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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 1,081 records · Page 60
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

A Novel Voltage Balancing Control With dv/dt Reduction for 10-kV SiC MOSFET-Based Medium Voltage Modular Multilevel Converter

Using high voltage (HV) silicon carbide (SiC) power semiconductors in a modular multilevel converter (MMC) is promising because it results in fewer submodules and lower switching loss compared to conventional Si based solutions. The nearest level pulsewidth modulation (NL-PWM) is commonly used in the MMC for medium voltage applications. However, with the NL-PWM and existing voltage balancing control, there are many submodules that switch their modes in a control cycle, resulting in a high dv/dt during the deadtime of the power semiconductor, which could be multiple times of the dv/dt of the single device. This poses great challenges on the noise immunity and insulation design in the MMC using HV SiC devices, which have very fast switching speed. A novel voltage balancing control, which ensures only two submodules switch their modes in a control cycle, is proposed in this article, limiting the maximum dv/dt to the dv/dt of a single power semiconductor and also maintaining the voltage balance performance. Furthermore, the proposed voltage balancing control is experimentally validated in a 10-kV SiC mosfet based MMC with four submodules per arm.

42 ENGINEERING↗
NASA NTRS1977

Proto-Flight Manipulator Arm (P-FMA)

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Britton, W. R.↗
NASA NTRS1987

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Cetinkunt, Sabri↗
NASA NTRSDate not supplied

A Compact Dual-Band Bowtie Antenna for RF and ISM bands Operation

Traditionally, bowtie antennas have been known to exhibit wide impedance characteristics, omnidirectional radiation patterns, and linear polarization. There is a broad range of applications from medical imaging, archaeological survey, and Ground Penetrating Radar (GPR) to trackers and sensor networks where wideband bowtie antenna designs are required for their operations. Broadening the bandwidth of bowtie antenna requires widening the flare angle of the bowtie arms, which consequently results in a large surface area that may not be suitable for space-constrained applications. Moreover, drawback attributes of the wideband bowtie designs feature inconsistent radiation pattern across the bandwidth and low signal-to-noise (SNR) ratios. As it is known, the SNR would be improved in dual- or multi-band antennas due to their reduced bandwidth. To this end, dual-band/multi-band antennas are preferred over wideband antennas in applications where more than a single frequency of interest is present. Previously, a two-port double-dipole elements was reported, whose arms were orthogonally interleaved to facilitate operation in both the standard WLAN frequency bands (J. M. Steyn and et. al, Progress in Electromagnetic Research, Vol. – 10 pp. 151-161). Even though the antenna is not very compact it does exhibit good cross-polarization, moderate gain in both frequency bands. Another dual-band bowtie antenna which excites two bands using a single transmission line was reported (Wen Chao Zheng and et. al, IEEE Trans. Antennas propag., 2014). The design was compact and did not need multi-port feeding network. In this paper, a dual-band compact bowtie antenna operating at 900 MHz (RF band) and 2.45 GHz (ISM band) using a single excitation port is introduced. It is printed on a 1.54mm thick dielectric substrate (εr = 3.38). The antenna consists of two sets of bowtie arms, a microstrip transmission line to feed the bowtie arms, and a ground plane acting as a reflector to partially reduce the back radiation. One of the bowtie arms of each frequency is printed on the top layer and the other arm, which is mirror imaged, is printed on the bottom layer of the substrate. The length of the bowtie controls the resonance frequency of the antenna and the flare angle controls the bandwidth of the antenna. The microstrip transmission line, connected to a 50 Ω SMA probe, feeds the bowtie antenna. The compact antenna can be used for both RF and ISM band applications. The bowtie arms at the lower frequency band are miniaturized by elongating their electrical lengths. The influence of miniaturizing the bowtie arms and the supporting partial ground plane is observed in the reduced peak gain and degraded front-to-back ratio. These are partly neutralized using four quarter-wave choke-slots in the ground plane with two on each side of the feeding transmission line. The proposed antenna is numerically investigated and finalized by the finite-element based full-wave EM solver, ANSYS HFSS. The miniaturization has reduced the ground plane size by ~45% and the arms size by ~41%. In addition to the size reduction benefits, the antenna shows reasonable peak gain and front-to-back ratio in both the bands. The corresponding results will be presented and discussed at the conference.

Saininad Naik↗
DOE OSTI2017

Using shape to turn off blinking for two-colour multiexciton emission in CdSe/CdS tetrapods

Here, semiconductor nanostructures capable of emitting from two excited states and thereby of producing two photoluminescence colours are of fundamental and potential technological significance. In this limited class of nanocrystals, CdSe/CdS core/arm tetrapods exhibit the unusual trait of two-colour (red and green) multiexcitonic emission, with green emission from the CdS arms emerging only at high excitation fluences. Here we show that by synthetic shape-tuning, both this multi-colour emission process, and blinking and photobleaching behaviours of single tetrapods can be controlled. Specifically, we find that the properties of dual emission and single-nanostructure photostability depend on different structural parameters—arm length and arm diameter, respectively—but that both properties can be realized in the same nanostructure. Furthermore, based on results of correlated photoluminescence and transient absorption measurements, we conclude that hole-trap filling in the arms and partial state-filling in the core are necessary preconditions for the observation of multiexciton multi-colour emission.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1992

A comparison of force control algorithms for robots in contact with flexible environments

In order to perform useful tasks, the robot end-effector must come into contact with its environment. For such tasks, force feedback is frequently used to control the interaction forces. Control of these forces is complicated by the fact that the flexibility of the environment affects the stability of the force control algorithm. Because of the wide variety of different materials present in everyday environments, it is necessary to gain an understanding of how environmental flexibility affects the stability of force control algorithms. This report presents the theory and experimental results of two force control algorithms: Position Accommodation Control and Direct Force Servoing. The implementation of each of these algorithms on a two-arm robotic test bed located in the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) is discussed in detail. The behavior of each algorithm when contacting materials of different flexibility is experimentally determined. In addition, several robustness improvements to the Direct Force Servoing algorithm are suggested and experimentally verified. Finally, a qualitative comparison of the force control algorithms is provided, along with a description of a general tuning process for each control method.

Wilfinger, Lee S.↗
NASA NTRS2022

Electrical Ground Support Equipment for the Sampling Caching System of the Mars 2020 Rover

In this work we describe in detail the architecture, design, testing and operation of the Electrical Ground Support Equipment (EGSE) “Blue Box” used to test and validate the Sampling Caching System (SCS) of the Mars 2020 Perseverance rover. The Blue Box architecture is centered around COTS motor controllers and COTS input-output modules communicating over an EtherCAT bus. A custom, low-level safety subsystem ensures no harm can be done to the flight articles. The modular architecture of the EGSE reduces cost and complexity while expediting assembly time. The Blue Box drives the 19 actuators of the SCS which span the main robotic arm, the corer system, the internal sample handling arm, the sample tube sealing system and the gas dust removal tool; mimicking the Rover Motor Control Assembly (RMCA). Due to the limited availability of RMCA’s, the EGSE enabled and performed the bulk of testing activities for SCS. The majority of the SCS actuators are composed of a 3-phase DC brushless motors, hall sensors for commutation, dual resolvers for output angular measurement, brakes, heaters and platinum thermistors. Additionally, the EGSE read 12 strain gauges forming part of a force torque sensor, and switches used for external positioning references. Over the 3-year span of the V&V campaign for the SCS, over 32 EGSE systems were built, tested and deployed to test venues at JPL and externally. The EGSE tested several families of the SCS subsystem, ranging from engineering units, life test units and two flight units. Test venues that this EGSE supported included lab benches, ultra-clean cleanrooms, ATLO facilities, and thermal vacuum chambers. Together with the test software systems, SSDEV and SSDEV-ECAT, the Blue Box EGSE enabled the team to efficiently test flight hardware and flight software together. We go over the safety features and fault management techniques employed to protect flight hardware. The effects of the long, 50-feet, EGSE harnesses on motor performance, EMI, electrical noise, and motor control performance are explained. Mitigations to these unwanted effects, including shielding strategy and inductance compensation, are summarized. We go over an excerpt of notable anomalies that this EGSE suffered through its operation, along with investigations and resolutions. Lessons learned, areas of improvement as part of future work, and recommendations for future implementations for similar EGSE’s, are shared.

Levine, Dan↗
NASA NTRS1988

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, G.↗
NASA NTRS1989

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, Guillermo↗
NASA NTRS1988

The robust application of computed torque control to manipulators subject to saturation

A technique is presented which allows use of an exact linearization (EL) control for robot manipulators for those cases when actuator saturation cannot be ignored. A modification of a nonlinear dynamic compensation technique that has been successfully used in the feedback amplifiers is applied to a case of a nonredundant manipulator. Computer simulation for a two-link planar robot arm illustrates the advantages of the modified computed torque technique compared to the traditional linear full state control.

Lokshin, Anatole↗
NASA NTRS1980

Phase-angle controller for Stirling engines

An actuator includes a restraint link adapted to be connected with a pivotal carrier arm for a force transfer gear interposed between the crankshaft for an expander portion of a Stirling engine and a crankshaft for the displacer portion of the engine. The restraint link is releasably trapped hydraulic fluid for selectively establishing a phase angle relationship between the crankshaft. A second embodiment incorporates a hydraulic coupler for use in varying the phase angle of gear-coupled crank fpr a Stirling engine whereby phase angle changes are obtainable.

Mcdougal, A. R.↗
DOE OSTI2024

Conceptual Design of Neutron Sensor Qualification Device

The Advanced Sensors and Instrumentation Program at Idaho National Laboratory has been formulating strategies to qualify sensors for use in nuclear environments, particularly in irradiation experiments and advanced reactors. When qualifying neutron sensors for use in high-temperature environments, the wide range of neutron flux levels and representative energy spectra presents significant challenges. This paper discusses the development of the Neutron Sensor Qualification Device (NQD), which is designed to test neutron sensors in high temperature controlled environments with known neutron spectra, addressing the spatial and spectral complexities of neutron fluxes in reactor cores. The proposed NQD will be situated in the exposure room at the Armed Forces Radiobiology Research Institute, thus affording a unique capability to expose sensors to high neutron and gamma fluxes. To achieve thermal control, the device will utilize a radiation-hardened tube furnace, accommodating multiple sensors and neutron activation dosimetry wires. Titanium, iron, and cobalt dosimeter wires are chosen from the American Society for Testing and Materials and International Reactor Dosimetry and Fusion File libraries as references for providing energy-dependent fluence measurements. The design ensures precise sensor positioning to minimize mutual shielding and flux perturbation, which are evaluated via Monte Carlo N particle Transport Code (MCNP) simulations. These simulations have informed the development of guidelines on sensor placement within the NQD. The NQD is essential to the qualification of neutron sensors for advanced reactor technologies. It enables controlled testing of a statistically significant number of sensors, thereby supporting assessments of sensor performance across various neutron flux levels and temperatures. This paper highlights the detailed planning for the NQD prototype, along with its inaugural irradiation (scheduled for fiscal year [FY] 2025). The results from this initial testing will be fundamental in evaluating the device’s performance and establishing measurement uncertainty for in-pile neutron sensor measurements.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1990

Some aspects of robotics calibration, design and control

The main objective is to introduce techniques in the areas of testing and calibration, design, and control of robotic systems. A statistical technique is described that analyzes a robot's performance and provides quantitative three-dimensional evaluation of its repeatability, accuracy, and linearity. Based on this analysis, a corrective action should be taken to compensate for any existing errors and enhance the robot's overall accuracy and performance. A comparison between robotics simulation software packages that were commercially available (SILMA, IGRIP) and that of Kennedy Space Center (ROBSIM) is also included. These computer codes simulate the kinematics and dynamics patterns of various robot arm geometries to help the design engineer in sizing and building the robot manipulator and control system. A brief discussion on an adaptive control algorithm is provided.

Tawfik, Hazem↗
DOE OSTI2023

Stereo Camera Deployment in Support of TRACER (Field Campaign Report)

An improved understanding of the salient environmental controls on cloud formation, evolution, and eventual dissipation is critical to address ongoing challenges with cloud process and parameterization representations in global climate and Earth system models. One goal for the recent U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s Tracking Aerosol Convection Interactions Experiment (TRACER) campaign was to collect a comprehensive data set that enabled such convective cloud process studies and key demonstrations for those controls that influenced cloud life cycle (i.e., aerosols, thermodynamics) in the Houston, Texas region. To help accomplish this, ARM instrumentation during TRACER was tasked with tracking a large number of individual, isolated convective cells – and to follow the evolution of these cells at high spatiotemporal resolution to characterize changes in cloud dynamic and microphysical properties. Since Houston experiences a range of convective clouds, it was known that the standard ARM Mobile Facility (AMF) instruments may not be sufficient to completely document initiating, transient, or dissipating low- or shallow-cloud behaviors that were also expected during this campaign (in terms of sensitivity, resolution, and/or operational availability). As one partial solution, a supplemental stereo camera deployment (this sub-campaign) was requested to augment the ARM AMF instrumentation to better address shallow and shallow-to-deep transitional types of cloud process drivers during TRACER (ARM stereo cameras for clouds [STEREOCAM]; Romps and Öktem 2018). The primary scientific focus was the relationships between cloud properties and the ambient conditions, which points to several key TRACER science questions including: ‘What is the relationship between cloud size or updraft intensity to the environmental wind shear and/or humidity?’ Overall, the ARM TRACER stereo camera deployment demonstrated unique effectiveness in observing a wide range of critical shallow, congestus, and transitioning or time-evolving cloud characteristics. The data sets from these cameras include information on the clouds' horizontal dimensions, elevations, and depths, while also enabling potential products for cloud initiation and dissipation rates, and vertical velocities. Stereo cameras simultaneously inform on cloud life cycle stage and spatial properties such as cloud fractional coverage, which should provide complementary information for ARM users when combined with TRACER cloud radars, lidar, and/or other profiling sensors. Moreover, camera products offer large-eddy simulation (LES),-scale-appropriate cloud coverage, depth, and spatial variability estimates, while opening additional avenues to challenge difficult process questions on cloud updrafts/entrainment and their covariability with environmental controls such as wind shear and humidity.

47 OTHER INSTRUMENTATION↗
DOE OSTI2015

Development of intelligent instruments with embedded HTTP servers for control and data acquisition in a cryogenic setup—The hardware, firmware, and software implementation

The power of Ethernet for control and automation technology is being largely understood by the automation industry in recent times. Ethernet with HTTP (Hypertext Transfer Protocol) is one of the most widely accepted communication standards today. Ethernet is best known for being able to control through internet from anywhere in the globe. The Ethernet interface with built-in on-chip embedded servers ensures global connections for crate-less model of control and data acquisition systems which have several advantages over traditional crate-based control architectures for slow applications. This architecture will completely eliminate the use of any extra PLC (Programmable Logic Controller) or similar control hardware in any automation network as the control functions are firmware coded inside intelligent meters itself. Here, we describe the indigenously built project of a cryogenic control system built for linear accelerator at Inter University Accelerator Centre, known as “CADS,” which stands for “Complete Automation of Distribution System.” CADS deals with complete hardware, firmware, and software implementation of the automated linac cryogenic distribution system using many Ethernet based embedded cryogenic instruments developed in-house. Each instrument works as an intelligent meter called device-server which has the control functions and control loops built inside the firmware itself. Dedicated meters with built-in servers were designed out of ARM (Acorn RISC (Reduced Instruction Set Computer) Machine) and ATMEL processors and COTS (Commercially Off-the-Shelf) SMD (Surface Mount Devices) components, with analog sensor front-end and a digital back-end web server implementing remote procedure call over HTTP for digital control and readout functions. At present, 24 instruments which run 58 embedded servers inside, each specific to a particular type of sensor-actuator combination for closed loop operations, are now deployed and distributed across control LAN (Local Area Network). A group of six categories of such instruments have been identified for all cryogenic applications required for linac operation which were designed to build this medium-scale cryogenic automation setup. These devices have special features like remote rebooters, daughter boards for PIDs (Proportional Integral Derivative), etc., to operate them remotely in radiation areas and also have emergency switches by which each device can be taken to emergency mode temporarily. Finally, all the data are monitored, logged, controlled, and analyzed online at a central control room which has a user-friendly control interface developed using LabVIEW{sup ®}. This paper discusses the overall hardware, firmware, software design, and implementation for the cryogenics setup.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Two-Dimensional Video Disdrometer (VDIS) Instrument Handbook

In order to improve the quantitative description of precipitation processes in climate models, the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility has been collecting observations of the drop size spectra of rain events since early in 2006 with impact disdrometers. While ARM is primarily interested in their contribution to the understanding of precipitation processes, disdrometers can also be used for traffic control, airport observation systems, and hydrology. The latest disdrometers employ microwave or laser technologies. Two-dimensional (2D) video disdrometers (VDIS) make the most detailed and complete observations of hydrometeor shape and fall velocity. Four of ARM’s five video disdrometers are deployed; the last is a spare. This handbook provides a detailed description of the instruments and their datastreams.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2019

The QCECOR Value-Added Product: Quality-Controlled Eddy Correlation Flux Measurements

Eddy correlation flux (ECOR) measurement system stations are used by the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility to provide surface turbulence flux measurements. In recent years, ARM has significantly enhanced its ECOR systems and made them available at all its primary research observatories and mobile facilities. However, the original ECOR data were not corrected through common eddy correlation corrections and still contain suspicious data due to instrument and measurement uncertainties. Such uncertainties in the ECOR surface turbulence fluxes hampered their uses by the user community. To improve the ECOR data, we develop a value-added product (VAP) —the Quality-Controlled Eddy Correlation Flux (QCECOR) — by applying the following necessary corrections and quality control (QC) procedures: Eddy correlation corrections. Determination of the quality-controlled energy fluxes from the corrected ECOR fluxes. Stringent QC checks. Flagging possible incorrect fluxes due to hydrometeor impacts using the collocated surface energy balance system (SEBS) wetness measurements. The QCECOR VAP currently contains two variables: surface latent heat flux (LH) and sensible heat flux (SH), together with their QC flags. When SEBS are collocated with ECOR, the wetness measurements from SEBS are used to flag the LH that may be incorrect due to hydrometeors such as precipitation, dew, or frost. An indeterminate flag is given to those that fail the wetness test. The QCECOR data are currently available at the Southern Great Plains (SGP) atmospheric observatory for the ARM extended facilities of E1, E3, E5, E6, E10, E14, E16, E21, E24, E31, E33, E37, E38, E39, and E41 updated to 2018. The data are also available at the following AMF sites: PYE (Point Reyes, 2005), NIM (Niamey, Niger, 2006), FKB (Black Forest, Germany, 2007), HFE (Shouxian, China, 2008), GRW (Azores, 2009 to 2010), and MAO (Manacapuru, Brazil, 2014-2015). The algorithm is now in the process of moving to production mode. After that, QCECOR will run automatically for all available ARM sites.

47 OTHER INSTRUMENTATION↗
DOE OSTI2015

Long-term Results of the UCSF-LBNL Randomized Trial: Charged Particle With Helium Ion Versus Iodine-125 Plaque Therapy for Choroidal and Ciliary Body Melanoma

Purpose: Relevant clinical data are needed given the increasing national interest in charged particle radiation therapy (CPT) programs. Here we report long-term outcomes from the only randomized, stratified trial comparing CPT with iodine-125 plaque therapy for choroidal and ciliary body melanoma. Methods and Materials: From 1985 to 1991, 184 patients met eligibility criteria and were randomized to receive particle (86 patients) or plaque therapy (98 patients). Patients were stratified by tumor diameter, thickness, distance to disc/fovea, anterior extension, and visual acuity. Tumors close to the optic disc were included. Local tumor control, as well as eye preservation, metastases due to melanoma, and survival were evaluated. Results: Median follow-up times for particle and plaque arm patients were 14.6 years and 12.3 years, respectively (P=.22), and for those alive at last follow-up, 18.5 and 16.5 years, respectively (P=.81). Local control (LC) for particle versus plaque treatment was 100% versus 84% at 5 years, and 98% versus 79% at 12 years, respectively (log rank: P=.0006). If patients with tumors close to the disc (<2 mm) were excluded, CPT still resulted in significantly improved LC: 100% versus 90% at 5 years and 98% versus 86% at 12 years, respectively (log rank: P=.048). Enucleation rate was lower after CPT: 11% versus 22% at 5 years and 17% versus 37% at 12 years, respectively (log rank: P=.01). Using Cox regression model, likelihood ratio test, treatment was the most important predictor of LC (P=.0002) and eye preservation (P=.01). CPT was a significant predictor of prolonged disease-free survival (log rank: P=.001). Conclusions: Particle therapy resulted in significantly improved local control, eye preservation, and disease-free survival as confirmed by long-term outcomes from the only randomized study available to date comparing radiation modalities in choroidal and ciliary body melanoma.

62 RADIOLOGY AND NUCLEAR MEDICINE↗