Experiments in Real-Time Collison Avoidance for Dexterous 7-DOF Arms
The paper presents experimental results that demonstrate a new approach to real-time collision avoidance for 7-DOF arms.
Real-Time Collision Avoidance↗
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Mars Surveyor '98 MVACS Robotic Arm Control System Design Concepts
This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Novel solutions are presented to some of the unique problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing power.
control manipulator Mars robot trajectory 4-DOF↗
A Real-Time Control System for a Mobile Redundant 7DOF Arm
This paper describes the design and implementation of a real-time control system with multiple modes of operation for a mobile redundant dexterous manipulator. The paper describes the hardware and software components of the VME bus environment. Experimental results on real-time control of the Robotics Research arm using the manipulator control system are also presented in the paper.
avoidance angle control↗
B,V photometry of variable stars in the northeast arm of the Small Magellanic Cloud
This paper discusses the B and V photometry being obtained for variable stars in the northeast arm of the Small Magellanic Cloud (SMC).
BV phomtometry↗
Robotic Arm and Rover Actuator Systems for Mars Exploration
Missions such as the Sojourner Rover, the Robotic Arm for Mars Polar Lander, and the 2003 Mars Rover, Athena, use numerous actuators that must operate reliably in extreme environments for long periods of time.
motors Mars↗
Independent Review Support for Phoenix Mars Mission Robotic Arm Brush Motor Failure
The Phoenix Project requested the NASA Engineering and Safety Center (NESC) perform an independent peer review of the Robotic Arm (RA) Direct Current (DC) motor brush anomalies that originated during the Mars Exploration Rover (MER) Project and recurred during the Phoenix Project. The request was to evaluate the Phoenix Project investigation efforts and provide an independent risk assessment. This includes a recommendation for additional work and assessment of the flight worthiness of the RA DC motors. Based on the investigation and findings contained within this report, the IRT concurs with the risk assessment Failure Cause / Corrective Action (FC/CA) by the project, "Failure Effect Rating "3"; Major Degradation or Total Loss of Function, Failure Cause/Corrective Action Rating Currently "4"; Unknown Cause, Uncertainty in Corrective Action."
McManamen, John P.↗
Cloud Radiative Forcing at the ARM Climate Research Facility: Technique, Validation, and Comparison to Satellite-derived Diagnostic Quantities - Part 1
It has been hypothesized that continuous ground-based remote sensing measurements from active and passive remote sensors combined with regular soundings of the atmospheric thermodynamic structure can be combined to describe the effects of clouds on the clear sky radiation fluxes. We critically test that hypothesis in this paper and a companion paper (Part II). Using data collected at the Southern Great Plains (SGP) Atmospheric Radiation Measurement (ARM) site sponsored by the U.S. Department of Energy, we explore an analysis methodology that results in the characterization of the physical state of the atmospheric profile at time resolutions of five minutes and vertical resolutions of 90 m. The description includes thermodynamics and water vapor profile information derived by merging radiosonde soundings with ground-based data, and continues through specification of the cloud layer occurrence and microphysical and radiative properties derived from retrieval algorithms and parameterizations. The description of the atmospheric physical state includes a calculation of the infrared and clear and cloudy sky solar flux profiles. Validation of the methodology is provided by comparing the calculated fluxes with top of atmosphere (TOA) and surface flux measurements and by comparing the total column optical depths to independently derived estimates. We find over a 1-year period of comparison in overcast uniform skies, that the calculations are strongly correlated to measurements with biases in the flux quantities at the surface and TOA of less than 10% and median fractional errors ranging from 20% to as low as 2%. In the optical depth comparison for uniform overcast skies during the year 2000 where the optical depth varies over 3 orders of magnitude we find a mean positive bias of 46% with a median bias of less than 10% and a 0.89 correlation coefficient. The slope of the linear regression line for the optical depth comparison is 0.86 with a normal deviation of 20% about this line. In addition to a case study where we examine the cloud radiative effects at the TOA, surface and atmosphere by a middle latitude synoptic-scale cyclone, we examine the cloud top pressure and optical depth retrievals of ISCCP and LBTM over a period of 1 year. Using overcast period from the year 2000, we find that the satellite algorithms tend to bias cloud tops into the middle troposphere and underestimate optical depth in high optical depth events (greater than 100) by as much as a factor of 2.
Mace, Gerald G.↗
Space Science and the International Traffic in Arms Regulations: Summary of a Workshop
The United States seeks to protect its security and foreign-policy interests, in part, by actively controlling the export of goods, technologies, and services that are or may be useful for military development in other nations. "Export" is defined not simply as the sending abroad of hardware but also as the communication of related technology and know-how to foreigners in the United States and overseas. The U.S. government mechanism for controlling dual-use items--items in commerce that have potential military use is the Export Administration Regulations (EAR) administered by the Department of Commerce; items defined in law as defense articles fall under the jurisdiction of the Department of State and the International Traffic in Arms Regulations (ITAR). Because of the potential military implications of the export of defense articles, the ITAR regime imposes much greater burdens (on both the applicant and the government) than does the EAR regime during the process of applying for, and implementing the provisions of, licenses and technical-assistance agreements. Until the early 1990s export control activity related to all space satellites (commercial and scientific) was handled under ITAR. Between 1992 and 1996 the George H.W. Bush and the Clinton administrations transferred jurisdiction over the licensing of civilian communications satellites to the Commerce Department under EAR. In 1999, however, in response to broad concerns about Chinese attempts to acquire U.S. high technology, the U.S. House of Representatives convened the Select Committee on U.S. National Security and Military/Commercial Concerns with the People s Republic of China, also known as the Cox Committee. One of the many consequences of the Cox Committee's report was Congress's mandate that jurisdiction over export and licensing of satellites and related equipment and services, irrespective of military utility, be transferred from the Department of Commerce to the State Department and that such equipment and services be covered as defense articles under ITAR. Scientific satellites were explicitly included despite their use for decades in peaceful internationally conducted cooperative scientific research. It is widely recognized that the shift in regulatory regime from EAR to ITAR has had major deleterious effects on international scientific research activities that depend on satellites, spaceflight hardware, and other items that are now controlled by ITAR. Furthermore, contravening U.S. interests in attracting foreign students to U.S. universities, the capture of space technology by ITAR has caused serious problems in the teaching of university space science and engineering classes, virtually all of which include non-U.S. students. This report is a summary of a September 2007 workshop in which participants from the space research communities and the export-control administration and policy communities came together to discuss problems, effects, and potential solutions regarding the application of ITAR to space science. The principal themes and ideas that emerged from the discussions are summarized.
Finarelli, Margaret G.↗
Vivid Motor Imagery as an Adaptation Method for Head Turns on a Short-Arm Centrifuge
Artificial gravity (AG) has been proposed as a potential countermeasure to the debilitating physiological effects of long duration space flight. The most economical means of implementing AG may be through the use of a short-radius (2m or less) centrifuge. For such a device to produce gravitational forces comparable to those on earth requires rotation rates in excess of 20 revolutions per minute (rpm). Head turns made out of the plane of rotation at these rates, as may be necessary if exercise is combined with AG, result in cross-coupled stimuli (CCS) that cause adverse side effects including motion sickness, illusory sensations of motion, and inappropriate eye movements. Recent studies indicate that people can adapt to CCS and reduce these side effects by making multiple head turns during centrifuge sessions conducted over consecutive days. However, about 25% of the volunteers for these studies have difficulty tolerating the CCS adaptation paradigm and often drop out due to motion sickness symptoms. The goal of this investigation was to determine whether vivid motor imagery could be used as a pseudostimulus for adapting subjects to this unique environment. Twenty four healthy human subjects (14 males, 10 females), ranging in age from 21 to 48 years (mean 33, sd 7 years) took part in this study. The experimental stimuli were produced using the NASA JSC short-arm centrifuge (SAC). Subjects were oriented supinely on this device with the nose pointed toward the ceiling and head centered on the axis of rotation. Thus, centrifuge rotation was in the body roll plane. After ramp-up the SAC rotated clockwise at a constant rate of 23 rpm, producing a centrifugal force of approximately 1 g at the feet. Semicircular canal CCS were produced by having subjects make yaw head turns from the nose up (NU) position to the right ear down (RED) position and from RED to NU. Each head turn was completed in about one second, and a 30 second recovery period separated consecutive head movements. Participants were randomly assigned to one of three groups (n=8 per group): physical adapters (PA), mental adapters (MA), or a control group (CG). Each subject participated in a one hour test session on each of three consecutive days. Each test session consisted of an initial (preadaptation) period during which the subject performed six CCS maneuvers in the dark, followed by an adaptation period with internal lighting on the centrifuge, and a final (postadaptation) period during which six more CCS maneuvers were performed in the dark. For the PA group, the adaptation period consisted of performing 30 additional CCS maneuvers in the light. For the MA and CG group the centrifuge was ramped down to 0 rpm after the pre-adaptation period and ramped back up to 23 rpm before the post-adaptation period. For the both of these groups, the adaptation period consisted of making 30 CCS maneuvers in the light with the centrifuge stationary (so no cross-coupling occurred). MA group subjects were instructed to vividly imagine the provocative sensations produced by the preadaptation CCS maneuvers in terms of magnitude, duration, and direction of illusory body tilt, as well as any accompanying levels of motion sickness. CG group subjects were asked to answer low imagery content questions (trivial pursuit) during each adaptation period head turn. During the 30 second recovery following each head turn, psychophysical data were collected including self reports of motion sickness, magnitude and direction estimates of illusory body tilt, and the overall duration of these sensations. A multilevel mixed effects linear regression analysis performed on all response variables indicated that all three groups experienced some psychophysical adaptation across the three test sessions. For illusory tilt magnitude, the PA group exhibited the most overall adaptation, followed by the MA group, and the CG group. The slopes of these adaptation trajectories by group over day were significantly diffent from one another. For the perceived duration of sensations, the CG group again exhibited the least amount of adaptation. However, the rates of adaptation of the PA and the MA groups were indistinguishable, suggesting that the imagined pseudostimulus appeared to be just as effective a means of adaptation as the actual stimulus. The MA group's rate of adaptation to motion sickness symptoms was also comparable to the PA group. The use of vivid motor imagery may be an effective method for adapting to the illusory sensations and motion sickness symptoms produced by cross-coupled stimuli. For space-based AG applications, this technique may prove quite useful in retaining astronauts considered highly susceptible to motion sickness as it reduces the number of actual CCS required to attain adaptation.
Newby, N. J.↗
The ALI-ARMS Code for Modeling Atmospheric non-LTE Molecular Band Emissions: Current Status and Applications
The Accelerated Lambda Iteration (ALI) technique was developed in stellar astrophysics at the beginning of 1990s for solving the non-LTE radiative transfer problem in atomic lines and multiplets in stellar atmospheres. It was later successfully applied to modeling the non-LTE emissions and radiative cooling/heating in the vibrational-rotational bands of molecules in planetary atmospheres. Similar to the standard lambda iterations ALI operates with the matrices of minimal dimension. However, it provides higher convergence rate and stability due to removing from the iterating process the photons trapped in the optically thick line cores. In the current ALI-ARMS (ALI for Atmospheric Radiation and Molecular Spectra) code version additional acceleration of calculations is provided by utilizing the opacity distribution function (ODF) approach and "decoupling". The former allows replacing the band branches by single lines of special shape, whereas the latter treats non-linearity caused by strong near-resonant vibration-vibrational level coupling without additional linearizing the statistical equilibrium equations. Latest code application for the non-LTE diagnostics of the molecular band emissions of Earth's and Martian atmospheres as well as for the non-LTE IR cooling/heating calculations are discussed.
Kutepov, A. A.↗
Observational Evidence of Changes in Water Vapor, Clouds, and Radiation at the ARM SGP Site
Characterizing water vapor and cloud effects on the surface radiation budget is critical for understanding the current climate because water vapor is the most important greenhouse gas in the atmosphere and clouds are one of the largest sources of uncertainty in predicting potential future climate change. Several studies have shown that insolation over land declined until 1990 then increased until the present. Using 8 years of data collected at the ARM Southern Great Plains (SGP) surface site, we found that the insolation increased from 1997 to 2000, but significantly decreased from 2001 to 2004, changes that exactly mirror the variation in the second-order fit of cloud fraction. Under clear-sky conditions, the rates of water vapor, insolation and downwelling longwave (LW) flux are -0.166 cm/yr, 0.48 Wm(exp -2)/yr, and -1.16 Wm(exp -2)/yr, respectively, indicating that water vapor changes are more important for LW flux than for insolation.
Dong, Xiquan↗
Kennedy Space Center (KSC) Launch Complex 39 (LC-39) Gaseous Hydrogen (GH2) Vent Arm Behavior Prediction Model Review Technical Assessment Report
The NESC Assessment Team reviewed a computer simulation of the LC-39 External Tank (ET) GH2 Vent Umbilical system developed by United Space Alliance (USA) for the Space Shuttle Program (SSP) and designated KSC Analytical Tool ID 451 (KSC AT-451). The team verified that the vent arm kinematics were correctly modeled, but noted that there were relevant system sensitivities. Also, the structural stiffness used in the math model varied somewhat from the analytic calculations. Results of the NESC assessment were communicated to the model developers.
Wilson, Timmy R.↗
Arctic Mixed-phase Clouds Simulated by a Cloud-Resolving Model: Comparison with ARM Observations and Sensitivity to Microphysics Parameterizations
Single-layer mixed-phase stratiform (MPS) Arctic clouds, which formed under conditions of large surface heat flux combined with general subsidence during a subperiod of the Atmospheric Radiation Measurement (ARM) Program Mixed-Phase Arctic Cloud Experiment (M-PACE), are simulated with a cloud resolving model (CRM). The CRM is implemented with either an advanced two-moment (M05) or a commonly used one-moment (L83) bulk microphysics scheme and a state-of-the-art radiative transfer scheme. The CONTROL simulation, that uses the M05 scheme and observed aerosol size distribution and ice nulei (IN) number concentration, reproduces the magnitudes and vertical structures of cloud liquid water content (LWC), total ice water content (IWC), number concentration and effective radius of cloud droplets as suggested by the M-PACE observations. It underestimates ice crystal number concentrations by an order of magnitude and overestimates effective radius of ice crystals by a factor of 2-3. The OneM experiment, that uses the L83 scheme, produces values of liquid water path (LWP) and ice plus snow water path (ISWP) that were about 30% and 4 times, respectively, of those produced by the CONTROL. Its vertical profile of IWC exhibits a bimodal distribution in contrast to the constant distribution of IWC produced in the CONTROL and observations.
Xu, Kuan-Man↗
Robotic Arm Manipulator Using Active Control for Sample Acquisition and Transfer, and Passive Mode for Surface Compliance
A robotic arm that consists of three joints with four degrees of freedom (DOF) has been developed. It can carry an end-effector to acquire and transfer samples by using active control and comply with surface topology in a passive mode during a brief surface contact. The three joints are arranged in such a way that one joint of two DOFs is located at the shoulder, one joint of one DOF is located at the elbow, and one joint of one DOF is located at the wrist. Operationally, three DOFs are moved in the same plane, and the remaining one on the shoulder is moved perpendicular to the other three for better compliance with ground surface and more flexibility of sample handling. Three out of four joints are backdriveable, making the mechanism less complex and more cost effective
Liu, Jun↗
A 10-Year Climatology of Cloud Cover and Vertical Distribution Derived from Both Surface and GOES Observations Over the DOE ARM SGP Site
Analysis of a decade of ARM radar-lidar and GOES observations at the SGP site reveal that 0.5 and 4-hr averages of the surface cloud fraction correspond closely to 0.5deg and 2.5deg averages of GOES cloudiness, respectively. The long-term averaged surface and GOES cloud fractions agree to within 0.5%. Cloud frequency increases and cloud amount decreases as the temporal and spatial averaging scales increase. Clouds occurred most often during winter and spring. Single-layered clouds account for 61.5% of the total cloud frequency. There are distinct bimodal vertical distributions of clouds with a lower peak around 1 km and an upper one that varies from 7.5 to 10.8 km between winter and summer, respectively. The frequency of occurrence for nighttime GOES high-cloud tops agree well with the surface observations, but are underestimated during the day.
Xi, Baike↗
Spectral Invariant Behavior of Zenith Radiance Around Cloud Edges Observed by ARM SWS
The ARM Shortwave Spectrometer (SWS) measures zenith radiance at 418 wavelengths between 350 and 2170 nm. Because of its 1-sec sampling resolution, the SWS provides a unique capability to study the transition zone between cloudy and clear sky areas. A spectral invariant behavior is found between ratios of zenith radiance spectra during the transition from cloudy to cloud-free. This behavior suggests that the spectral signature of the transition zone is a linear mixture between the two extremes (definitely cloudy and definitely clear). The weighting function of the linear mixture is a wavelength-independent characteristic of the transition zone. It is shown that the transition zone spectrum is fully determined by this function and zenith radiance spectra of clear and cloudy regions. An important result of these discoveries is that high temporal resolution radiance measurements in the clear-to-cloud transition zone can be well approximated by lower temporal resolution measurements plus linear interpolation.
Marshak, A.↗
Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets
This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.
Nesnas, Issa A.↗
In-Situ Water Vapor Probe for a Robot Arm-Mounted, Compact Water Vapor Analyzer: Preliminary Results
This work describes the ongoing development of an instrument package for the in-situ detection and isotopic analysis of water (from ice, icy soils, and hydrated minerals) on future lunar, asteroid, or martian exploration missions. This instrument is intended to be mounted on a robotic arm and be brought to the sample, rather than necessitating expensive and complicated sample handling to bring the sample to the instrument.
Socki, Richard A.↗