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At least 109 records · Page 6

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NASA NTRS1994

Dual-Arm Generalized Compliant Motion With Shared Control

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Backes, Paul G.↗

NASA NTRS1993

User interface development and metadata considerations for the Atmospheric Radiation Measurement (ARM) archive

This paper will discuss user interface development and the structure and use of metadata for the Atmospheric Radiation Measurement (ARM) Archive. The ARM Archive, located at Oak Ridge National Laboratory (ORNL) in Oak Ridge, Tennessee, is the data repository for the U.S. Department of Energy's (DOE's) ARM Project. After a short description of the ARM Project and the ARM Archive's role, we will consider the philosophy and goals, constraints, and prototype implementation of the user interface for the archive. We will also describe the metadata that are stored at the archive and support the user interface.

Singley, P. T.↗

NASA NTRS1991

Coordination of human upper arm and forearm motion in rapid extensions

In many movements of the upper limb such as reaching, positioning, and displacing the objects, the hand moves smoothly along a uni-directional planar trajectory with a bell-shaped speed profile. Because of variability of the load, gravitational and velocity interaction forces between its segments, the dynamics of the arm during the motion is very complex. Motion of the upper arm and the forearm are coordinated to produce smooth movements despite such complex dynamics. This coordination constitutes an important organizational feature of arm movement. The present paper describes some experimental results related to the above and interprets their role in producing smooth motion of the hand. Trajectories of the right upper limb in vertical plane and the simultaneous muscles' EMG activities were recorded for extensions of various amplitudes under four loads. The forearm trajectories are smooth with bell-shaped speed profiles. The upper arm trajectories may have bimodal speed profiles and three segments, resembling an inverted 'Z.' Segmentation is sharper for the points near the shoulder joint, and is accentuated by load. As one moves from the central points near the shoulder joint to the peripheral points near the hand, the three segments merge and result in smooth curves with single-peaked speed profiles. The three segments have a coherent time course and can be identified rather accurately and non-ambiguously. The observed trajectories and the EMG patterns reveal an effective coordination strategy which utilizes the structure and the dynamics of the moving arm to produce smooth movement.

Nahvi, Mahmood↗

NASA NTRS1999

The Mars Surveyor '01 Rover and Robotic Arm

The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments. The Marie Curie Rover, the twin sister to Sojourner Truth, is expected to explore the surface of Mars in early 2002. Scientific investigations to determine the elemental composition of surface rocks and soil using the Alpha Proton X-Ray Spectrometer (APXS) will be conducted along with several technology experiments including the Mars Experiment on Electrostatic Charging (MEEC) and the Wheel Abrasion Experiment (WAE). The Rover will follow uplinked operational sequences each day, but will be capable of autonomous reactions to the unpredictable features of the Martian environment. The Mars Surveyor 2001 Robotic Arm will perform rover deployment, and support various positioning, digging, and sample acquiring functions for MECA (Mars Environmental Compatibility Assessment) and Mossbauer Spectrometer experiments. The Robotic Arm will also collect its own sensor data for engineering data analysis. The Robotic Arm Camera (RAC) mounted on the forearm of the Robotic Arm will capture various images with a wide range of focal length adjustment during scientific experiments and rover deployment

Bonitz, Robert G.↗

NASA NTRS2000

Context-Dependent Arm Pointing Adaptation

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

Seidler, R. D.↗

NASA NTRS2015

The Asteroid Redirect Mission (ARM)

The National Aeronautics and Space Administration (NASA) is developing a robotic mission to visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, and redirect it into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts will explore the boulder and return to Earth with samples. This Asteroid Redirect Mission (ARM) is part of NASA's plan to advance the technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. Subsequent human and robotic missions to the asteroidal material would also be facilitated by its return to cislunar space. Although ARM is primarily a capability demonstration mission (i.e., technologies and associated operations), there exist significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, asteroidal resources and in-situ resource utilization (ISRU), and capability and technology demonstrations. In order to maximize the knowledge return from the mission, NASA is organizing an ARM Investigation Team, which is being preceded by the Formulation Assessment and Support Team. These teams will be comprised of scientists, technologists, and other qualified and interested individuals to help plan the implementation and execution of ARM. An overview of robotic and crewed segments of ARM, including the mission requirements, NEA targets, and mission operations, will be provided along with a discussion of the potential opportunities associated with the mission.

Abell, Paul↗

NASA NTRS2018

Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with a curator; other potential future returned samples may require cryogenic curation. Robot arms may be combined with high resolution cameras within a sample cabinet and controlled remotely by curator. Sophisticated robot arm and hand combination systems can be programmed to mimic the movements of a curator wearing a data glove; successful implementation of such a system may ultimately allow a curator to virtually operate in a nitrogen, cryogenic, or biologically sensitive environment with dexterity comparable to that of a curator physically handling samples in a glove box.

Snead, C. J.↗

NASA NTRSDate not supplied

Thermal Vacuum Testing Strategy and Thermal Desktop Model Correlation for the Moon to Mars Planetary Autonomous Construction Technologies (MMPACT) Robotic Terrestrial Arm

This paper discusses the initial thermal vacuum testing of the MMPACT robotic terrestrial arm. The robotic arm is part of a construction system designed for the lunar south pole surface. The first thermal vacuum test was a risk mitigation test to ensure the arm could operate in vacuum, with all other data collection as secondary priorities. 44 thermocouples (TCs) were attached to the arm. Installation was done with additional care to account for both the extra wiring harness weight on the arm with the TC wires and increased focus on stabilizing the TC attachments to the moving components. Thermal steady state of <= 0.01°C/hour was reached for the hot set of testing conditions. This data was used to correlate the Thermal Desktop (TD) model to the test results within +/- 5°C.

Thermal analysis↗

NASA NTRSDate not supplied

Thermal Vacuum Testing Strategy and Thermal Desktop Model Correlation for the Moon to Mars Planetary Autonomous Construction Technologies (MMPACT) Robotic Terrestrial Arm

Thermal analysis↗

NASA NTRS2023

Increasing the Payload Capacity of Soft Robot Arms by Localized Stiffening

Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them from performing many tasks. This paper presents a model-based design approach to effectively increase the payload capacity of soft robot arms. The proposed approach uses localized body stiffening to decrease the compliance at the end effector without sacrificing the robot’s range of motion. This approach is validated on both a simulated and a real soft robot arm, where experiments show that increasing the stiffness of localized regions of their bodies reduces the compliance at the end effector and increases the height to which the arm can lift a payload. By increasing the payload capacity of soft robot arms, this approach has the potential to improve their efficacy in a variety of tasks including object manipulation and exploration of cluttered environments.

Daniel Bruder↗

DOE OSTI2025

2025 Atmospheric Radiation Measurement (ARM) Annual Report

ARM is a multi-laboratory, U.S. Department of Energy (DOE) Office of Science user facility and a key contributor to atmospheric research efforts. For more than 30 years, ARM has supported the DOE and Office of Science missions by providing atmospheric observations to enable scientific discovery, transform our understanding of the atmosphere, and evaluate and improve the accuracy of atmospheric models. ARM’s cutting-edge capabilities for scientists include continuously operating ground-based observatories, aerial observation platforms, and high performance computing.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Advanced Precipitation and Boundary Layer Data Products Derived from ARM Radar Wind Profilers

This research project was successful in delivering on four main objectives. First, software was developed to accurately calculate 915-MHz radar wind profiler (RWP) spectrum moments from the recorded Doppler velocity power spectra. Second, software was developed to calibrate the RWP reflectivity factor using collocated surface disdrometer observations. Third, the Python processing code was documented and given to the ARM Infrastructure to produce ARM ‘b level’ calibrated RWP products. Fourth, calibrated RWP products were uploaded to the ARM Archive as PI Products for 10 years of SGP RWP observations and for GoAmazon and TRACER field campaign RWP observations. In addition to working with RWP observations, this research project also worked with KAZR observations to distinguish insects from boundary layer clouds to help improve the ARSCL cloud mask product. The PI worked with senior and early career ARM funded scientists at BNL exploring how to include calibrated RWP moments into future versions of the ARSCL product.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2013

In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

Mars surface operations↗

NASA NTRSDate not supplied

ARM Data as A Resource for Validation of NASA PACE Cloud Retrievals

NASA’s Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) mission will launch in January 2024 and continue and improve upon satellite data records in its eponymous domains. PACE will carry a broad-swath hyperspectral imager, OCI, which will provide MODIS/VIIRS-type cloud data products (i.e. a cloud mask, top height, visible optical thickness, droplet effective radius, phase, and derived water path). It will also carry two multi-angle polarimeters (HARP2 and SPEXone) which will not only provide the above but also enable retrievals of additional cloud properties (e.g. droplet effective variance, ice crystal asymmetry parameter). Validating satellite-based cloud retrievals is challenging. We plan to use several ARM data streams to evaluate PACE cloud data products and are prototyping our analyses using retrievals from MODIS on the Aqua satellite and OLCI on the Sentinel-3A satellite. This poster shows how we plan to use ARM data to evaluate liquid water path (via MWRRET) and cloud top height retrievals (via KARZASRCL), with example results from these proxy sensors and ARM data from the SGP, ENA, and NSA sites. We seek comments from and collaborations with the ARM community to get the most out of our respective data streams.

ARM↗

DOE OSTI2024

Enhancing Discoverability and Management of Atmospheric Data at Scale: Solutions from the ARM Data Center

The Atmospheric Radiation Measurement (ARM) is a multi-laboratory and multi-institutional U.S. Department of Energy (DOE) Office of Science National User Facility. The ARM Data Center (ADC), located at Oak Ridge National Laboratory, collects, archives, and shares vast atmospheric data crucial for climate research. The ADC manages over 7 PB of data from 460 instruments worldwide, processing it into more than 11,000 diverse data products using the Network Common Data Form (NetCDF) for machine-independent accessibility. The primary challenge addressed in this paper is the efficient management and distribution of vast and diverse datasets essential for the climate research community, enhancing accessibility through advanced tools like Data Discovery. The ADC has developed advanced infrastructure and software architecture to handle the continuous influx of heterogeneous data to enhance data discoverability, resulting in increased scientific collaboration. In 2023, users from over 34 countries downloaded and utilized ARM data, resulting in 1,455 publications. The ADC’s efforts have significantly improved the discoverability and usability of atmospheric data, fostering extensive scientific research and collaboration. This paper details the solutions implemented by the ADC team for efficient data discovery and distribution, and it demonstrates ARM’s capability of staging processed data for scientific analysis.

Shah, Chirag [ORNL] (ORCID:0000000203145737)↗

DOE OSTI2026

ARM Radiosondes for SNPP/JPSS Validation Field Campaign Report

This field campaign extension has been a coordinated effort involving the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) User Facility, the University of Wisconsin at Madison, and the Joint Polar Satellite System (JPSS) project to validate NOAA Unique Combined Atmospheric Processing System (NUCAPS) temperature and moisture sounding products from the Cross-track Infrared Sounder (CrIS) and the Advanced Technology Microwave Sounder (ATMS) instruments on board the NOAA-20 and NOAA-21 satellite platforms. In this arrangement, funding for radiosondes and balloons was provided by the JPSS project to ARM. These radiosondes were launched coincident with NOAA-20 and NOAA-21 satellite overpasses at the ARM field sites at Eastern North Atlantic (ENA), North Slope Alaska (NSA), and Southern Great Plains (SGP). Combined with other ARM data, an assessment of the radiosonde data quality was performed and post-processing corrections applied. The dedicated radiosondes were integrated into the NOAA Products Validation System (NPROVS+), which collocated the radiosondes with satellite products (NOAA, National Aeronautics and Space Administration [NASA], European Organisation for the Exploitation of Meteorological Satellites [EUMETSAT], Geostationary Operational Environmental Satellite [GOES], Constellation Observing System for Meteorology, Ionosphere, and Climate [COSMIC]) and numerical weather prediction (NWP) forecasts for use in product assessment and algorithm development. This work is a part of the NOAA-20 and NOAA-21 satellite retrieval validation efforts and provides critical accuracy assessments of the temperature and water vapor soundings.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2026

A Novel Segmentation Algorithm for the ARM User Facility All-Sky Imagers Using Machine Learning Applications

Cloud cover plays a pivotal role in modulating the Earth's energy budget through the reflection of incoming solar radiation and the trapping of outgoing longwave radiation. Ground-based all-sky imagers offer an objective assessment of cloud cover that can be used to estimate solar irradiance, classify cloud types, track cloud movement, and serve as a benchmark 10 for the evaluation of satellite and reanalysis data products. The Atmospheric Radiation Measurement (ARM) user facility has utilized all-sky imagers for more than 25 years to monitor cloud cover and augment its comprehensive suite of atmospheric measurements. Following the retirement of its Total Sky Imager (TSI), ARM recently deployed the TSI’s successor, the All Sky Imager (ASI-16 camera systems). To provide a smooth transition and continuity to the vast amount of knowledge gathered by the TSI over the years, while addressing typical deployment issues, we developed a novel pixel segmentation algorithm, 15 the ASI Sky Cover (ASISKYCOVER). ASISKYCOVER builds on the different strengths and properties of the TSI processing algorithm while integrating machine learning techniques, ensuring data validity and accuracy across diverse atmospheric conditions. It enhances cloud cover characterization with new features such as artifact detection and uncertainty quantification. ASISKYCOVER also includes cloud cover estimates for near-zenith (narrow field-of-view) and reduces susceptibility to false detections. This study introduces ASISKYCOVER, details its algorithm framework, and demonstrates its capabilities using a 20 year-long dataset from the ARM Southern Great Plains site. Comparisons with co-located TSI data and other ARM measurements, such as zenith-pointing radars and lidars, are presented, underscoring the ASISKYCOVER’s potential to improve cloud cover analyses and data evaluation efforts, as well as to be integrated into higher-level data products that synergize instrument suites to generate new and insightful information

Silber, Israel↗

NASA NTRS1973

Do interstellar gas clouds exist between spiral arms.

This paper discusses what can happen to clouds as they move from arm regions to interarm regions, through a density-wave shock, and back to arm regions again. Shu et al. (1972) have taken the viewpoint that interstellar clouds will survive the trip between arms. Biermann et al. (1972) have taken the viewpoint that they will not. We shall point out that cloud-cloud collisions and other processes may lead to the destruction of interstellar clouds in less time than the 100 m.y. it takes clouds to travel across arms. A possible observational test is suggested to distinguish between the two possibilities.

Quirk, W. J.↗