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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
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗
NASA NTRS1992

Analysis and experimental evaluation of a Stewart platform-based force/torque sensor

The kinematic analysis and experimentation of a force/torque sensor whose design is based on the mechanism of the Stewart Platform are discussed. Besides being used for measurement of forces/torques, the sensor also serves as a compliant platform which provides passive compliance during a robotic assembly task. It consists of two platforms, the upper compliant platform (UCP) and the lower compliant platform (LCP), coupled together through six spring-loaded pistons whose length variations are measured by six linear voltage differential transformers (LVDT) mounted along the pistons. Solutions to the forward and inverse kinematics of the force sensor are derived. Based on the known spring constant and the piston length changes, forces/torques applied to the LCP gripper are computed using vector algebra. Results of experiments conducted to evaluate the sensing capability of the force sensor are reported and discussed.

Nguyen, Charles C.↗
NASA NTRS1991

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Nguyen, Charles C.↗
DOE OSTI2025

Probing Exotic Cross-Shell Interactions at N = 28 with Single-Neutron Transfer on 47 K

Here, we present the first measurement of the 47 K ⁡(𝑑, 𝑝⁢𝛾)⁢ 48 K transfer reaction, performed in inverse kinematics using a reaccelerated beam of 47 K. The level scheme of 48 K has been greatly extended, with nine new bound excited states identified and spectroscopic factors deduced. Uniquely, the 47 K ⁡(𝑑, 𝑝) reaction gives access to nuclear states that are sensitive to the interaction of protons and neutrons in the widely spaced 1⁢𝑠 and 𝑓⁡𝑝 orbitals, respectively. Detailed comparisons with SDPF-U and SDPF-MU shell-model calculations reveal a number of discrepancies between theory and experiment. Intriguingly, a systematic overestimation of spectroscopic factors and a poor reproduction of the energies for 1 − states suggests that the mixing between the 𝜋⁢𝑠$^1_{1/2}$⁢𝑑$^4_{3/2}$ and 𝜋⁢𝑠$^2_{1/2}$⁢𝑑$^3_{3/2}$ proton configurations in 48 K is not correctly described using current interactions, challenging our description of light nuclei around the 𝑁 = 28 island of inversion.

Paxman, Charlie J. [Univ. of Surrey, Guildford (Un↗
NASA NTRS1992

Human-like agents with posture planning ability

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Jung, Moon R.↗
DOE OSTI2022

In-flight production of an isomeric beam of 16 N

In this work, an in-flight beam of 16 N was produced via the single-neutron adding ($\textit{d,p}$) reaction in inverse kinematics at the recently upgraded Argonne Tandem Linear Accelerator System (ATLAS) in-flight system. The amount of the 16 N beam which resided in its excited 0.120 MeV $J^\pi$ = 0 – isomeric state (T 1/2 ≈ 5 μs) was determined to be 40(5)% at a reaction energy of 7.9(3) MeV/$\textit{u}$, and 24(2)% at a reaction energy of 13.2(2) MeV/$\textit{u}$. The isomer measurements took place at an experimental station ≈ 30 m downstream of the production target and utilized an Al beam-stopping foil and a HPGe Clover detector. Composite 16 N beam rate determinations were made at the experimental station and the focal plane of the Argonne in-flight radioactive ion-beam separator (RAISOR) with Si ΔE-E telescopes. A Distorted Wave Born Approximation (DWBA) approach was coupled with the known spectroscopic information on 16 N in order to estimate the relative 16 N isomer yields and composite 16 N beam rates. In addition to the observed reaction-energy dependence of the isomer fraction, a large sensitivity to the angular acceptance of the recoils was also observed.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

Simulation study of high-current 7 Li 3+ beam acceleration with laser ion source and RFQ linac using direct plasma injection

Accelerator-based neutron sources (ABNS) utilizing the 7 Li(p,n) 7 Be reaction in inverse kinematics offer strong forward-directed neutron emission, making them attractive for compact and clean neutron source with low background neutrons and unwanted radiation. However, practical use of such systems requires lithium ion beam currents that exceed the capability of conventional ion accelerators by two orders of magnitude. In this study, we numerically designed and evaluated a high-current acceleration system based on a direct plasma injection scheme (DPIS), combining a laser ion source (LIS) and a radio-frequency quadrupole (RFQ) linac. The ion extraction optics and RFQ entrance were optimized using IGUN, OPERA, and GPT, demonstrating that over 1.2 A-class beam current can be injected into the RFQ. The RFQ structure was designed under realistic engineering constraints including surface field strength (Kilpatrick factor) and RF power. GPT simulations showed that a 370 mA 7 Li 3+ beam can be successfully accelerated within a ±10 % energy spread. To validate downstream compatibility, we also designed a simplified medium-energy beam transport (MEBT) section and an interdigital H-type (IH) linac, confirming successful acceleration of a 320 mA beam to the total energy of 14 MeV. These results support the feasibility of the DPIS and RFQ approach as a promising solution for compact neutron sources and other high-intensity ion beam applications.

43 PARTICLE ACCELERATORS↗
DOE OSTI2023

Hexadecapole strength in the rare isotopes 74,76 Kr

In the Ge-Sr mass region, isotopes with neutron number N ≤ 40 are known to feature rapid shape changes with both nucleon number and angular momentum. To gain new insights into their structure, inelastic proton scattering experiments in inverse kinematics were performed on the rare isotopes 74,76 Kr. This work focuses on observables related to the J π = $4$$^{+}_{1}$ states of the Kr isotopes and, in particular, on the hexadecapole degree of freedom. By performing coupled-channels calculations, hexadecapole deformation parameters β 4 were determined for the J π = $4$$^{+}_{1}$ states of 74,76 Kr from inelastic proton scattering cross sections. Two possible coupled-channels solutions were found. A comparison to predictions from nuclear energy density functional theory, employing both non-relativistic and relativistic functionals, clearly favors the large, positive β 4 solutions. These β 4 values are unambiguously linked to the well deformed prolate configuration. Given the β 2 - β 4 trend, established in this work, it appears that β 4 values could provide a sensitive measure of the nuclear shell structure.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2024

Evolution of the nuclear spin-orbit splitting explored via the 32 Si( d,p ) 33 Si reaction using SOLARIS

The spin-orbit splitting between neutron 1p orbitals at 33 Si has been deduced using the single-neutron-adding (d,p) reaction in inverse kinematics with a beam of 32 Si, a long-lived radioisotope. Reaction products were analyzed by the newly implemented SOLARIS spectrometer at the reaccelerated-beam facility at the National Superconducting Cyclotron Laboratory. The measurements show reasonable agreement with shell-model calculations that incorporate modern cross-shell interactions, but they contradict the prediction of proton density depletion based on relativistic mean-field theory. The evolution of the neutron 1p-shell orbitals is systematically studied using the present and existing data in the isotonic chains of N = 17, 19, and 21. In each case, a smooth decrease in the separation of the 1p 3/2 - 1p 1/2 orbitals is seen as the respective p-orbitals approach zero binding, suggesting that the finite nuclear potential strongly influences the evolution of nuclear structure in this region.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Quenching of single-particle strength inferred from nucleon-removal transfer reactions on 15 C

The difference in the proton and neutron separation energies (ΔS) of the weakly bound 15 C ground state is -19.86 MeV, an extreme value. Data from intermediate-energy heavy-ion induced (HI-induced) knockout reactions on nuclei spanning -20 ≲ ΔS ≲ +20 MeV, suggest that the degree to which single-particle strength is quenched, R s , has a negative correlation with ΔS, decreasing from unity around -20 MeV to around 0.2 at +20 MeV. For the 15 C ground state (R s = 0.96 (4) in HI-induced knockout), contrasting results have recently been obtained via the neutron-adding transfer reaction, which reveal a value of R s = 0.64 (15), similar to the value observed at modest and more extreme values of ΔS with reaction probes other than HI knockout. In order to explore the any potential differences between adding and removing processes in transfer reactions at extreme ΔS, single-neutron removal transfer reactions on 15 C were performed at 7.1 MeV/u in inverse kinematics. The removal of a valence neutron in 2s 1/2 orbit using both (p, d) and (d, t) reactions shows consistent quenching factors and agrees with those from the neutron-adding reaction. The present results, which can be compared with neutron knockout reaction, suggest that correlations, represented by the quenching factor, show limited dependence on neutron-proton asymmetry under the most extreme asymmetry conditions so far achieved in transfer reactions.

quenching factor↗
DOE OSTI2026

Development of deformed intruder structures along the N=50 magic number: Insights from 83 Se

The 83 Se nucleus was studied in the context of shape coexistence employing a 82 Se(d,p) 83 Se reaction performed in inverse kinematics with the GALILEO-II + SPIDER setup to reach the desired selectivity on the reaction channel of interest via γ -particle coincidences. The lifetimes of the 1/2 + 540-keV and 3/2$^{+}_{3}$ 1100-keV low-lying intruder states of 83 Se were measured for the first time by employing the Recoil Distance Doppler Shift and the Doppler Shift Attenuation Method. The deduced transition probabilities, together with the mixing ratios obtained from a separate neutron-capture experiment performed at ILL with the FIPPS array, are compared and discussed in the framework of shell-model calculations performed with the PFSDG-U Hamiltonian. Large transition probabilities of hundreds of e 2 fm 4 were found for the E 2 decays of the states built on top of the intruders, pointing to the development of quadrupole collectivity and large deformation in the proximity of N = 50 shell closure.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2026

Investigation of the isoscalar monopole response in the proton-rich nucleus 14 O

Deuteron inelastic scattering on 14 O was measured in inverse kinematics using an active-target time projection chamber and a magnetic spectrograph. The experimental technique enabled precise measurements of deuteron recoiling particles in coincidence with beam-like fragments detected in the spectrograph focal plane. The double differential cross section was reconstructed for scattering angles of 3–6 degrees and excitation energies up to 26 MeV. The monopole strength distribution was obtained from the data using a multipole decomposition analysis. The results were compared to quasiparticle random-phase approximation (QRPA) and generator coordinate method (GCM) calculations. The QRPA calculation accurately describes experimental data in the energy range of 13 to 26 MeV. GCM calculations assuming a 12 C (g . s .) + p + p cluster configuration were used to determine the 0 + strength in 14 O below 13 MeV. The monopole transition strength of these cluster states provides a good description of the experimental distribution in the 9–11 MeV region, while the 0$^{+}_{2}$ state accounts for only a small fraction of the experimental strength around 6 MeV.

Active target↗
DOE OSTI2022

SECAR: A recoil separator for nuclear astrophysics

Proton-and alpha-capture reactions on unstable proton-rich nuclei power astrophysical explosions like novae and X-ray bursts. Direct measurements of these reactions are crucial for understanding the mechanisms behind these explosions and the nucleosynthesis at such sites. The recoil mass separator, SECAR (SEparator for CApture Reactions) at the National Superconducting Cyclotron Laboratory (NSCL) and the Facility for Rare Isotope Beams (FRIB), has been designed with the required sensitivity to study (p,γ) and (α,γ) reactions, directly at astrophysical energies in inverse kinematics, with radioactive beams of masses up to about A = 65. The complete SECAR system, including two Wien Filters for high mass resolution, has been installed at Michigan State University and is currently being commissioned. The present article introduces the SECAR concept, its scientific goals, and provides an update of the current status of the project.

Tsintari, P↗
DOE OSTI2023

A technique for studying (n,p) reactions of astrophysical interest using radioactive beams with SECAR

The formation of nuclei in slightly proton-rich regions of the neutrino-driven wind of core-collapse supernovae could be attributed to the neutrino-p process (νp-process). As it proceeds via a sequence of (p,γ) and (n,p) reactions, it may produce elements in the range of Ni and Sn, considering adequate conditions. Recent studies identify a number of decisive (n,p) reactions that control the efficiency of the νp-process. The study of one such (n,p) reaction via the measurement of the reverse (p,n) in inverse kinematics was performed with SECAR at NSCL/FRIB. Proton-induced reaction measurements, especially at the mass region of interest, are notably difficult since the recoils have nearly identical masses as the unreacted projectiles. Such measurements are feasible with the adequate separation level achieved with SECAR, and the in-coincidence neutron detection. Adjustments of the SECAR system for the first (p,n) reaction measurement included the development of new ion beam optics, and the installation of the neutron detection system. The aforementioned developments along with a discussion on the preliminary results of the p(58Fe,n)58Co reaction measurement are presented.

Tsintari, P↗
DOE OSTI2025

Tritium targets for use in solenoidal spectrometers

Nucleon adding and removing reactions are an ideal probe to study the single-particle foundations of nuclear structure. For experiments far away from the valley of stability, one needs to use radioactive beams in inverse kinematics. To maintain excellent resolution, solenoidal spectrometers like HELIOS at Argonne National Laboratory (ANL), ISS at CERN or SOLARIS at the Facility for Rare Isotope Beams (FRIB) are used. Typically, deuterated plastic foils are the targets of choice. Depending on the energy deposited, these targets might degrade quickly in beam. The potential of using tritium-implanted targets in conjunction with the solenoidal spectrometers was realized for access to even more exotic nuclei with outstanding resolving power. While no tritiated polyethylene is commercially available at the moment, tritium-containing titanium targets have been produced in the past. Unfortunately the loading fraction of tritium for the latter was often very low and not reproducible. The progress in the production of tritium-containing targets is presented, including the characterization of the foils.

Müller-Gatermann, Claus↗
DOE OSTI2022

Beam particle identification and tagging of incompletely stripped heavy beams with HEIST

A challenge preventing successful inverse kinematics measurements with heavy nuclei that are not fully stripped is identifying and tagging the beam particles. For this purpose, the HEavy ISotope Tagger (HEIST) has been developed. HEIST utilizes two micro-channel plate timing detectors to measure the time-of-flight, a multi-sampling ion chamber to measure energy loss, and a high-purity germanium detector to identify isomer decays and calibrate the isotope identification system. HEIST has successfully identified 198 Pb and other nearby nuclei at energies of about 75 MeV/A. In the experiment discussed, a typical cut containing 89% of all 198 Pb 80+ in the beam had a purity of 86%. We examine the issues of charge state contamination. Here, the observed charge state populations of these ions are presented and, using an adjusted beam energy, are well described by the charge state model GLOBAL.

47 OTHER INSTRUMENTATION↗
DOE OSTI2024

User Impressions and Gait Analysis of Exoskeleton Device Usage in Generalized Tank Farm Activities

Tank farm workers involved in nuclear cleanup activities perform physically demanding tasks, typically while wearing heavy personal protective equipment (PPE). Exoskeleton devices have the potential to bring considerable benefit to this industry but have not been thoroughly studied in the context of nuclear cleanup. In this paper, we examine the performance of exoskeletons during a series of tasks emulating jobs performed on tank farms while participants wore PPE commonly deployed by tank farm workers. The goal of this study was to evaluate the effects of commercially available lower-body exoskeletons on a user’s gait kinematics and user perceptions. Three participants each tested three lower-body exoskeletons in a 70-min protocol consisting of level treadmill walking, incline treadmill walking, weighted treadmill walking, a weight lifting session, and a hand tool dexterity task. Results were compared to a no exoskeleton baseline condition and evaluated as individual case studies. The three participants showed a wide spectrum of user preferences and adaptations toward the devices. Individual case studies revealed that some users quickly adapted to select devices for certain tasks while others remained hesitant to use the devices. Temporal effects on gait change and perception were also observed for select participants in device usage over the course of the device session. Here, device benefit varied between tasks, but no conclusive aggregate trends were observed across devices for all tasks. Evidence suggests that device benefits observed for specific tasks may have been overshadowed by the wide array of tasks used in the protocol.

Tank farm↗