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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 1,261 records · Page 70

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NASA NTRS1986

Design for a goal-oriented telerobotic system

Robotic systems will play an increasingly important role in space operations. This paper describes the objective and design of a proposed goal-oriented telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface, and the distribution and general structure of the knowledge bases, the displays, and the task sequencing. The objective of the design effort is to provide an evolutionary structure for a telerobotic system, i.e., one that can progress from strictly teleoperated through phases of serving as an assistant, a colleague, and an expert, to eventually serve as a truly autonomous unit, requiring only minimal supervision. A preliminary design for such a system involving 'mixed initiative', or the flexible shared control between the human operator and the software system, is complete and described in this paper.

Will, R. W.↗

NASA NTRS1982

Constant magnification optical tracking system

A constant magnification optical tracking system for continuously tracking of a moving object is described. In the tracking system, a traveling objective lens maintains a fixed relationship with an object to be optically tracked. The objective lens was chosen to provide a collimated light beam oriented in the direction of travel of the moving object. A reflective surface is attached to the traveling objective lens for reflecting an image of the moving object. The object to be tracked is a free-falling object which is located at the focal point of the objective lens for at least a portion of its free-fall path. A motor and control means is provided for mantaining the traveling objective lens in a fixed relationship relative to the free-falling object, thereby keeping the free-falling object at the focal point and centered on the axis of the traveling objective lens throughout its entire free-fall path.

Frazer, R. E.↗

NASA NTRS1993

A magnetic suspension system with a large angular range

The paper describes a small-scale laboratory system, called the Large-Angle Magnetic Suspension Test Fixture (LAMSTF), constructed at NASA Langley Research Center in order to explore and develop technology required for the magnetic suspension of objects over large ranges of orientation. The LAMSTF hardware comprises five electromagnets in a circular arrangement, each driven from a separate bipolar power amplifier. The suspended element is a cylindrical axially magnetized permanent magnet core, within an aluminum tube. The element, which is 'levitated' by repulsive forces, is stabilized in five degrees-of-freedom, with rotation about the cylinder axis not controlled. The controller accommodates the changes in magnetic coupling between the electromagnets and the suspended element by real-time adaptation of a decoupling matrix. The paper presents performance measurements demonstrating that the major design objective of the 360 deg rotation was accomplished.

Britcher, Colin P.↗

DOE OSTI2019

Advanced Fuels Campaign 2019 Accomplishments

The mission of the Advanced Fuels Campaign (AFC) is to perform or support research, development, and demonstration (RD&D) activities to identify and mature innovative fuels and cladding materials and associated technologies with the potential to improve the performance and safety of current and future reactors; increase the efficient utilization of nuclear energy resources; contribute to enhancing proliferation resistance of the nuclear fuel cycle; and address challenges related to waste management and ultimate disposal. AFC pursues its mission objectives using a goal-oriented, science-based approach that seeks to establish a fundamental understanding of fuel and cladding behaviors under conditions that arise during fabrication, normal steady-state irradiation, off-normal transient scenarios, and storage/disposal. This approach includes advancing the theoretical understanding of fuel behavior, conducting fundamental and integral experiments, and supporting the mechanistic, multi-scale modeling of nuclear fuels to inform and guide fuel development projects, advance the technological readiness of promising fuel candidates, and ultimately support fuel qualification and licensing initiatives. In the area of advanced tools for the modeling and simulation of nuclear fuels, the AFC works in close partnership with the Nuclear Energy Advanced Modeling and Simulation (NEAMS) program, participating with NEAMS in developing mechanistic fuel behavior models and providing experimental data to inform and validate its most advanced tools. Specifically, AFC objectives in thecoming five year horizon include: 1. support the industry-led development of Accident Tolerant Fuel (ATF) technologies with improved reliability and performance under normal operations and enhanced tolerance during hypothetical accident scenarios, with implementation of lead test rods/assemblies of one or more ATF concepts in commercial reactor(s) by or before 2022 and batch reloads of near-term concept(s) in the 2023-2026 timeframe; 2. lead research and development on innovative fuel and cladding technologies for applications to future advanced reactors, especially fast-spectrum reactors, including reactors that utilize both once-through and recycle scenarios; 3. continue the development and demonstration of a multi-scale,science-based approach to fuel development and testing, andcontribute to the establishment of a state-of-the-art R&D infrastructure necessary to accelerate the development of new fuel concepts; and collaborate with NEAMS on the development and validation of multi-scale, multi-physics, and increasingly predictive fuel performance models and codes. 4. collaborate with NEAMS on the development and validation of multi-scale, multi-physics, and increasingly predictive fuel performance models and codes.

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

DOE OSTI2021

Methods, systems, and computer-readable storage media for enhanced phase-contrast x-ray imaging

Systems and methods that directly image attenuation-based object grid, use a source grid to improve imaging of the object grid using a high-energy polychromatic source, and use a detector grid having gratings oriented substantially orthogonally to that of the object grid, can address artifacts and beam hardening effects that limit the quality and discriminatory power of high-energy x-ray imaging that includes phase contrast.

Miller, Erin A.↗

DOE OSTI2023

Methods, systems, and computer-readable storage media for enhanced phase-contrast x-ray imaging

Miller, Erin A.↗

NASA NTRS1982

Device Acquires, Orients, and Clamps

Proposed mechanism secures an object in three stages: initial acquisition, alinement, and clamping. Originally developed to aid Space Shuttle crews in retrieving satellites, concept may also be useful in undersea work or as a machine-tool attachment for quick changes of tools.

Pruett, E. C.↗

NASA NTRS1987

Role of orientation reference selection in motion sickness, supplement 2S

Previous experiments with moving platform posturography have shown that different people have varying abilities to resolve conflicts among vestibular, visual, and proprioceptive sensory signals. The conceptual basis of the present proposal hinges on the similarities between the space motion sickness problem and the sensory orientation reference selection problems associated with benign paroxysmal positional vertigo (BPPV) syndrome. These similarities include both etiology related to abnormal vertical canal-otolith function, and motion sickness initiating events provoked by pitch and roll head movements. The objectives are to explore and quantify the orientation reference selection abilities of subjects and the relation of this selection to motion sickness in humans. The overall objectives are to determine: if motion sickness susceptibility is related to sensory orientation reference selection abilities of subjects; if abnormal vertical canal-otolith function is the source of abnormal posture control strategies and if it can be quantified by vestibular and oculomotor reflex measurements, and if it can be quantified by vestibular and oculomotor reflex measurements; and quantifiable measures of perception of vestibular and visual motion cues can be related to motion sickness susceptibility and to orientation reference selection ability.

Peterka, Robert J.↗

NASA NTRS2007

Algorithm Plans Collision-Free Path for Robotic Manipulator

An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps between the corresponding OBB and OBP models. For computational efficiency, the process is started at the coarsest resolution and stopped as soon as possible, preferably before reaching the finest resolution. At the coarsest resolution, there is a single OBB enclosing all relevant external objects and a single OBB enclosing the entire robot. At the next finer level of resolution, the coarsest-resolution OBB is divided into two OBBs, and so forth. If no collision is detected at the coarsest resolution, then there is no need for further computation to detect collisions. If a collision is detected at the coarsest resolution, then tests for collisions are performed at the next finer level of resolution. This process is continued to successively finer resolutions until either no more collisions are detected or the finest resolution is reached.

Backes, Paul↗

NASA NTRS1979

The brightness distribution of IRC +10216 at 11 microns

The brightness distribution of IRC +10216 at a wavelength of 11 microns was measured in detail using a spatial interferometer. This brightness distribution appears to have azimuthal symmetry; an upper limit of 1.1 may be set to the ellipticity at 11 microns if the object has a major axis oriented either along or perpendicular to the major axis of the optical image. The radial distribution shows both compact and extended emission. The extended component, which is due to thermal emission from circumstellar dust, contributes 91% of the total flux and has a 1/e diameter of 0.90 minutes. The tapered shape of this component is consistent with a l/r squared dust density dependence. The compact component is unresolved (less than 0.2 minutes in diameter) and represents emission from the central star seen through the circumstellar envelope.

Sutton, E. C.↗

NASA NTRS1979

Advanced teleoperators

Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.

Bejczy, A. K.↗

NASA NTRS1979

The brightness distribution of IRC +10216 at 11 microns

The brightness distribution of IRC +10216 at a wavelength of 11 microns has been measured in detail by using spatial interferometer. This brightness distribution appears to have azimuthal symmetry; an upper limit of 1.1 may be set to the ellipticity at 11 microns if the object has a major axis oriented either along or perpendicular to the major axis of the optical image. The radial distribution shows both compact and extended emission. The extended component, which is due to thermal emission from circumstellar dust, contributes 91% of the total flux and has a 1/e diameter of 0.90 arcsec. The tapered shape of this component is consistent with a dust density dependence on the inverse square of radial distance. The compact component is unresolved (less than 0.2 arcsec in diameter) and represents emission from the central star seen through the circumstellar envelope.

Sutton, E. C.↗

NASA NTRS1984

X-radiography of slices of the Allende Meteorite

A 2.2 kg fragment of the Allende Meteorite was derinded and sliced by bandsawing. Several X-radiographs were made of all slices. The following features are resolved: grains of blocky troilite (bright spots), troilite rimmed chondrules (bright halos), chondrules with central vugs (dim halos), white aggregates (dark patches), and dark inclusions (medium dark patches). The number of FeS grains larger than about 0.5 mm is one per 6 + or - 1 gram of this fragment. Their concentration appears to be uniform at the 1 kg weight level, but is not uniform at the 100 g level. The number of FeS rimmed chondrules is one per 10 g. Their concentration is also nonuniform at the 100 g weight level. The number of white aggregates is roughly one per 20 g. These disc shaped objects show a distinct preferred orientation of the axis orthogonal to the plane of the disc. Chondrules with central vugs are numerous. Linear and curved arrays of chondrules, up to a few cm long, were observed. An interpretation of the observed features is given.

Smith, M. J.↗

NASA NTRS1992

LDEF microenvironments, observed and predicted

Complex protrusions and surface indentations on spacecraft equipment alter exposure environments by casting shadows, producing reflections and scattering incident atomic oxygen flux and UV radiation. A computer model is being developed to predict these effects. The model accounts for any arbitrary shape, size, orientation, or curvature of exposed objects. LDEF offers a unique opportunity to compare model prediction with observations. For this purpose, a study is underway on twelve of LDEF's copper grounding straps. These straps were exposed at various angles from the ram vector during the LDEF flight. Microenvironment variables include shadowing and reflections from clamps and fasteners, and varying exposure caused by bending of the straps. Strap measurements include optical properties, surface film composition by ESCA, and film thickness measurements by optical interference techniques. The features of the microenvironment model and the analytical methods used to examine the straps are discussed. Data are presented showing predicted microenvironmental variations. These variations are compared with observed point to point differences in surface properties of the straps.

Bourassa, R. J.↗

NASA NTRS1992

Telerobotic rendezvous and docking vision system architecture

This research program has successfully demonstrated a new target label architecture that allows a microcomputer to determine the position, orientation, and identity of an object. It contains a CAD-like database with specific geometric information about the object for approach, grasping, and docking maneuvers. Successful demonstrations were performed selecting and docking an ORU box with either of two ORU receptacles. Small, but significant differences were seen in the two camera types used in the program, and camera sensitive program elements have been identified. The software has been formatted into a new co-autonomy system which provides various levels of operator interaction and promises to allow effective application of telerobotic systems while code improvements are continuing.

Gravely, Ben↗

NASA NTRS2001

A Software Architecture for Intelligent Synthesis Environments

The NASA's Intelligent Synthesis Environment (ISE) program is a grand attempt to develop a system to transform the way complex artifacts are engineered. This paper discusses a "middleware" architecture for enabling the development of ISE. Desirable elements of such an Intelligent Synthesis Architecture (ISA) include remote invocation; plug-and-play applications; scripting of applications; management of design artifacts, tools, and artifact and tool attributes; common system services; system management; and systematic enforcement of policies. This paper argues that the ISA extend conventional distributed object technology (DOT) such as CORBA and Product Data Managers with flexible repositories of product and tool annotations and "plug-and-play" mechanisms for inserting "ility" or orthogonal concerns into the system. I describe the Object Infrastructure Framework, an Aspect Oriented Programming (AOP) environment for developing distributed systems that provides utility insertion and enables consistent annotation maintenance. This technology can be used to enforce policies such as maintaining the annotations of artifacts, particularly the provenance and access control rules of artifacts-, performing automatic datatype transformations between representations; supplying alternative servers of the same service; reporting on the status of jobs and the system; conveying privileges throughout an application; supporting long-lived transactions; maintaining version consistency; and providing software redundancy and mobility.

Filman, Robert E.↗

NASA NTRS2004

Laser Range and Bearing Finder for Autonomous Missions

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object's distance, direction, and orientation. This is true whether the mission is autonomous in-space assembly, rendezvous and docking, or rover surface navigation. Advanced Optical Systems, Inc. has developed a wide-angle laser range and bearing finder (RBF) for autonomous space missions. The laser RBF has a number of features that make it well-suited for autonomous missions. It has an operating range of 10 m to 5 km, with a 5 deg field of view. Its wide field of view removes the need for scanning systems such as gimbals, eliminating moving parts and making the sensor simpler and space qualification easier. Its range accuracy is 1% or better. It is designed to operate either as a stand-alone sensor or in tandem with a sensor that returns range, bearing, and orientation at close ranges, such as NASA's Advanced Video Guidance Sensor. We have assembled the initial prototype and are currently testing it. We will discuss the laser RBF's design and specifications. Keywords: laser range and bearing finder, autonomous rendezvous and docking, space sensors, on-orbit sensors, advanced video guidance sensor

Granade, Stephen R.↗

NASA NTRS2011

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Chien, Chiun-Hong↗