC) field campaign focused on the role of subtropical marine-boundary layer (MBL) clouds, and the Multidisciplinary Drifting Observatory for the Study of Arctic Climate (MOSAiC) field campaign aimed to improve understanding of the coupled climate systems in the Arctic. Observations from moving platforms are critical to provide a comprehensive characterization of coupled-system processes associated with all stages of the cloud and/or sea-ice life cycle. Traditional ARM large-scale forcing data have been developed at fixed locations. They need to be extended to include these moving platforms to address data needs for ship-based field campaigns or to support LES modeling in a Lagrangian framework. With these considerations in mind, we develop ARM-type Lagrangian large-scale forcing data sets based on the lagtraj framework (Boeing et al. 2020) with notable enhancements in generating forcings that are more suitable for ARM field campaigns. The lagtraj is a novel tool that generates forcings for LES and SCM simulation in both Lagrangian and Eulerian perspective. This technical report focuses on the major changes we performed on the lagtraj algorithm and provides an overview of the ARM Lagrangian Large-Scale Forcing Data (ARMLAGTRAJ) value-added products.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

The Effect of Environment on Galaxy Spiral Arms, Bars, Concentration, and Quenching

For a sample of 4378 nearby spiral and S0 galaxies, Yu & Ho used Fourier analysis of Sloan Digital Sky Survey images to show that the strengths of the spiral arms and the pitch angles of the arms are inversely correlated with central concentration. In the current study, we search for trends in the Yu & Ho spiral arm parameters with environment and specific star formation rate (sSFR). When comparing galaxies with similar concentrations, we do not find a significant difference in the arm strengths or pitch angles of spiral galaxies in clusters compared to field galaxies. When differences in concentration are taken into account, we also find no significant difference in the parameter f3 for cluster spirals compared to field spirals, where f3 is the normalized m = 3 Fourier amplitude. When concentration is held fixed, both arm strength and pitch angle are correlated with sSFR, but f3 is not. These relations support the suggestion by Davis et al. of a "fundamental plane" of spiral structure involving pitch angle, bulge stellar mass, and gas surface density. We discuss these results in terms of theories of spiral arm production and quenching in galaxies. To aid comparison with earlier studies based on Galaxy Zoo, we explore how the Yu & Ho parameters relate to similar parameters measured by Galaxy Zoo (i.e., f3 versus the number of arms, pitch angle versus winding parameter, and concentration versus bulge class).

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1987

Adaptive control of dual-arm robots

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

Seraji, H.↗
NASA NTRS1990

CO(J = 2 - 1) study of molecular clouds in the southwest arm of M31

The first map of M31 in the CO(J = 2 - 1) transition, covering a 3 arcmin by 3 arcmin section of the SW arm-interarm region, is presented. The CO spectra in the arm region defined by H II regions are characterized by strong, narrow features which are interpreted here to be giant molecular clouds with masses of a few 100,000 solar masses. The interarm emission is interpreted as an ensemble of small clouds with masses of a few 10,000 solar masses. On the arm about 70 percent of the emission comes from large clouds, while off the arm essentially all of it comes from small clouds. The mass surface density on this section of M31 is about that of a comparable section of the Scutum arm of the Galaxy. The velocities of the giant clouds in the arm are shifted with respect to the rest of the molecular and atomic gas by about 15 km/s. This may be due to cloud response to passage through the spiral arm potential.

Kutner, Marc L.↗
NASA NTRS1992

Configuration control of seven-degree-of-freedom arms

A seven degree of freedom robot arm with a six degree of freedom end effector is controlled by a processor employing a 6 by 7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more) by 7 Jacobian matrix for defining 1 (or more) user specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more) by 7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7 by 7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arm. One of the kinematic functions constraints the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizes a sum of gravitational torques on the joints. Still another kinematic function constrains the location of the arm to perform collision avoidance. Generically, one kinematic function minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or gravity torques associated with individual joints.

Seraji, Homayoun↗
NASA NTRS1993

Lunar surface operations. Volume 3: Robotic arm for lunar surface vehicle

A robotic arm for a lunar surface vehicle that can help in handling cargo and equipment, and remove obstacles from the path of the vehicle is defined as a support to NASA's intention to establish a lunar based colony by the year 2010. Its mission would include, but not limited to the following: exploration, lunar sampling, replace and remove equipment, and setup equipment (e.g. microwave repeater stations). Performance objectives for the robotic arm include a reach of 3 m, accuracy of 1 cm, arm mass of 100 kg, and lifting capability of 50 kg. The end effectors must grip various sizes and shapes of cargo; push, pull, turn, lift, or lower various types of equipment; and clear a path on the lunar surface by shoveling, sweeping aside, or gripping the obstacle present in the desired path. The arm can safely complete a task within a reasonable amount of time; the actual time is dependent upon the task to be performed. The positioning of the arm includes a manual backup system such that the arm can be safely stored in case of failure. Remote viewing and proximity and positioning sensors are incorporated in the design of the arm. The following specific topic are addressed in this report: mission and requirements, system design and integration, mechanical structure, modified wrist, structure-to-end-effector interface, end-effectors, and system controls.

Shields, William↗
NASA NTRS1995

Configuration control of seven degree of freedom arms

A seven-degree-of-freedom robot arm with a six-degree-of-freedom end effector is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more)-by-7 Jacobian matrix for defining 1 (or more) user-specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more)-by-7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7-by-7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arms. One of the kinematic functions constrains the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizing a sum of gravitational torques on the joints. Still another one of the kinematic functions constrains the location of the arm to perform collision avoidance. Generically, one of the kinematic functions minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or position errors or gravity torques associated with individual joints.

Seraji, Homayoun↗
NASA NTRS1989

Method and apparatus for hybrid position/force control of multi-arm cooperating robots

Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Hayati, Samad A.↗
NASA NTRS2016

The Asteroid Redirect Mission (ARM): Exploration of a Former Binary NEA?

The National Aeronautics and Space Administration (NASA) is developing the Asteroid Redirect Mission (ARM) as a capability demonstration for future human exploration, including use of high-power solar electric propulsion, which allows for the efficient movement of large masses through deep space. The ARM will also demonstrate the capability to conduct proximity operations with natural space objects and crewed operations beyond the security of quick Earth return. The Asteroid Redirect Robotic Mission (ARRM), currently in formulation, will visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, conduct a demonstration of a slow push planetary defense technique, and redirect the multi-ton boulder into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts aboard an Orion spacecraft will dock with the robotic vehicle to explore the boulder and return samples to Earth. The ARM is part of NASA's plan to advance technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. The ARM and subsequent availability of the asteroidal material in cis-lunar space, provide significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, and in-situ resource utilization (ISRU). The current reference target for the ARM is NEA (341843) 2008 EV5, which may have been the primary body of a former binary system (Busch et al., 2011; Tardivel et al., 2016). The ARRM will perform several close proximity operations to investigate the NEA and map its surface. A detailed investigation of this object may allow a better understanding of binary NEA physical characteristics and the possible outcomes for their evolution. An overview of the ARM robotic and crewed segments, including mission operations, and a discussion of potential opportunities for participation with the ARM will be provided in this presentation.

Abell, P. A.↗
DOE OSTI2020

Switchable rocker arm

A rocker arm includes an outer arm defining a lock pin bore which is centered about a lock pin bore axis and an inner arm which selectively pivots relative to the outer arm about a pivot axis which is parallel to the lock pin bore axis. The inner arm includes a protrusion which defines an inner arm stop surface which is planar. A lock pin is disposed within the lock pin bore, the lock pin having a lock pin slot extending there into and also having a lock pin stop surface which is planar. The lock pin is displaced within the lock pin bore between a coupled position in which the lock pin stop surface is aligned with the inner arm stop surface and a decoupled position in which the lock pin slot is aligned with the protrusion.

42 ENGINEERING↗
NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗
DOE OSTI2024

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 six trajectory data sets support aerosol, cloud, planetary boundary layer, and related research (aerosol-cloud interactions, etc.), as well as studies using ARM Aerial Facility (AAF) and tethered balloon system (TBS) measurements. 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↗
NASA NTRSDate not supplied

Feasibility Study of a Robotic Science Arm on Future Martian Rotorcraft

Science arms are indispensable tools for planetary exploration, allowing vehicles to interact with and manipulate their surroundings in a manner similar to a human field geologist. A majority of the rovers and landers sent to Mars, beginning with Viking I and II in 1976, have made extensive use of these articulated, arm-like devices that allow for sample collection, surface preparation, instrument positioning, and the deployment of ground-contact sensors. Although proven useful, traditional rovers and landers are limited by the rough and difficult terrain of Mars. However, given the successful demonstration of flight on Mars by the Ingenuity helicopter, efforts are underway to outfit larger rotorcraft with science payloads to allow them to explore Mars’ surface and lower atmosphere with significantly more efficiency than land vehicles. Such vehicles could also be designed to work in tandem with landers or rovers. The Mars Science Helicopter (MSH) is a conceptual hexacopter design that is currently under early development by both NASA Ames and JPL. Equipping a vehicle like MSH with a science arm has the potential to further expand its scientific capabilities. This paper approaches the mission and design requirements to equip a science arm on MSH while highlighting the unique technical challenges for robotic arm and science instrument capability. Current plans for MSH development do not include the addition of a robotic arm to the vehicle. However, it is anticipated that future variants of the MSH design might well incorporate such adaptable surface interactive capabilities.

Robotic Science Arm↗
NASA NTRS2023

Results from InSight Robotic Arm Activities

The InSight lander carried an Instrument Deployment System (IDS) that included an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, forearm-mounted Instrument Deployment Camera (IDC) requiring arm motion to image a target, and landermounted Instrument Context Camera (ICC), designed to image the workspace, and to place the instruments onto the surface. As originally proposed, the IDS included a previously built arm and flight spare black and white cameras and had no science objectives or requirements, or expectation to be used after instrument deployment (90 sols). During project development the detectors were upgraded to color, and it was recognized that the arm could be used to carry out a wide variety of activities that would enable both geology and physical properties investigations. During surface operations for two martian years, the IDA was used during major campaigns to image the surface around the lander, to deploy the instruments, to assist the mole in penetrating beneath the surface, to bury a portion of the seismometer tether, to clean dust from the solar arrays to increase power, and to conduct a surface geology investigation including soil mechanics and physical properties experiments. No other surface mission has engaged in such a sustained and varied campaign of arm and scoop activities directed at such a diverse suite of objectives. Images close to the surface and continuous meteorology measurements provided important constraints on the threshold friction wind speed needed to initiate aeolian saltation and surface creep. The IDA was used extensively for almost 22 months to assist the mole in penetrating into the subsurface. Soil was scraped into piles and dumped onto the seismometer tether six times in an attempt to bury the tether and ∼ 30% was entrained in the wind and dispersed downwind 1-2 m, darkening the surface. Seven solar array cleaning experiments were conducted by dumping scoops of soil from 35 cm above the lander deck during periods of high wind that dispersed the sand onto the panels that kicked dust off of the panels into suspension in the atmosphere, thereby increasing the power by ∼15% during this period. Final IDA activities included an indentation experiment that used the IDA scoop to push on the ground to measure the plastic deformation of the soil that complemented soil mechanics measurements from scoop interactions with the surface, and two experiments in which SEIS measured the tilt from the arm pressing on the ground to derive near surface elastic properties.

Mars↗
DOE OSTI2020

Improving Predictability of Mixed-Phase Clouds and Aerosol Interactions in the Community Earth System Model (CESM) with ARM Measurements

The objective of this project is to improve the simulation and predictability of mixed-phase clouds and aerosol interactions in the Community Earth System Model (CESM) through comparisons with the DOE ARM observations. There are four major goals of the proposed study: (1) Improve the representation of ice microphysical processes in mixed-phase clouds; (2) Develop a long-term multi-sensor mixed-phase cloud dataset; (3) Test the performance of improved ice microphysics in CESM-CAM5 with the ARM data; and (4) Examine mixed-phase cloud microphysics-aerosol-dynamics-radiation interactions in CESM-CAM5. In this project, we have (1) Improved the representation of ice microphysical processes in mixed-phase clouds that include ice nucleation, ice depositional growth through the Wegener–Bergeron–Findeisen (WBF) process, feedbacks between cloud microphysics, dynamics and radiation, and provides links to aerosol properties in the Community Earth System Model (CESM)-Community Atmosphere Model version 5 (CAM5); (2) Developed a long-term multi-sensor mixed-phase cloud dataset. The mixed-phase cloud retrieval algorithms are improved by refining the phase determinations and ice number concentration retrievals. A multi-year mixed-phase cloud observation dataset (1999-2004; October 2013-February 2017) is regenerated at the ARM Barrow site with the improved algorithms. The dataset has been used in the global model evaluation to improve the model parameterizations; (3) Tested the performance of improved ice microphysics in CESM-CAM5 with the ARM data. CESM-CAM5 is run in the DOE Cloud-Associated Parameterizations Testbed (CAPT) and in the single-column model (SCM) mode to facilitate comparison with ARM observations. Multi-year CAPT simulations of seasonal variations of cloud microphysical properties, cloud liquid water path (LWP) and ice water path (IWP), cloud longwave and shortwave forcings, cloud occurrence frequency are evaluated against the ARM multi-sensor mixed-phase cloud retrievals; and (4) Examined mixed-phase cloud microphysics-aerosol-dynamics-radiation interactions in CESM-CAM5 that include the impacts of different ice nucleation mechanisms, sensitivity to dust IN concentration, treatment of the WBF process on mixed-phase cloud properties. Aerosol effect on mixed-phase clouds through the liquid phase (droplet activation) and ice phase processes (e.g., the glaciation indirect effect) is investigated.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

Ka-Band ARM Zenith Radar (KAZR) Active Remote Sensing of Clouds (ARSCL) CloudSat Calibration (KAZRARSCL-CLOUDSAT) (Value-Added Product Report)

The Ka-band ARM Zenith Radar Active Remote Sensing of CLouds CloudSat-aligned (KAZRARSCL-CLOUDSAT) Value-Added Product (VAP) applies satellite-based reflectivity calibrations to KAZRARSCL data sets. The Atmospheric Radiation Measurement (ARM) user facility has primarily used radar subsystem calibration monitoring to track cloud radar reflectivity drift over time, since reliable external calibration sources or other absolute references (such as corner reflectors) have historically been unavailable or impracticable. A study by Kollias et al. (2019) examined cloud reflectivity profiles observed with a well-characterized spaceborne downward-pointing millimeter cloud radar, operating as part of NASA’s CloudSat satellite mission (Tanelli et al. 2008). The Kollias team derived monthly statistical reflectivity offsets between CloudSat and the various generations of ARM cloud radars (millimeter wavelength cloud radar [MMCR], W-Band ARM Cloud Radar [WACR[, and Ka-band ARM Zenith Radar [KAZR]) for many, but not all, months at most fixed and mobile ARM sites over the period 2007-2017. These offsets, when available, are applied to the existing KAZRARSCL VAP products using the KAZRARSCL-CLOUDSAT VAP.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Summary of October 2023 ARM User Executive Committee Meeting

The User Executive Committee (UEC) provides objective, timely feedback to the leadership of the Atmospheric Radiation Measurement (ARM) user facility with respect to the user experience. The UEC held a hybrid meeting at the ARM Southern Great Plains Observatory in October 2023. Four goals were identified for this meeting: (1) to take an in-depth look at the ARM user facility, (2) to provide actionable items to ARM within the context of the UEC subgroups, (3) to develop new user engagement strategies, and (4) to see an ARM facility in operation, providing valuable context for future UEC discussions. The outcomes of the successful meeting are highlighted in this report. The UEC is grateful to ARM for facilitating this in-person meeting and to our gracious hosts at SGP.

54 ENVIRONMENTAL SCIENCES↗