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All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

ZTF Early Observations of Type Ia Supernovae. II. First Light, the Initial Rise, and Time to Reach Maximum Brightness

While it is clear that Type Ia supernovae (SNe) are the result of thermonuclear explosions in C/O white dwarfs (WDs), a great deal remains uncertain about the binary companion that facilitates the explosive disruption of the WD. Here, we present a comprehensive analysis of a large, unique data set of 127 SNe Ia with exquisite coverage by the Zwicky Transient Facility (ZTF). High-cadence (six observations per night) ZTF observations allow us to measure the SN rise time and examine its initial evolution. We develop a Bayesian framework to model the early rise as a power law in time, which enables the inclusion of priors in our model. For a volume-limited subset of normal SNe Ia, we find that the mean power-law index is consistent with 2 in the r(ZTF)-band (a(r) = 2.01 ± 0.02), as expected in the expanding fireball model. There are, however, individual SNe that are clearly inconsistent with a(r) = 2. We estimate a mean rise time of 18.9 days (with a range extending from ∼15 to 22 days), though this is subject to the adopted prior. We identify an important, previously unknown, bias whereby the rise times for higher redshift SNe within a flux-limited survey are systematically underestimated. This effect can be partially alleviated if the power-law index is fixed to α = 2, in which case we estimate a mean rise time of 21.7 days (with a range from ∼18 to 23 days). The sample includes a handful of rare and peculiar SNe Ia. Finally, we conclude with a discussion of lessons learned from the ZTF sample that can eventually be applied to observations from the Vera C. Rubin Observatory.

A. A. Miller↗
NASA NTRS2022

Docking the Mars 2020 Perseverance Robotic Arm

The Mars 2020 Perseverance Rover includes an innovative Sample Caching Subsystem (SCS). Two key features of SCS are the ability to collect and process rock and regolith samples for possible future return to Earth and the ability to switch between different types of drill bits for coring rocks, abrading rocks, and collecting regolith. These capabilities are enabled by a Corer mounted on the end of a Robotic Arm and a Bit Carousel mounted on the front of the rover body. Beneath the Bit Carousel, a smaller Sample Handling Arm can insert and remove sample tubes from sampling bits in the carousel. For the Corer to interface with the Bit Carousel so that it can exchange drill bits and hand off rock samples, the Robotic Arm must maneuver the Corer to dock with the Bit Carousel. Docking serves two primary purposes: it precisely aligns the Corer with the hardware inside the Bit Carousel, and it applies enough preload between the Corer and the Bit Carousel to make them stay aligned through the process of bit exchange.The docking assembly consists of four concave alignment cones mounted on a large rotating ring, through the center of which the drill can exchange bits and samples with the Bit Carousel. The coring drill includes four alignment posts which mate with the four cones on the dock. Docking uses an algorithm we call “Force-Corrected Docking”, which means it iteratively reads the force/moments reported by the FTS, performs a small motion to reduce sideload and moments while increasing preload, and repeats until reaching a deadband around the target preload. Because docking is a critical function for SCS, the dock hardware and algorithm have been tested thousands of times over 7 years in various stages of development. The culmination of this work is a reliable docking system which has been demonstrated and used in flight.

Warner, Antonia↗
DOE OSTI2018

Perspective on Improving Environmental Monitoring of Biothreats

For more than a decade, the United States has performed environmental monitoring by collecting and analyzing air samples for a handful of biological threat agents (BTAs) in order to detect a possible biological attack. This effort has faced numerous technical challenges including timeliness, sampling efficiency, sensitivity, specificity, and robustness. The cost of city-wide environmental monitoring using conventional technology has also been a challenge. A large group of scientists with expertise in bioterrorism defense met to assess the objectives and current efficacy of environmental monitoring and to identify operational and technological changes that could enhance its efficacy and cost-effectiveness, thus enhancing its value. The highest priority operational change that was identified was to abandon the current concept of city-wide environmental monitoring because the operational costs were too high and its value was compromised by low detection sensitivity and other environmental factors. Instead, it was suggested that the focus should primarily be on indoor monitoring and secondarily on special-event monitoring because objectives are tractable and these operational settings are aligned with likelihood and risk assessments. The highest priority technological change identified was the development of a reagent-less, real-time sensor that can identify a potential airborne release and trigger secondary tests of greater sensitivity and specificity for occasional samples of interest. This technological change could be transformative with the potential to greatly reduce operational costs and thereby create the opportunity to expand the scope and effectiveness of environmental monitoring.

Dunbar, John↗
DOE OSTI2016

Optimization-Based Approach for Joint X-Ray Fluorescence and Transmission Tomographic Inversion

Fluorescence tomographic reconstruction, based on the detection of photons coming from fluorescent emission, can be used for revealing the internal elemental composition of a sample. On the other hand, conventional X-ray transmission tomography can be used for reconstructing the spatial distribution of the absorption coefficient inside a sample. In this work, we integrate both X-ray fluorescence and X-ray transmission data modalities and formulate a nonlinear optimization-based approach for reconstruction of the elemental composition of a given object. This model provides a simultaneous reconstruction of both the quantitative spatial distribution of all elements and the absorption effect in the sample. Mathematically speaking, we show that compared with the single-modality inversion (i.e., the X-ray transmission or fluorescence alone), the joint inversion provides a better-posed problem, which implies a better recovery. Therefore, the challenges in X-ray fluorescence tomography arising mainly from the effects of self-absorption in the sample are partially mitigated. The use of this technique is demonstrated on the reconstruction of several synthetic samples.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2019

Using geochemical indicators to distinguish high biogeochemical activity in floodplain soils and sediments, Science of the Total Environment: Dataset

Data associated with analysis of sediment samples collected in the East River watershed and Rifle floodplain sites, CO. Samples were collected and analyzed as part of two student MS theses at Colorado School of Mines (Kenwell and Prugue) over a time period ranging from 2012 to 2015. Analyses include total organic carbon, leachable Fe and Mn, and total microbial DNA; all analyses performed at Colorado School of Mines. Methods: Samples were collected from core during a drilling campaign at the Rifle Site. Samples were collected every 1.5 m. At the East River site soil and sediment samples were collected using hand-augered bulk density sampler. Collected samples were stored at -20C until analysis. Samples were thawed in an anaerobic chamber and subsampled for extractions and DNA analysis. Samples for DNA analysis were freeze-dried, the remaining sample was oven dried and ground to 0.991 cm for TOC and leaching analysis. TOC analysis was performed on duplicate samples using a CM 5014 Coulometer (UIC, Joliet, IL, USA). Two chemical extractions were performed: hydroxylamine (HA) extraction of Fe and Mn adapted from Lovley et al., 1987 and synthetic precipitation (ppt) leaching adapted from EPA method 1312 (EPA, 1994) . For theHA extraction 3g of wet sediment was mixed with 150 mL of 0.5 N HCl in one bottle and another 3 g of sediment was mixed with 150 mL of 0.25 N hydroxylamine hydrochloride in 0.5 N HCl. Extraction were performed for 24 hours at room temperature after which samples of the liquid were removed and filtered to 0.45 micron and analyzed by ICP-AES. HA-reducible iron and manganese concentrations were determined by difference between the two extractions. For ppt leaches, a 60:40 sulfuric:nitric acid mixture was added to Milliq water to a pH of 4.2 and combined with sediment in a 20:1 mass ratio of acid to sediment. The extraction was performed for 18 hours at room temperature after which the samples of the liquid were removed and filtered to 0.45 micron and analyzed by ICP-AES. DNA was sampled from sediment using a PowerSoil DNA Isolation Kit and extractions were performed according to manufactured instuctions with one adjustment, a 1 minute bead beating replaced the 10 minute vortexing step. Extracted DNA was stored at -20C. Quantitative PCR was performed in triplicate on a Roche LightCycler 480 system and working curves were created by amplifying environmental samples with primers and bead purifying them with Agencourt AMPure XP. Analysis was performed with a Qubit 2.0 Fluorometer and Qubit dsDNA High Sensitivity Assay Kit with results converted to copies using the URI Genomics and Sequencing Center converter (Staroscik, 2004). Additional method details can be found in Kenwell et al., 2016. Lovley, D.R., Phillips, E.J.P. (1987). Rapid assay for microbially reducible ferric iron in aquatic sediments. Applied and Environmental Microbiology, 53(7), 1536-1540. Staroscik, A. (2004). Calculator for determining the number of copies of a template. URI Genomics & Sequencing Center. <http://cels.uri.edu/gsc/cndna.html>. EPA. (1994). Method 1312: Synthetic precipitation leaching procedure.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1988

Sampling Mars: Analytical requirements and work to do in advance

Sending a mission to Mars to collect samples and return them to the Earth for analysis is without doubt one of the most exciting and important tasks for planetary science in the near future. Many scientifically important questions are associated with the knowledge of the composition and structure of Martian samples. Amongst the most exciting questions is the clarification of the SNC problem- to prove or disprove a possible Martian origin of these meteorites. Since SNC meteorites have been used to infer the chemistry of the planet Mars, and its evolution (including the accretion history), it would be important to know if the whole story is true. But before addressing possible scientific results, we have to deal with the analytical requirements, and with possible pre-return work. It is unlikely to expect that a possible Mars sample return mission will bring back anything close to the amount returned by the Apollo missions. It will be more like the amount returned by the Luna missions, or at least in that order of magnitude. This requires very careful sample selection, and very precise analytical techniques. These techniques should be able to use minimal sample sizes and on the other hand optimize the scientific output. The possibility to work with extremely small samples should not obstruct another problem: possible sampling errors. As we know from terrestrial geochemical studies, sampling procedures are quite complicated and elaborate to ensure avoiding sampling errors. The significance of analyzing a milligram or submilligram sized sample and putting that in relationship with the genesis of whole planetary crusts has to be viewed with care. This leaves a dilemma on one hand, to minimize the sample size as far as possible in order to have the possibility of returning as many different samples as possible, and on the other hand to take a sample large enough to be representative. Whole rock samples are very useful, but should not exceed the 20 to 50 g range, except in cases of extreme inhomogeneity, because for larger samples the information tends to become redundant. Soil samples should be in the 2 to 10 g range, permitting the splitting of the returned samples for studies in different laboratories with variety of techniques.

Koeberl, Christian↗
NASA NTRS1978

Origin of magnetization in lunar breccias - An example of thermal overprinting

Twenty six samples from seven hand specimens, collected from the station 6 boulder at the Apollo 17 landing site, were studied magnetically. The boulder is a breccia consisting of three lithologic units distinguished by their clast population. The direction of magnetization of samples from unit B which is almost devoid of large clasts cluster fairly well after alternating field demagnetization. Samples from unit C which is characterized by abundant large clasts up to 1 m in size do not contain a uniform direction of magnetization but the distribution is not random. Based on these data we propose that the natural remanent magnetization (NRM) in these breccias is the vector sum of two magnetizations, a pre-impact magnetization and a partial thermoremanence acquired during breccia formation. The relative contribution of the two components is controlled by the thermal history of the ejecta, which in turn is determined by its clast population. Depending on the clast population, the NRM can be a total thermoremanence, a partial thermoremanence plus a pre-impact magnetization, or a pre-impact magnetization. This model of thermal overprinting might be applicable to all lunar breccias of medium and higher metamorphic grade.

Gose, W. A.↗
DOE OSTI2017

Expected values and variances of Bragg peak intensities measured in a nanocrystalline powder diffraction experiment

A rigorous study of sampling and intensity statistics applicable for a powder diffraction experiment as a function of crystallite size is presented. Our analysis yields approximate equations for the expected value, variance and standard deviations for both the number of diffracting grains and the corresponding diffracted intensity for a given Bragg peak. The classical formalism published in 1948 by Alexander, Klug & Kummer [ J. Appl. Phys. (1948), 19 , 742–753] appears as a special case, limited to large crystallite sizes, here. It is observed that both the Lorentz probability expression and the statistics equations used in the classical formalism are inapplicable for nanocrystalline powder samples.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2012

SIMULTANEOUS ULTRAVIOLET AND OPTICAL EMISSION-LINE PROFILES OF QUASARS: IMPLICATIONS FOR BLACK HOLE MASS DETERMINATION

The X-shooter instrument on the Very Large Telescope was used to obtain spectra of seven moderate-redshift quasars simultaneously covering the spectral range {approx}3000 A to 2.5 {mu}m. At z Almost-Equal-To 1.5, most of the prominent broad emission lines in the ultraviolet to optical region are captured in their rest frame. We use this unique data set, which mitigates complications from source variability, to intercompare the line profiles of C IV {lambda}1549, C III] {lambda}1909, Mg II {lambda}2800, and H{alpha} and evaluate their implications for black hole (BH) mass estimation. We confirm that Mg II and the Balmer lines share similar kinematics and that they deliver mutually consistent BH mass estimates with minimal internal scatter ({approx}<0.1 dex) using the latest virial mass estimators. Although no virial mass formalism has yet been calibrated for C III], this line does not appear promising for such an application because of the large spread of its velocity width compared to lines of both higher and lower ionization; part of the discrepancy may be due to the difficulty of deblending C III] from its neighboring lines. The situation for C IV is complex and, because of the limited statistics of our small sample, inconclusive. On the one hand, slightly more than half of our sample (4/7) have C IV line widths that correlate reasonably well with H{alpha} line widths, and their respective BH mass estimates agree to within {approx}0.15 dex. The rest, on the other hand, exhibit exceptionally broad C IV profiles that overestimate virial masses by factors of 2-5 compared to H{alpha}. As C IV is widely used to study BH demographics at high redshifts, we urgently need to revisit our analysis with a larger sample.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRSDate not supplied

Pneumatic Sampler (P-Sampler) for the Martian Moons Exploration (MMX)

The Martian Moons eXploration (MMX) mission, led by the Japanese Aerospace Exploration Agency (JAXA), will focus on the exploration of the two Martian moons – Phobos and Deimos (Figure 1). The spacecraft will perform close-up remote sensing and observations of both moons and collect a sample from Phobos for Earth sample return. MMX has set the two mission goals: (1) determining the origin of the Martian moons and (2) observing processes in the circumplanetary environment of Mars, based on remote sensing, in-situ observations, and laboratory analyses of returned samples of Phobos regolith [1-2]. To fulfill the mission goals, MMX employs a double sampling approach: Coring and Pneumatic Samplers (Figure 2).The Coring Sampler (C-Sampler), a core soil tube deployed by a robotic arm, providing access to the building blocks of Phobos beneath the surface (>2 cm), and also collect a mixture of near surface material. The P-Sampler, on the other hand, would selectively sample the surface veneer and provides reference of surface component with the C-Sampler. The double sampling system not only enhances the scientific merits of MMX but also reduces risks associated with the sampling of Phobos. Without enough knowledge of the physical and chemical properties, and the geotechnical conditions of the surface of Phobos (e.g., compositions, temperature gradient/variation, porosity, grain size distribution), having two sampling systems that utilize entirely different sampling approaches is prudent.

Dylan Van Dyne↗
DOE OSTI2024

Sampling Rare Events in Aqueous Systems Using Molecular Simulations

Birth of a new distinct phase is a phenomenon encountered in a myriad of processes, and has wide ranging consequences in material processing, biological self-assembly, separations and several other processes. Several phase transitions are nucleation driven. The nucleation events occur over nanosecond timescales and involve hundreds to thousands of molecules. These length and timescales are difficult to access in experiments, thereby making experimental studies of nucleation challenging. On the other hand, molecular simulations sample the nanosecond and nanometer scales making them ideal to study nucleation. However, nucleation is a rare event, meaning that the waiting time to observe one nucleation event is significant. This makes simulation studies of rare events challenging. The project focused on a multi-pronged approach to address such challenges to develop the next generation rare event sampling methods for molecular simulations. The key outcomes of our work include developing more effective methods for sampling rare events, utilizing machine learning to better elucidate nucleation mechanisms, development of software for easy implementation of the methodologies, and applications of the methods to realistic systems to push the method applicability beyond model systems. Overall, this work has enabled pushing the frontiers of molecular simulations to study rare events with a focus on nucleation in aqueous solutions.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Magnetic Inflation and Stellar Mass. II. On the Radii of Single, Rapidly Rotating, Fully Convective M-Dwarf Stars

Main-sequence, fully convective M dwarfs in eclipsing binaries are observed to be larger than stellar evolutionary models predict by as much as 10%–15%. A proposed explanation for this discrepancy involves effects from strong magnetic fields, induced by rapid rotation via the dynamo process. Although, a handful of single, slowly rotating M dwarfs with radius measurements from interferometry also appear to be larger than models predict, suggesting that rotation or binarity specifically may not be the sole cause of the discrepancy. We test whether single, rapidly rotating, fully convective stars are also larger than expected by measuring their Rsin i distribution. We combine photometric rotation periods from the literature with rotational broadening (vsin i) measurements reported in this work for a sample of 88 rapidly rotating M dwarf stars. Using a Bayesian framework, we find that stellar evolutionary models underestimate the radii by 10%--15%{sub −2.5}{sup +3}, but that at higher masses (0.18 < M < 0.4 M {sub Sun}), the discrepancy is only about 6% and comparable to results from interferometry and eclipsing binaries. At the lowest masses (0.08 < M < 0.18 M {sub Sun}), we find that the discrepancy between observations and theory is 13%–18%, and we argue that the discrepancy is unlikely to be due to effects from age. Furthermore, we find no statistically significant radius discrepancy between our sample and the handful of M dwarfs with interferometric radii. We conclude that neither rotation nor binarity are responsible for the inflated radii of fully convective M dwarfs, and that all fully convective M dwarfs are larger than models predict.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2002

Technology Development and Advanced Planning for Curation of Returned Mars Samples

NASA Johnson Space Center (JSC) curates extraterrestrial samples, providing the international science community with lunar rock and soil returned by the Apollo astronauts, meteorites collected in Antarctica, cosmic dust collected in the stratosphere, and hardware exposed to the space environment. Curation comprises initial characterization of new samples, preparation and allocation of samples for research, and clean, secure long-term storage. The foundations of this effort are the specialized cleanrooms (class 10 to 10,000) for each of the four types of materials, the supporting facilities, and the people, many of whom have been doing detailed work in clean environments for decades. JSC is also preparing to curate the next generation of extraterrestrial samples. These include samples collected from the solar wind, a comet, and an asteroid. Early planning and R\&D are underway to support post-mission sample handling and curation of samples returned from Mars. One of the strong scientific reasons for returning samples from Mars is to search for evidence of current or past life in the samples. Because of the remote possibility that the samples may contain life forms that are hazardous to the terrestrial biosphere, the National Research Council has recommended that all samples returned from Mars be kept under strict biological containment until tests show that they can safely be released to other laboratories. It is possible that Mars samples may contain only scarce or subtle traces of life or prebiotic chemistry that could readily be overwhelmed by terrestrial contamination . Thus, the facilities used to contain, process, and analyze samples from Mars must have a combination of high-level biocontainment and organic / inorganic chemical cleanliness that is unprecedented. JSC has been conducting feasibility studies and developing designs for a sample receiving facility that would offer biocontainment at least the equivalent of current maximum containment BSL-4 (BioSafety Level 4) laboratories, while simultaneously maintaining cleanliness levels equaling those of state-of-the-art cleanrooms. Unique requirements for the processing of Mars samples have inspired a program to develop handling techniques that are much more precise and reliable than the approach (currently used for lunar samples) of employing gloved human hands in nitrogen-filled gloveboxes. Individual samples from Mars are expected to be much smaller than lunar samples, the total mass of samples returned by each mission being 0.5- 1 kg, compared with many tens of kg of lunar samples returned by each of the six Apollo missions. Smaller samples require much more of the processing to be done under microscopic observation. In addition, the requirements for cleanliness and high-level containment would be difficult to satisfy while using traditional gloveboxes. JSC has constructed a laboratory to test concepts and technologies important to future sample curation. The Advanced Curation Laboratory includes a new-generation glovebox equipped with a robotic arm to evaluate the usability of robotic and teleoperated systems to perform curatorial tasks. The laboratory also contains equipment for precision cleaning and the measurement of trace organic contamination.

Lindstrom, David J.↗
DOE OSTI2022

Heteroatom-Doped Graphenes as Actively Interacting 2D Encapsulation Media for Mg-Based Hydrogen Storage

Nanoencapsulation using graphene derivatives enables the facile fabrication of two-dimensional (2D) nanocomposites with unique microstructures and has been generally applied to many fields of energy materials. Particularly, metal hydrides such as MgH 2 encapsulated by graphene derivatives have emerged as a promising hybrid material for overcoming the disadvantageous properties of Mg-based hydrogen storage. Although the behavior of the graphene–Mg nanoencapsulation interface has been studied for many composite materials, the direct modification of graphene with nonmetal foreign elements for changing the interfacial behavior has been limitedly reported. In this regard, using B-doped graphene and N-doped graphene as nanoencapsulation media for tuning the interfacial behavior of graphene derivative–Mg nanoparticles, we present altered hydrogen storage kinetics of heteroatom-doped (B and N) graphene–Mg composites. The effect of heteroatom doping is studied in terms of bonding configurations and heteroatom doping concentrations. The enhancement in hydrogen uptake was observed for all of the heteroatom-doped graphene–Mg nanocomposites. On the other hand, a few samples exhibit significantly low activation energy at the early stage of desorption, which can be related to the facilitated nucleus formation. Density functional theory calculation indicates that B-doping and N-doping accelerate hydrogen absorption kinetics in different ways, aiding charge transfer and inducing surface deformation of Mg nanoparticles, respectively. Their effects can be augmented in the presence of structural defects on graphene, such as vacancies, pores, or graphene edges. These results demonstrate that hydrogen storage kinetics of Mg-based systems can be altered by utilizing heteroatom-doped graphene oxide derivatives as 2D nanoencapsulation media, suggesting that the addition of a nonmetal doping element can also be applied to Mg-based hydrogen storage by modifying the nanoencapsulation interface without forming Mg alloy phases.

08 HYDROGEN↗
DOE OSTI2012

Constraints on cosmological models from strong gravitational lensing systems

Strong lensing has developed into an important astrophysical tool for probing both cosmology and galaxies (their structure, formation, and evolution). Using the gravitational lensing theory and cluster mass distribution model, we try to collect a relatively complete observational data concerning the Hubble constant independent ratio between two angular diameter distances D{sub ds}/D{sub s} from various large systematic gravitational lens surveys and lensing by galaxy clusters combined with X-ray observations, and check the possibility to use it in the future as complementary to other cosmological probes. On one hand, strongly gravitationally lensed quasar-galaxy systems create such a new opportunity by combining stellar kinematics (central velocity dispersion measurements) with lensing geometry (Einstein radius determination from position of images). We apply such a method to a combined gravitational lens data set including 70 data points from Sloan Lens ACS (SLACS) and Lens Structure and Dynamics survey (LSD). On the other hand, a new sample of 10 lensing galaxy clusters with redshifts ranging from 0.1 to 0.6 carefully selected from strong gravitational lensing systems with both X-ray satellite observations and optical giant luminous arcs, is also used to constrain three dark energy models (ΛCDM, constant w and CPL) under a flat universe assumption. For the full sample (n = 80) and the restricted sample (n = 46) including 36 two-image lenses and 10 strong lensing arcs, we obtain relatively good fitting values of basic cosmological parameters, which generally agree with the results already known in the literature. This results encourages further development of this method and its use on larger samples obtained in the future.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1988

Atlas of Galaxies Useful for Measuring the Cosmological Distance Scale

A critical first step in determining distances to galaxies is to measure some property of primary objects such as stars of specific types, H II regions, and supernovae remnants that are resolved out of the general galactic star content. With the completion of the Mount Wilson/Palomar/Las Campanas survey of bright galaxies in 1985, excellent large-scale photographs of the complete Shapley-Ames sample were on hand. Most of the galaxies useful for distance scale calibration are in this collection. This atlas contains photographs of 322 galaxies including the majority of all Shapley-Ames bright galaxies, plus cluster members in the Virgo Cluster core that might be usefully resolved by the Hubble Space Telescope (HST). Because of crowding and high background-disk surface brightness, the choice of field position is crucial for programs involving resolution of particular galaxies into stars. The purpose of this atlas is to facilitate this choice. Enough information is given herein (coordinates of the galaxy centers and the scale of the photography) to allow optimum placement of the HST wide-field planetary camera format of approximately 150 arc-seconds on a side.

Sandage, Allan↗
NASA NTRS1993

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Montgomery, Raymond C.↗
NASA NTRS1992

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

Batch simulation studies which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm are presented. For man-in-the-loop evaluation, a real-time simulator has been developed that samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. It is shown that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s utilizing only a hub motor.

Montgomery, Raymond C.↗