Results for “arm” — Page 6

NASA NTRS2001

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 and 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.

Clinical Trial↗

NASA NTRS1999

Unequal-Arms Michelson Interferometers

Michelson interferometers allow phase measurements many orders of magnitude below the phase stability of the laser light injected into their two almost equal-length arms. If, however, the two arms are unequal, the laser fluctuations can not be removed by simply recombining the two beams. This is because the laser jitters experience different time delays in the two arms, and therefore can not cancel at the photo detector. We present here a method for achieving exact laser noise cancellation, even in an unequal-arm interferometer. The method presented in this paper requires a separate readout of the relative phase in each arm, made by interfering the returning beam in each arm with a fraction of the outgoing beam. By linearly combining the two data sets with themselves, after they have been properly time-shifted, we show that it is possible to construct a new data set that is free of laser fluctuations. An application of this technique to future planned space-based laser interferometer detectors of gravitational radiation is discussed.

Tinto, Massimo↗

NASA NTRS2010

A Comparison of MERRA and NARR Reanalysis Datasets with the DOE ARM SGP Continuous Forcing data

In this study, the atmospheric state, precipitation, cloud fraction, and radiative fluxes from Modern Era Retrospective-analysis for Research and Applications (MERRA) and North American Regional Reanalysis (NARR) are collected and compared with the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) continuous forcing during the period 1999-2001. For the atmospheric state, the three datasets have excellent agreement for the horizontal wind components and air temperature. NARR and ARM have generally good agreement for humidity, except for several biases in the PBL and in the upper troposphere. MERRA, on the other hand, suffers from a year-round negative bias in humidity except for the month of June. For the vertical pressure velocity, significant differences exist with the largest biases occurring during the spring upwelling and summer downwelling periods. Although NARR and MERRA share many resemblances to each other, ARM outperforms these reanalyses in terms of correlation with cloud fraction. Because the ARM forcing is constrained by observed precipitation that gives the adequate mass, heat, and moisture budgets, much of the precipitation (specifically during the late spring/early summer) is caused by smaller-scale forcing that is not captured by the reanalyses. Both NARR and MERRA capture the seasonal variation of CF observed by ARM radar-lidar and GOES with high correlations (0.92-0.78), but having negative biases of 14% and 3%, respectively. Compared to the ARM observations, MERRA shows a better agreement for both SW and LW fluxes except for LW-down (due to a negative bias in water vapor), NARR has significant positive bias for SW-down and negative bias for LW-down under clear- and all-sky conditions . The NARR biases result from a combination of too few clouds and a lack of sufficient extinction by aerosols and water vapor in the atmospheric column. The results presented here represent only one location for a limited time period, and more comparisons at different locations and longer time period are needed.

Kennedy, Aaron D.↗

NASA NTRS2017

Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.

Park, In-Won↗

DOE OSTI2020

Long Reach Robotic Arm

The Accelerator Division at Fermilab began a robotics program, known as the AD Robotics Initiative. A multi-axis robotic arm was proposed to be included in the program. This summer internship, our team began the planning and design for this project, called the Long Reach Robotic Arm. The problem is that critical systems around the magnets require analysis when water leaks cause them to fail. However, the tightly compacted parts and the quadrupole magnet, weighing approximately 1,000 pounds, cause access viewing problems. The process of having to dismantle and remove the magnet is time-consuming; it is not an efficient solution. The goal for the Long Reach Robotic Arm was to extend and reach behind the component of the Main Injector while "snaking" around and avoiding obstructions. At the start of the project, my teammate, Amanda Hoeksema, and I coded a program in the C language that will determine the number of links and their respective lengths for the robot arm. After, we began the 3D CAD model of the robot arm, base, and counterweight system. The design of the Long Reach Robotic Arm provided a learning experience in learning how to code in the C programming language, using SDL libraries and understanding mechanical engineering.

43 PARTICLE ACCELERATORS↗

DOE OSTI2020

Switchable rocker arm

A rocker arm includes an outer arm and an inner arm which selectively pivots relative to the outer arm. The rocker arm also includes a lock pin which is displaced along a lock pin axis between a coupled position and a decoupled position. The rocker arm also includes a linkage and a linkage guide which guides the linkage along a linkage axis. One surface of the linkage engages an actuator while another surface of the linkage engages the lock pin such that the linkage translates motion from the actuator to motion of the lock pin.

42 ENGINEERING↗

DOE OSTI2020

Improving GCM Predictability of Mixed-Phase Clouds and Aerosol Interactions at High Latitudes with ARM Observations

The overachieving goal of this project is to improve the predictability of mixed-phase clouds and aerosol interactions in the Community Atmosphere Model version 6 (CAM6) through comparison with the ARM observations. There are three main objectives of the proposed study: (1) Improve the representation of ice microphysical processes in mixed-phase clouds; (2) Test the performance of ice microphysics in CESM-CAM6 with the ARM observations in northern and southern high latitudes; and (3) Examine mixed-phase cloud microphysics-aerosol-turbulence-radiation interactions in CESM-CAM6. In this project, we have (1) Improved the representation of ice microphysical processes in mixed-phase clouds in CESM-CAM6 by implementing the marine organic aerosol (MOA) and treating the ice nucleating particles (INPs) from MOA and its impacts on mixed-phase clouds. We improved the treatment of ice depositional growth through the Wegener–Bergeron–Findeisen (WBF) process by considering the subgrid heterogeneous distributions between liquid droplets and ice crystals in mixed-phase clouds; (2) Tested the performance of ice microphysics in CESM-CAM6 with the ARM observations at high latitudes. We compared the simulated INP concentrations with the ARM observations, e.g., from M-PACE, ISDAC, INPOP, and other data (Mace Head, Zeppelin, CAPRICORN). We examined the impact of improved WBF treatment on model simulated Arctic mixed-phase clouds observed in the M-PACE field campaign. Seasonal variations of modeled mixed-phase cloud properties (LWO, IWP) are compared with the ground-based remote sensing retrievals at the ARM’s NSA $Utqia\dot{g}vik$ site; and (3) Examined mixed-phase cloud microphysics-aerosol-dynamics-radiation interactions in CESM-CAM6 that include the impacts of MOA INPs, and impacts of different model parameterizations (CLUBB versus UW turbulence & shallow convection schemes, MG2 versus MG1) on high-latitude mixed-phase cloud properties. Aerosol indirect effects of MOA through the liquid phase (droplet activation) and ice phase processes (e.g., the glaciation indirect effect) were investigated.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Developing and Testing a Novel Stochastic Ice Microphysics Parameterization for Cloud and Climate Models Using ARM Field Campaign Data (Final Progress Report)

The major goals of this project were: 1) to use field campaign measurements from DOE’s Atmospheric Radiation Measurement (ARM) program to characterize variability of important parameters describing properties of ice particles in the atmosphere; 2) based on this observational analysis, to develop a parameterization scheme for weather and climate models that stochastically varies these parameters, and implement the new scheme into a weather model called the Weather Research and Forecasting model (WRF); 3) to use WRF coupled with the new stochastic scheme to simulate ARM field campaign thunderstorm cases and analyze how accounting for this parameter variability affects the model simulations. This work was performed jointly between the National Center for Atmospheric Research, University of Oklahoma, and University of Utah. To accomplish these goals, we extended an approach previously developed to characterize the variability in the size distribution of ice particles to parameters that are explicitly represented in models (i.e., relationships between ice particle mass and size, and between particle fall velocity and size). Our project was, to our knowledge, the first to apply observationally-constrained estimates of this parameter variability describing mass-size and fall velocity-size in a modeling framework. Our results showed efficacy of the approach, evaluated using ARM observations. Similarly, to our knowledge, work in this project was the first to propose and evaluate in detail a stochastic approach for unresolved turbulent mixing in high-resolution model simulations against detailed, benchmark large eddy simulations and ARM observations. Results showed some promising behavior, particularly with increased mixing and dilution of air in thunderstorm cores with surrounding environmental air, bringing the stochastic simulations closer to the benchmark large eddy simulations; however, results were somewhat degraded using stochastic mixing compared to observations from the AMIE/DYNAMO field campaign. This project also further refined and applied a modeling methodology called “piggybacking” that can robustly separate dynamical and thermodynamic impacts of model changes, and comparison studies of different models based on cases developed from ARM observations. Finally, this project directly supported three graduate students who completed their PhDs as well as a postdoctoral research fellow.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Perspectives on Next Steps in Arms Control and Non-Proliferation

Much has happened in arms control over the last year as this chapter has been in development. The prospects for arms control as a viable national security tool have, if anything, grown darker. Russia has falsely equated tearing down the remaining arms control edifice with creating potential leverage vis-à-vis its actions in Ukraine. China has failed to update its talking points on being a responsible arms control actor with its massive nuclear force expansion. The United States has stated clearly that it is open for business on arms control and risk reduction, but it unfortunately has no customers in Russia and China. It remains unclear what specifically the United States is selling in terms of what it wants in a potential agreement. Competitive dynamics and an atmosphere of great power competition are driving all parties further away from the table.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

DOE OSTI2024

NSA Site Science: Use of ARM Observations from Northern Alaska to Evaluate and Improve Prediction Capabilities

The Arctic is warming at a rate nearly double that of the rest of the planet, leading to profound changes in atmospheric, oceanic, and ice processes. The U.S. Department of Energy's (DOE) Atmospheric Radiation Measurement (ARM) user facility has played a significant role in Arctic research, operating observatories in Alaska's North Slope for over 25 years. These observatories provide a rich, and wide-reaching dataset that offers insight into atmospheric processes in northern Alaska. This report details the results of a nine-year research project (2015–2024) supported by the DOE Atmospheric Systems Research (ASR) program, that leverages data from ARM’s deployment of observing facilities at Utqiaġvik (known as the North Slope of Alaska, or NSA, site) and Oliktok Point, Alaska. The project was conducted in two phases: - Phase 1 (2015–2019): Focused on understanding key atmospheric processes at Oliktok Point, including cloud formation, high-latitude precipitation, aerosol-cloud interactions, and cloud properties. - Phase 2 (2019–2024): Extended the research to the broader North Slope region, using data from both Oliktok Point and Utqiaġvik. Topics explored included surface energy budgets, atmospheric stability, ice nucleation processes, and microphysics in Arctic clouds. The project resulted in numerous research products, including 50 peer-reviewed publications and dissertations, 169 presentations, and 10 data products. These products cover a variety of topics, including: - Cloud Macro- and Microphysical Properties: Arctic clouds play a crucial role in energy transfer, and accurate representation in models is critical. The study explored cloud transitions, ice crystal shapes, and dual-wavelength radar data to understand ice crystal habits and size distributions. - Aerosol Properties and Processes: The team examined aerosol sources in the Arctic, including industrial emissions and natural sources. Observations showed significant spatial gradients in aerosol concentrations due to human activities and wildfire smoke. The influence of aerosols on cloud formation and the surface energy budget was also assessed. - Aerosol-Cloud Interactions: Research revealed that aerosols might suppress cloud ice production, affecting cloud radiative forcing and precipitation. The impact of local industrial emissions on cloud properties was also investigated. - Contextualizing the North Slope of Alaska in the context of the broader Arctic: To understand broader trends, the project evaluated large-scale circulation patterns and the influence of weather systems on the Arctic. Studies indicated that large-scale processes play a significant role in temperature patterns and the timing of snowmelt. - Advancing ARM Observational and Modeling Capabilities: The project developed new radar data products and advanced measurement techniques, including clutter mitigation and drizzle detection. Uncrewed aerial systems (UAS) and tethered balloon systems (TBS) were deployed to gather detailed atmospheric data. Additionally, the project supported 10 early career scientists, providing training and mentorship to undergraduate interns, graduate students, postdoctoral researchers, and early career researchers. These efforts contributed to the advancement of ARM research capabilities and fostered a new generation of scientists skilled in Arctic atmospheric research. Ultimately, this ASR-supported project has provided valuable insights into Arctic atmospheric processes and their broader climate implications. Recommendations for future work include continuing support for long-term observing at Arctic locations to foster additional research, further exploration of aerosol-cloud interactions and the potential impacts of enhanced industrialization of the Arctic, and expanded use of uncrewed systems to gather data in this remote and harsh environment. Additionally, the data products developed by this work, and the data products developed through the ARM infrastructure, leave a treasure-trove of additional information that should be explored for many years to come to gain additional insight into physical processes in the Arctic atmosphere that drive the rapid changes occurring in at high latitudes and their global impact.

58 GEOSCIENCES↗

DOE OSTI2022

North Slope Alaska and Tethered Balloon Systems: ARM Facilities Monthly Status Update

In support of the DOE Office of Science, Sandia National Labs is one of nine national laboratories which oversees the Atmospheric Radiation Measurement (ARM) Program. The Sandia ARM team has an obligation to fulfill its mission to provide the nation with data to improve the understanding of climate processes and the representation of those processes in climate models. Sandia’s ARM team’s ability to provide detailed and accurate descriptions of the Earth’s atmosphere in diverse climate regimes assists the DOE in development of sustainable solutions to the nation’s energy and environmental challenges. Sandia Labs manages ARM atmospheric facilities along the North Slope of Alaska (NSA) at Utqiagvik as well as the Tethered Balloon System (TBS). Activities conducted at NSA and with the TBS aide in data collection for the ARM data archive. An overview of these activities for the month of December follows.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2026

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The four trajectory data sets support aerosol, cloud, and planetary boundary-layer research. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

ARM Cloud and Precipitation Measurements and Science Group (CPMSG) 2024 Workshop Report

The mission of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility is to improve the understanding and representation of cloud and aerosol processes and their interaction with the Earth's surface in Earth system models (ESMs) by providing comprehensive field observations and supporting advanced data analytics. The ARM Cloud and Precipitation Measurements and Science Group (CPMSG) was chartered in March 2019 to help improve the performance and scientific impact of ARM measurements of clouds and precipitation. The group aims to identify and address gaps in measurement capabilities, maximize the scientific impact of ARM data, and effectively serve the scientific community. To achieve these goals, the group includes experts in cloud and precipitation science, as well as representatives from ARM infrastructure, including instrument mentors, engineers, data quality officers, and data product translators. Prior to CPMSG, early discussions on cloud and precipitation measurements primarily focused on improving radar systems, but have since evolved to include a broader scope involving radiometers and other instruments. Since its formation, the CPMSG has gathered feedback using science traceability matrices. CPMSG aims to keep these as living documents to show the measurement needs, scientific drivers, roadblocks, maturity of measurements and retrievals, and pathways to model improvements. The group meets quarterly to discuss and prioritize measurement and operational improvements.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

ARM Cloud and Precipitation Measurements and Science Group (CPMSG) 2024 Workshop Report

The mission of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility is to improve the understanding and representation of cloud and aerosol processes and their interaction with the Earth's surface in Earth system models (ESMs) by providing comprehensive field observations and supporting advanced data analytics. The ARM Cloud and Precipitation Measurements and Science Group (CPMSG) was chartered in March 2019 to help improve the performance and scientific impact of ARM measurements of clouds and precipitation. The group aims to identify and address gaps in measurement capabilities, maximize the scientific impact of ARM data, and effectively serve the scientific community. To achieve these goals, the group includes experts in cloud and precipitation science, as well as representatives from ARM infrastructure, including instrument mentors, engineers, data quality officers, and data product translators. Prior to CPMSG, early discussions on cloud and precipitation measurements primarily focused on improving radar systems, but have since evolved to include a broader scope involving radiometers and other instruments. Since its formation, the CPMSG has gathered feedback using science traceability matrices. CPMSG aims to keep these as living documents to show the measurement needs, scientific drivers, roadblocks, maturity of measurements and retrievals, and pathways to model improvements. The group meets quarterly to discuss and prioritize measurement and operational improvements.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2026

ARM Aerosol Measurement Science Group 2024 Strategic Planning Workshop Report

This report summarizes the results of the 2024 Strategic Planning Workshop conducted by the Aerosol Measurement Science Group (AMSG) for the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) User Facility. The objective of this workshop was to provide ARM facility guidance through specific recommendations relating to aerosol science for a period of five years. The AMSG primary focus of this workshop was to help advance strategic external partnership engagement for ARM’s aerosol measurement program. The workshop was held July 9-10, 2024 at the University of Utah. This was the third such workshop since the AMSG was chartered in 2015 to enhance coordination of ARM observations of aerosols and atmospheric trace gases with the needs of ARM users.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

ARM Cloud and Precipitation Measurements and Science Group (CPMSG) 2024 Workshop Report

The mission of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility is to improve the understanding and representation of cloud and aerosol processes and their interaction with the Earth's surface in Earth system models (ESMs) by providing comprehensive field observations and supporting advanced data analytics. The ARM Cloud and Precipitation Measurements and Science Group (CPMSG) was chartered in March 2019 to help improve the performance and scientific impact of ARM measurements of clouds and precipitation. The group aims to identify and address gaps in measurement capabilities, maximize the scientific impact of ARM data, and effectively serve the scientific community. To achieve these goals, the group includes experts in cloud and precipitation science, as well as representatives from ARM infrastructure, including instrument mentors, engineers, data quality officers, and data product translators. Prior to CPMSG, early discussions on cloud and precipitation measurements primarily focused on improving radar systems, but have since evolved to include a broader scope involving radiometers and other instruments. Since its formation, the CPMSG has gathered feedback using science traceability matrices. CPMSG aims to keep these as living documents to show the measurement needs, scientific drivers, roadblocks, maturity of measurements and retrievals, and pathways to model improvements. The group meets quarterly to discuss and prioritize measurement and operational improvements.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

ARM FY2025 Radar Plan

The U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility is dedicated to delivering high-quality radar data that significantly advance our understanding of cloud and precipitation processes, improving climate models. With radars operating across diverse frequencies, scanning modes, and global climate conditions, extensive staffing is essential for effective management. Due to current staffing constraints, achieving the expected level of operational excellence requires a more strategic approach. To address this challenge, ARM has developed an operational radar plan for the upcoming Fiscal Year 2025 (FY25) based on budget and staffing considerations. This report summarizes the Fiscal Year 2024 (FY24) ARM radar-related activities and outlines the strategic plan for FY25. It presents a comprehensive radar plan that includes detailed activities, priorities, and a projected timeline aligned with the ARM radar roadmap. Key tasks, detailed in Table 1, cover various radar operational stages and coordinated efforts among ARM teams.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1974

Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and control

The interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion.

Book, W. J.↗