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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

History of and Aftermath from the Withdrawal of the Intermediate-Range Nuclear Forces Treaty

On February 1, 2019, the United States and Russia withdrew from the three-decades old Intermediate-Range Nuclear Forces (INF) treaty. Events precipitating the withdrawal were allegations by both the United States and Russia of a variety of treaty violations. Until that point, the treaty had been a centerpiece of arms control and a key agreement of the global security architecture. The absence of such a pillar has the potential destabilize the status quo of arms control, creating significant uncertainty in global nuclear stability and security. In this paper, we present a historical review as overture to an analysis on the impacts of this development on force structure. This analysis examines the changes in U.S., Russian, and Chinese nuclear forces which may occur as a result of the treaty's demise. The article concludes with commentary on potential actions to preserve stability in a post-INF world.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS2011

Robotic-Movement Payload Lifter and Manipulator

A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Doggett, William R.↗
NASA NTRS2012

Detachment of Tertiary Dendrite Arms during Controlled Directional Solidification in Aluminum - 7 wt Percent Silicon Alloys: Observations from Ground-based and Microgravity Processed Samples

Electron Back Scattered Diffraction results from cross-sections of directionally solidified aluminum 7wt% silicon alloys unexpectedly revealed tertiary dendrite arms that were detached and mis-oriented from their parent arm. More surprisingly, the same phenomenon was observed in a sample similarly processed in the quiescent microgravity environment aboard the International Space Station (ISS) in support of the joint US-European MICAST investigation. The work presented here includes a brief introduction to MICAST and the directional solidification facilities, and their capabilities, available aboard the ISS. Results from the ground-based and microgravity processed samples are compared and possible mechanisms for the observed tertiary arm detachment are suggested.

Grugel, Richard N.↗
DOE OSTI2021

Defending Weapons Inspections from the Effects of Disinformation

The intentional spread of disinformation is not a new challenge for the scientific world. We have seen it perpetuate the idea of a flat earth, convince communities that vaccines are more dangerous than helpful, and even suggest a connection between the “5G” communication infrastructure and COVID-19. Nor is disinformation a new phenomenon in the weapons inspection arena. Weapons inspectors themselves are often forced to sift through alternative narratives of events and inconsistent reporting, and they regularly see their credibility and conclusions questioned in the face of government politics or public biases. But certain recent disinformation campaigns have become so overwhelmingly comprehensive and effective that they constitute a new kind of threat. By preventing accountability for clear violations of international law, these campaigns have created a challenge to the survival of arms control treaties themselves. If weapons inspectors cannot regain the trust of the international community in the face of this challenge, it will be increasingly difficult to ensure compliance with arms control and disarmament treaties going forward. In this essay, I will briefly discuss one of the most comprehensive disinformation efforts of the past decade: the disinformation campaign used to prevent accountability for Syria's repeated use of chemical weapons. After this discussion, I will propose one possible approach to help protect the credibility of disarmament experts and weapons inspectors in the face of pervasive disinformation. This approach will require a concerted effort to connect and support compliance experts and to understand and explain their expertise across cultural, political, national, economic, and religious divides.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS1993

Gravitoinertial force level influences arm movement control

1. The ability to move the forearm between remembered elbow joint angles immediately after rapid increases or decreases of the background gravitoinertial force (G) level was measured. The movements had been well-practiced in a normal 1G environment before the measurements in high-(1.8G) and low-force (0G) environments. The forearm and upper arm were always unsupported to maximize the influence of altered G-loading and to minimize extraneous cues about arm position. 2. Horizontal and vertical movement planes were studied to measure the effects of varying the G load in the movement plane within a given G background. Rapid and slow movements were studied to assess the role of proprioceptive feedback. 3. G level did not affect the amplitude of rapid movements, indicating that subjects were able to plan and to generate appropriate motor commands for the new G loading of the arm. The amplitude of slow movements was affected by G level, indicating that proprioceptive feedback is influenced by G level. 4. The effects of G level were similar for horizontal and vertical movements, indicating that proprioceptive information from supporting structures, such as the shoulder joint and muscles, had a role in allowing generation of the appropriate motor commands. 5. The incidence and size of dynamic overshoots were greater in 0G and for rapid movements. This G-related change in damping suggests a decrease in muscle spindle activity in 0G. A decrease in muscle spindle activity in 0G and an increase in 1.8G are consistent with the results of our prior studies on the tonic vibration reflex, locomotion, and perception of head movement trajectory in varying force backgrounds.

NASA Program Space Physiology and Countermeasures↗
DOE OSTI2022

Adapting to a Changing World: Managing the Promise and Peril of Emerging Technologies and the Nuclear Nexus

This paper is focused on emerging technologies in three areas: outer space, cyberspace, and artificial intelligence. Technologies in each of these areas share a number of characteristics that make them a challenge for legally-binding approaches to arms control. For example, they each have significant definitional challenges. They are also dual use and within the reach of non-state actors. Verifying compliance with any legally-binding agreements in these areas poses significant challenges, at least at this time. Moreover, the rapid pace of technological change also contributes to the difficulty of crafting legally-binding arms control measures. The United States has generally championed a more normative approach to the governance of emerging technologies—the idea being that international agreement on norms serves as the basis for collective action to respond to activities that deviate from those norms.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
DOE OSTI2020

Feasibility study of a compact neutron resonance transmission analysis instrument

Neutron Resonance Transmission Analysis (NRTA) uses resonant absorption of neutrons to infer the absolute isotopic composition of a target object, enabling applications in a broad range of fields such as archaeology, enrichment analysis of nuclear fuel, and arms control treaty verification. In the past, NRTA involved large user facilities and complex detector systems. However, recent advances in the intensity of compact neutron sources have made compact neutron imaging designs increasingly feasible. This work describes the Monte Carlo (MC) based design of a compact epithermal NRTA radiographic instrument which uses a moderated, compact deuterium-tritium (DT) neutron source and an epithermal neutron detector. Such an instrument would have a wide range of applications, and would be especially impactful for such scenarios as nuclear inspection and arms control verification exercises, where system complexity and mobility may be of critical importance. The MC simulations presented in this work demonstrate accurate time-of-flight (TOF) reconstructions for transmitted neutron energies, capable of differentiating isotopic compositions of nuclear material with high levels of accuracy. A new generation of miniaturized and increasingly more intense neutron sources will allow this technique to achieve measurements with greater precision and speed, with significant impact on a variety of engineering and societal problems.

47 OTHER INSTRUMENTATION↗
NASA NTRS1989

Dual arm coordination and control

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface allows for control gain adjustments. The results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object are offered. The system is further developed to achieve a so-called shared control mode in which an operator specifies the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.

Hayati, Samad↗
DOE OSTI2019

A physically cryptographic warhead verification system using neutron induced nuclear resonances

Arms control treaties are necessary to reduce the large stockpiles of the nuclear weapons that constitute one of the biggest dangers to the world. However, an impactful treaty hinges on effective inspection exercises to verify the participants’ compliance to the treaty terms. Such procedures would require verification of the authenticity of a warhead undergoing dismantlement. Previously proposed solutions lacked the combination of isotopic sensitivity and information security. Here we present the experimental feasibility proof of a technique that uses neutron induced nuclear resonances and is sensitive to the combination of isotopics and geometry. The information is physically encrypted to prevent the leakage of sensitive information. Our approach can significantly increase the trustworthiness of future arms control treaties while expanding their scope to include the verified dismantlement of nuclear warheads themselves.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2023

Connecting Nuclear Security to International Frameworks on Gender and Security

The international community is slowly beginning to recognize the intersections between the law and policy on international security – particularly arms control, non-proliferation, and disarmament – and the body of human rights law that addresses gender equality. Notably absent from this discussion is the field of nuclear security. Despite its historical underpinnings as an inherently domestic activity, nuclear security is thoroughly grounded in international treaty law. Yet, nuclear security is often overlooked in the international security context and has not been well situated with international instruments that address gender equality. We argue that gender equality in nuclear security should be understood as an important component of broader efforts to achieve equal opportunities for women in work and critical to ensuring women are included in conflict prevention efforts. Linking nuclear security to broader international efforts to increase gender equality in security and conflict prevention will provide a clearer structure and framework for gender equality initiatives in the nuclear security field. This is critically important given that estimates indicate that women comprise only twenty percent of the nuclear security workforce. Moreover, situating nuclear security in a broader international legal framework will simultaneously help states meet their gender equality commitments emanating from other instruments. This paper will first analyze the relationship between nuclear security and broader international security efforts, in particular arms control treaties and non-proliferation regimes. It will then survey the relevant international and regional frameworks for gender equality, particularly those that have applicability in the security context. This paper will next explore the relationship between nuclear security and these frameworks on gender. We find that some instruments provide support for gender equality initiatives in nuclear security because of their mandate to states to provide structural gender equality, and others are particularly relevant where they call for women's participation in conflict prevention. This paper concludes with recommendations to states that are concerned about the underrepresentation of women in nuclear security.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
NASA NTRS1985

Apparatus for adapting an end effector device remotely controlled manipulator arm

Apparatus for adapting a general purpose and effector device to a special purpose and effector is disclosed which includes an adapter bracket assembly which provides a mechanical and electrical interface between the end effector devices. The adapter bracket assembly includes an adapter connector post which interlocks with a diamond shaped gripping channel formed in closed jaws of the general purpose end effector. The angularly intersecting surfaces of the connector post and gripping channel prevent any relative movement there between. Containment webs constrain the outer finger plates of the general purpose jaws to prevent pitch motion. Electrical interface is provided by conical, self aligning electrical connector components carried by respective ones of said end effectors.

Clark, K. H.↗
NASA NTRS1989

Experimental validation of flexible robot arm modeling and control

Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Ulsoy, A. Galip↗
NASA NTRS2010

Robonaut 2 (R2) Overview

This slide presentation reviews the development and uses of the second robot designed to work in space. The presentation reviews the motivation for developing Robonaut, the cooperative commercial relationship with General Motors, the evolution design of Robonaut Robonaut 2 improvements over the first robonaut (R1), Robonaut 2's hand dexterity, finger impedance control, tactile system, finger haptics, arm control, strength, neck movement and head sensors, human interaction, and the controller. Also the plans for use on board the International Space Station are reviewed. The patent for the Phalange Tactile Load Cell is included.

Diftler, Myron↗
NASA NTRS1981

Simplified robot arm dynamics for control

A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to represent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

Bejczy, A. K.↗
NASA NTRS1993

Direct model reference adaptive control of robotic arms

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Kaufman, Howard↗
NASA NTRS1989

Adaptive Control For Cooperative Dual Robot Arms

Three strategies proposed for adaptive control of two cooperative robot arms. New dual-arm control strategies implemented at low level of control hierarchy. Each arm operated independently under single-arm control scheme treating forces and torques transmitted through load as though disturbances. Yields promising results in numerical simulations, and general approach extended to greater numbers of arms.

Seraji, Homayoun↗
NASA NTRS1978

Computer interface for mechanical arm

Man/machine interface commands computer-controlled mechanical arm. Remotely-controlled arm has six degrees of freedom and is controlled through "supervisory-control" mode, in which all motions of arm follow set of preprogramed sequences. For simplicity, few prescribed commands are required to accomplish entire operation. Applications include operating computer-controlled arm to handle radioactive of explosive materials or commanding arm to perform functions in hostile environments. Modified version using displays may be applied in medicine.

Derocher, W. L.↗