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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 865 records · Page 48
All sourcesNASA NTRSDOE OSTI
NASA NTRS1978

Angle detector

An angle detector for determining a transducer's angular disposition to a capacitive pickup element is described. The transducer comprises a pendulum mounted inductive element moving past the capacitive pickup element. The capacitive pickup element divides the inductive element into two parts L sub 1 and L sub 2 which form the arms of one side of an a-c bridge. Two networks R sub 1 and R sub 2 having a plurality of binary weighted resistors and an equal number of digitally controlled switches for removing resistors from the networks form the arms of the other side of the a-c bridge. A binary counter, controlled by a phase detector, balances the bridge by adjusting the resistance of R sub 1 and R sub 2. The binary output of the counter is representative of the angle.

Parra, G. T.↗
NASA NTRS1990

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Tesar, Delbert↗
NASA NTRS1985

Recent advancements in telepresence technology development

This paper describes recent developments at JPL aimed at enhancing the operator's awareness of the remote task he or she is controlling in space teleoperation. The first development is related to the use of force-reflecting or bilateral manual control in weightless condition. The second development is related to integrated graphics displays of force and torque information originating from a remote robot hand. The third development is related to a distributed computational system in teleoperation organized in two groups: one integrated with a remote robot arm and hand, and another integrated with the control station. This computational system carries out interactive automation functions.

Corker, K.↗
NASA NTRS1996

On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots

A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.

Seraji, Homayoun↗
NASA NTRS2000

Neuroelectric Virtual Devices

This paper presents recent results in neuroelectric pattern recognition of electromyographic (EMG) signals used to control virtual computer input devices. The devices are designed to substitute for the functions of both a traditional joystick and keyboard entry method. We demonstrate recognition accuracy through neuroelectric control of a 757 class simulation aircraft landing at San Francisco International Airport using a virtual joystick as shown. This is accomplished by a pilot closing his fist in empty air and performing control movements that are captured by a dry electrode array on the arm which are then analyzed and routed through a flight director permitting full pilot outer loop control of the simulation. We then demonstrate finer grain motor pattern recognition through a virtual keyboard by having a typist tap his traders on a typical desk in a touch typist position. The EMG signals are then translated to keyboard presses and displayed. The paper describes the bioelectric pattern recognition methodology common to both examples. Figure 2 depicts raw EMG data from typing, the numeral '8' and the numeral '9'. These two gestures are very close in appearance and statistical properties yet are distinguishable by our hidden Kharkov model algorithms. Extensions of this work to NASA emissions and robotic control are considered.

Wheeler, Kevin↗
DOE OSTI2018

Remote Evaporator Vessel Repair by Robotics and Powder Injection Laser Welding - 18107

In February 2016 a leak was identified in the 25H evaporator at the Savannah River Site (SRS). The 25H evaporator is used to manage water volume in high level waste (HLW) tanks during solid salt cake and sludge removal. The location and the cause of the leak were unknown. Orano Federal Services (formerly AREVA Federal Services) applied its robotics expertise and commercial nuclear expertise to perform the inspection. Orano and Framatome (formerly AREVA NP INC) combined a BROKK, a commonly used tracked vehicle with remote control, with the KUKA, an automated robotic arm, commonly used in automobile manufacturing, to perform the partial dismantlement and inspection. Once inspection was complete and the leak was identified, Orano conducted a study on two welding processes: Gas Tungsten Arc (GTA-Tig) and Powder Injection Laser Welding. Based on the inspection of the SRS HLW evaporator's material type being Hastelloy{sup R}, along with the remote repair and material thin wall condition, the Powder Injection Laser Welding was chosen for this application. Orano has developed the remote powder injection laser welding and delivery process that will be used to conduct the repair of the SRS HLW evaporator in the fall of 2017. The process includes robotic delivery of components and robotic performance of the weld. Specialized robotic equipment were developed or adapted from other industries to perform the high hazard job of repairing an eroded section of the evaporator pot. The integration of multiple innovative remote techniques provides a unique solution in a highly radioactive environment. These techniques and innovations can be capitalized upon to solve many different remote repairs on equipment resulting in time savings, reduced dose to personnel, and recovery of initial investment in equipment. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1988

Personnel occupied woven envelope robot

The Personnel Occupied Woven Envelope Robot (POWER) provides an alternative to extravehicular activity (EVA) of space suited astronauts and/or use of long slender manipulator arms such as are used in the Shuttle Remote Manipulator System. POWER provides the capability for a shirt sleeved astronaut to perform such work by entering a control pod through air locks at both ends of an inflated flexible bellows (access tunnel). The exoskeleton of the tunnel is a series of six degrees of freedom (Six-DOF) articulated links compressible to 1/6 of their fully extended length. The operator can maneuver the control pod to almost any location within about 50 m of the base attachment to the space station. POWER can be envisioned as a series of hollow Six-DOF manipulator segments or arms wherein each arm grasps the shoulder of the next arm. Inside the hollow arms ia a bellow-type access tunnel. The control pod is the fist of the series of linked hollow arms. The fingers of the fist are conventional manipulator arms under direct visual control of the nearby operator in the pod. The applications and progress to date of the POWER system is given.

Wessling, Francis↗
NASA NTRS1990

Multi-fingered robotic hand

A robotic hand is presented having a plurality of fingers, each having a plurality of joints pivotally connected one to the other. Actuators are connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is covering of the tip of each finger with a resilient and pliable friction enhancing surface.

Ruoff, Carl F.↗
DOE OSTI2013

The Revised WIPP Passive Institutional Controls Program - A Conceptual Plan - 13145

The Department of Energy/Carlsbad Field Office (DOE/CBFO) is responsible for managing all activities related to the disposal of TRU and TRU-mixed waste in the geologic repository, 650 m below the land surface, at WIPP, near Carlsbad, New Mexico. The main function of the Passive Institutional Controls (PIC's) program is to inform future generations of the long-lived radioactive wastes buried beneath their feet in the desert. For the first 100 years after cessation of disposal operations, the rooms are closed and the shafts leading underground sealed, WIPP is mandated by law to institute Active Institutional Controls (AIC's) with fences, gates, and armed guards on patrol. At this same time a plan must be in place of how to warn/inform the future, after the AIC's are gone, of the consequences of intrusion into the geologic repository disposal area. A plan was put into place during the 1990's with records management and storage, awareness triggers, permanent marker design concepts and testing schedules. This work included the thoughts of expert panels and individuals. The plan held up under peer review and met the requirements of the U.S. Environmental Protection Agency (EPA). Today the NEA is coordinating a study called the 'Preservation of Records, Knowledge and Memory (RK and M) Across Generations' to provide the international nuclear waste repository community with a guide on how a nuclear record archive programs should be approached and developed. CBFO is cooperating and participating in this project and will take what knowledge is gained and apply that to the WIPP program. At the same time CBFO is well aware that the EPA and others are expecting DOE to move forward with planning for the future WIPP PIC's program; so a plan will be in place in time for WIPP's closure slated for the early 2030's. The DOE/CBFO WIPP PIC's program in place today meets the regulatory criteria, but complete feasibility of implementation is questionable, and may not be in conformance with the international guidance being developed. International guidance currently under development may suggest that the inter-generational equity principle strives to warn the future, however, in doing so not to unduly burden present generations. Building markers and monuments that are out of proportion to the risk being presented to the future is not in keeping with generational equity. With this in mind the DOE/CBFO is developing conceptual plans for re-evaluating and revising the current WIPP PIC's program. These conceptual plans will suggest scientific and technical work that must be completed to develop a 'new' PICs program that takes the best ideas of the present plan, blended with new ideas from the RK and M project, and proposed alternative permanent markers designs and materials in consideration. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2023

Seasonal controls on isolated convective storm drafts, precipitation intensity, and life cycle as observed during GoAmazon2014/5

Abstract. Isolated deep convective cloud life cycle and seasonal changes in storm properties are observed for daytime events during the US Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Green Ocean Amazon Experiment (GoAmazon2014/5) campaign to understand controls on storm behavior. Storm life cycles are documented using surveillance radar from initiation through maturity and dissipation. Vertical air velocity estimates are obtained from radar wind profiler overpasses, with the storm environment informed by radiosondes. Dry-season storm conditions favored reduced morning shallow cloud coverage and larger low-level convective available potential energy (CAPE) than wet-season counterparts. The typical dry-season storm reached its peak intensity and size earlier in its life cycle compared with wet-season cells. These cells exhibited updrafts in core precipitation regions (Z>35 dBZ) to above the melting level as well as persistent downdrafts aloft within precipitation adjacent to their cores. Moreover, dry-season cells recorded more intense updrafts to earlier life cycle stages as well as a higher incidence of strong updrafts (i.e., >5 m s−1) at low levels. In contrast, wet-season storms were longer-lived and featured a higher incidence of moderate (i.e., 2–5 m s−1) updrafts aloft. These storms also favored a shift in their most intense properties to later life cycle stages. Strong downdrafts were less frequent within wet-season cells aloft, indicating a potential systematic difference in draft behaviors, as linked to graupel loading and other factors between the seasons. Results from a stochastic parcel model suggest that dry-season cells may expect stronger updrafts at low levels because of larger low-level CAPE in the dry season. Wet-season cells anticipate strong updrafts aloft because of larger free-tropospheric relative humidity and reduced entrainment-driven dilution. Enhanced dry-season downdrafts are partially attributed to increased evaporation, dry-air entrainment mixing, and negative buoyancy in regions adjacent to sampled dry-season cores.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1990

Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

Nguyen, Charles C.↗
NASA NTRS1994

Anthropomorphic Telemanipulation System in Terminus Control Mode

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

glove exoskeleton force-sensing master glove EVA s↗
NASA NTRS1997

Effects of a gravity gradient on human cardiovascular responses

Eight subjects participated in one control and three rotation trials on a short-arm centrifuge such that the Gz levels at the feet were 0.5, 1.0, and 1.5 G. Trials consisted of 30 minutes of supine rest, 1 hour of rotation (or in the control, 30 additional minutes of rest and 30 minutes of standing), and a final 30-minute rest period. Measurements of heart rate, calf impedance, calf volume, and blood pressure support the findings that the highest G level is similar to standing and that the lower G levels fail to produce significant effects.

NASA Discipline Cardiopulmonary↗
DOE OSTI2023

Ubiquitin-like conjugation by bacterial cGAS enhances anti-phage defence

Abstract cGAS is an evolutionarily conserved enzyme that has a pivotal role in immune defence against infection 1–3 . In vertebrate animals, cGAS is activated by DNA to produce cyclic GMP–AMP (cGAMP) 4,5 , which leads to the expression of antimicrobial genes 6,7 . In bacteria, cyclic dinucleotide (CDN)-based anti-phage signalling systems (CBASS) have been discovered 8–11 . These systems are composed of cGAS-like enzymes and various effector proteins that kill bacteria on phage infection, thereby stopping phage spread. Of the CBASS systems reported, approximately 39% contain Cap2 and Cap3 , which encode proteins with homology to ubiquitin conjugating (E1/E2) and deconjugating enzymes, respectively 8,12 . Although these proteins are required to prevent infection of some bacteriophages 8 , the mechanism by which the enzymatic activities exert an anti-phage effect is unknown. Here we show that Cap2 forms a thioester bond with the C-terminal glycine of cGAS and promotes conjugation of cGAS to target proteins in a process that resembles ubiquitin conjugation. The covalent conjugation of cGAS increases the production of cGAMP. Using a genetic screen, we found that the phage protein Vs.4 antagonized cGAS signalling by binding tightly to cGAMP (dissociation constant of approximately 30 nM) and sequestering it. A crystal structure of Vs.4 bound to cGAMP showed that Vs.4 formed a hexamer that was bound to three molecules of cGAMP. These results reveal a ubiquitin-like conjugation mechanism that regulates cGAS activity in bacteria and illustrates an arms race between bacteria and viruses through controlling CDN levels.

Science & Technology - Other Topics↗
DOE OSTI2011

EIT Based Gas Detector Design by Using Michelson Interferometer

Electromagnetically induced transparency (EIT) is one of the interesting phenomena of light-matter interaction which modifies matter properties for propagation of light. In other words, we can change the absorption and refractive index (RI) in neighborhood of the resonant frequency using EIT. In this paper, we have doped 3-level quantum dots in one of the Michelson Interferometer's mirror and used EIT to change its RI. So, a controllable phase difference between lights in two arms of interferometer is created. Long response time is the main drawback of Michelson interferometer based sensor, which is resolved by this technique.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
DOE OSTI2020

Interference in between the acts of pre- and postselection

As an alternative approach for measuring the weak effects associated with the artificial preparation of rare events in quantum metrology, we propose the study of the interference pattern generated by acts of pre- and postselection of a quantum system. An example of two Mach – Zehnder interferometers connected by a cross-Kerr nonlinearity is considered. Postselection of photon states at the output of one of the interferometers and the application of a controlled phase shift in one of its arms induces interference phenomena in the photodetection statistics at the output of the second interferometer. The nonlinearity parameter determines the shift and width of the structures in the interference pattern. The main features of this pattern are studied depending on the magnitude of the Kerr nonlinearity and the number of photons at the input of the interferometers. (paper)

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2017

EPOXY

EPOXY is a LLVM base compiler that applies security protections to bare-metal programs on ARM Cortex-M series micro-controllers. This includes privilege overlaying, wherein operations requiring privileged execution are identified and only these operations execute in privileged mode. It also applies code integrity, control-flow hijacking defenses, stack protections, and fine-grained randomization schemes. All of its protections work within the constraints of bare-metal systems.

Clements, AbrahamAnthony↗
DOE OSTI2023

Robotic Systems integration for cleanroom SRF assembly at Fermilab

Superconducting Radio Frequency (SRF) cryomodule assembly is a critical process that demands the highest levels of contamination control in a cleanroom to ensure product quality and reliability. Within the cleanroom environment, human-driven activities remain the major source of uncontrolled particulate. Moreover, the precise manual alignment of components often exceeds expected timeframes, increasing the risk of particulate migration into the critical inner space of the SRF resonant cavity, and causing extended discomfort for workers. Automation comes as a natural solution to address these challenges. The goal of this activity is to set up and integrate a robotic system to support cavity coupler installation in the cleanroom environment. Initially, remote control of a 6-axis collaborative robot arm will be implemented as an introductory step towards automation in the cleanroom. Subsequently, the system will be further enhanced by integrating manipulation capabilities through an appropriate end-effector, and computer vision technology to enable accurate pose estimation. This comprehensive approach aims to achieve a fully automated and adaptable assembly process in the partially structured cleanroom environment, thereby enhancing efficiency and mitigating existing challenges for better product quality and workers safety.

42 ENGINEERING↗