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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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Neural-Network Control Of Prosthetic And Robotic Hands

Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

Buckley, Theresa M.↗
NASA NTRS1990

Control framework for hand-arm coordination

Coordination of multiple manipulators requires cooperation at several levels in the control hierarchy. A distributed processing environment with no hardware dependencies except at the motor servo level would provide a flexible architecture for coordination. A system on these lines is being built to control an articulated hand and an arm. The four levels of control envisaged include a task decomposition level, a planning level, a scheduling level, and a server level. The hand will carry both force and tactile sensors, feedback from these are used to provide adaptive control in grasping tasks. The processing of the sensory information is performed by independent processes, with analyzed information being sent to the relevant layer of the system. The manipulators are also controlled by individual processes. All process can open communications with an active process sending commands or data, or receiving them. The scope of the system and the current setup are described along with future lines of development.

Agrawal, Sanjay↗
NASA NTRS1992

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).

Dickenson, Rueben D.↗
NASA NTRS1992

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Grissom, William A.↗
NASA NTRS1994

Electronic, Hand-Held, Wireless Text-And-Graphics Viewer

Proposed electronic, hand-held, wireless viewer presents written material to reader in way that closely resembles that of paper reading material. Viewer presents text and graphics like those normally found in books, newspapers, and magazines. Its hand-held and wireless features enable it to be used in positions and areas where books and magazines are normally used. Device consists primarily of two parts: the receiver/information store and viewing screen.

Palumbo, Daniel L.↗
NASA NTRS1993

Conceptual design of an astronaut hand anthropometry device

In a microgravity environment, fluid equalizes throughout the body, causing the upper body to swell. This causes the hands to swell which can cause problems for astronauts trying to do work in pressurized EVA (extravehicular activity) gloves. To better design these gloves, accurate measurements of the astronauts swollen hands are needed. Five concepts were developed in this report from an original field of 972 possible concepts. These five concepts were based on mold impression, ultrasound, laser topography, white light photography, and video imaging. From a decision matrix based on nine weighted criteria, the video imaging technique was found to be the best design to pursue.

Mcmahan, Robert↗
NASA NTRS1994

Refinement for fault-tolerance: An aircraft hand-off protocol

Part of the Advanced Automation System (AAS) for air-traffic control is a protocol to permit flight hand-off from one air-traffic controller to another. The protocol must be fault-tolerant and, therefore, is subtle -- an ideal candidate for the application of formal methods. This paper describes a formal method for deriving fault-tolerant protocols that is based on refinement and proof outlines. The AAS hand-off protocol was actually derived using this method; that derivation is given.

Marzullo, Keith↗
NASA NTRS1995

Environmentally compatible hand wipe cleaning solvents

Several solvents of environmental concern have previously been used for hand wipe cleaning of SRB surfaces, including 1,1,1-trichloroethane, perchloroethylene, toluene, xylene, and MEK. USBI determined the major types of surfaces involved, and qualification requirements of replacement cleaning agents. Nineteen environmentally compatible candidates were tested on 33 material substrates with 26 types of potential surface contaminants, involving over 7,000 individual evaluations. In addition to the cleaning performance evaluation, bonding, compatibility, and corrosion tests were conducted. Results showed that one cleaner was not optimum for all surfaces. In most instances, some of the candidates cleaned better than the 1,1,1-trichloroethane baseline control. Aqueous cleaners generally cleaned better, and were more compatible with nonmetallic materials, such as paints, plastics, and elastomers. Organic base cleaners were better on metal surfaces. Five cleaners have been qualified and are now being implemented in SRB hand wipe cleaning operations.

Clayton, Catherine P.↗
NASA NTRS1996

Initial Usability Testing of a Hand-Held Electronic Logbook Prototype for the Human Research Facility

The Apple(R) Newton(TM) MessagePad 110 was flown aboard the KC-135 reduced gravity aircraft for microgravity usability testing. The Newton served as the initial hand-held electronic logbook prototype for the International Space Station (ISS) Human Research Facility (HRF). Subjects performed three different tasks with the Newton: (1) using the stylus to tap on different sections of the screen in order to launch an application and to select options within it; (2) using the stylus to write, and; (3) correcting handwriting recognition errors in a handwriting-intensive application. Subjects rated handwriting in microgravity 'Borderline' and had great difficulties finding a way in which to adequately restrain themselves at the lower body in order to have their hands free for the Newton. Handwriting recognition was rated 'Unacceptable,' but this issue is hardware-related and not unique to the microgravity environment. It is suggested that the restraint and handwriting issues are related and require further joint research with the current Handheld Electronic Logbook prototype: the Norand Pen*key Model #6300.

Berman, Andrea H.↗
NASA NTRS2001

Evaluation of the Universal Hand Tool for Metals Processing in Space

The Paton Welding Institute, Kiev, Ukraine, has developed the Universal Hand Tool for processing Metals in the space environment. The Universal is a hand held, 1 kilowatt electron beam welding tool designed to accept attachments to enable welding with and without filler wire, cutting, and coating by vapor deposition. The Marshall Space Flight Center, together with the Paton Institute, designed and developed the International Space Welding Experiment (ISWE) to demonstrate the Universal Welding System during an extravehicular activity on STS-87. ISWE was subsequently demanifested and has not been remanifested at this time. This paper describes the science objectives of ISWE, the safety hazards associated with manual welding in space and the associated resolutions, and the results of ground based development efforts. The Universal was adequate for processing the samples planned for ISWE and was successfully modified to meet shuttle payload constraints. Sample cleanliness and operator training proved to be the primary drivers for the quality of the processed samples.

Russell, Carolyn↗
NASA NTRS2000

Hand-Held Sunphotometers for High School Student Construction and Measuring Aerosol Optical Thickness

Science education is taking the teaching of science from a traditional (lecture) approach to a multidimensional sense-making approach which allows teachers to support students by providing exploratory experiences. Using projects is one way of providing students with opportunities to observe and participate in sense-making activity. We created a learning environment that fostered inquiry-based learning. Students were engaged in a variety of Inquiry activities that enabled them to work in cooperative planning teams where respect for each other was encouraged and their ability to grasp, transform and transfer information was enhanced. Summer, 1998: An air pollution workshop was conducted for high school students in the Medgar Evers College/Middle College High School Liberty Partnership Summer Program. Students learned the basics of meteorology: structure and composition of the atmosphere and the processes that cause weather. The highlight of this workshop was the building of hand-held sunphotometers, which measure the intensity of the sunlight striking the Earth. Summer, 1999: high school students conducted a research project which measured the mass and size of ambient particulates and enhanced our ability to observe through land based measurements changes in the optical depth of ambient aerosols over Brooklyn. Students used hand held Sunphotometers to collect data over a two week period and entered it into the NASA GISS database by way of the internet.

Almonor, Linda↗
NASA NTRS2004

Forecasting Weather with a Wave of the Hand

Building upon its successful collaboration with NASA, Cybernet introduced GestureStorm(TradeMark), a weather map management system that utilizes both body tracking and gesture recognition technology for televised weather reports. The GestureStorm software interface enables meteorologists to control the computerized visual effects on weather maps using hand gestures and body movements. Prior to this, meteorologists prepared scripted on-air reports to coincide with the timing of graphics on the computerized maps. They knew when and where weather and Doppler radar maps would appear on the monitor, but could not react in real time. Cybernet s new product frees forecasters from a script, enabling them to directly interact with the weather picture in real time, significantly reducing the preparation time for the broadcast. With this technology, meteorologists control the pace of the visuals and can incorporate spontaneous close-ups with simple hand movements. In cases of severe weather, meteorologists strive to report new information as quickly as possible. GestureStorm gives forecasters an edge as they track late-breaking storms. The reduced preparation and real-time interaction shave critical minutes from the time required to broadcast severe weather warnings.

Source record↗
NASA NTRS2004

Modeling of a Variable Focal Length Flat Lens Using Left Handed Metamaterials

Left Handed Metamaterials (LHM) were originally purposed by Victor Veselago in1968. These substances would allow a flat structure to focus electromagnetic (EM) waves because they have a negative index of refraction. A similar structure made from conventional materials, those with a positive index of refraction, would disperse the waves. But until recently, these structures have been purely theoretical because substances with both a negative permittivity and negative permeability, material properties necessary for a negative index of refraction, do not naturally exist, Recent developments have produced a structure composed of an array of thin wires and split ring resonators that shows a negative index of refraction. area smaller than a square wavelength. How small the area is can be determined by how perfectly the lens is polished and how pure the substance is that composes the lens. These lenses must also be curved for focusing to occur. The focal length is determined by the curvature of the lens and the material. On the other hand, a flat structure made from LHM would focus light because of the effect of a negative index of refraction in Snell s law. The focal length could also be varied by simply adjusting the distance of the lens from the source of radiation. This could create many devices that are adjustable to different situations in fields such as biomedical imaging and communication. the software package XFDTD which solves Maxwell s equations in the frequency domain as well as the time domain. The program used Drude models of materials to simulate the effect of negative permittivity and negative permeability. Because of this, a LHM can be simulated as a solid block of material instead of an array of wires and split ring resonators. After a flat lens is formed, I am to examine the focusing effect of the lens and determine if a higher resolution flat lens can be developed. Traditional lenses made from conventional materials cannot focus an EM wave onto an My goal was to model LHMs and create a flat lens from them. This was to be done using

Reinert, Jason↗
NASA NTRS2006

A Miniature Force Sensor for Prosthetic Hands

Tactile sensing is an important part of the development of new prosthetic hands. A number of approaches to establishing an afferent pathway back to the patient for tactile information are becoming available including tactors and direct stimulation of the afferent nerves. Tactile information can also be used by low-level control systems that perform simple tasks for the patient such as establishing a stable grasp and maintaining the grasping forces needed to hold an object. This abstract reports on the design of a small fingertip load cell based on semi-conductor strain gauges. Since this load cell is so small (measuring only 8.5mm in diameter and 6.25 mm in height), it easily fits into the tip of an anthropomorphic mechatronic hand. This load cell is tested by comparing a time series of force and moment data with reference data acquired from a much larger high-precision commercial load cell.

Platt, Robert↗
NASA NTRS1990

Portable hand hold device

A hand hold device (A) includes a housing (10) having a hand hold (14) and clamping brackets (32,34) for grasping and handling an object. A drive includes drive lever (23), spur gear (22), and rack gears (24,26) carried on rods (24a, 26a) for moving the clamping brackets. A lock includes ratchet gear (40) and pawl (42) biased between lock and unlock positions by a cantilever spring (46,48) and moved by handle (54). Compliant grip pads (32b, 34b) provide compliance to lock, unlock, and hold an object between the clamp brackets.

Redmon, Jr., John W.↗
NASA NTRS1990

Artificial dexterous hand

An artificial dexterous hand is provided for conformally engaging and manipulating objects. The hand includes an articulated digit which is connected to an engagement sub-assembly and has a first shape adaption mechanism associated with it. The digit has a digit base and first and second phalanges. The digit base is operatively interconnected to the first phalange by a base joint having a base pulley. The phalanges are operatively interconnected by a separate first phalange joint having a first phalange pulley. The engagement sub-assembly includes a tendon, which is received by the base pulley and by the first phalange pulley, and an actuation device for selectively tensioning the tendon. The first shape adaption mechanism is responsive to and receives the tendon. It is also situated between the base joint and the first phalange joint and is connected to the first phalange. Upon actuation by the actuation device, the phalanges are caused to pivot relative to the base joint and the second phalange is caused to pivot relative to the first phalange. At the same time, the first shape adaption mechanism controls the sequence of the aforementioned pivoting of the phalanges through application of braking force to the tendon.

Lee, Sukhan↗
NASA NTRS1994

Position dependent rate dampening in any active hand controller

A control system for an active hand controller, for example, uses a control stick connected to and controlled by a motor. Electronics are provided to control the motor to eliminate oscillations due to motor torque and high gain due to breakout at the control stick when the control stick is at about its null position. Both hardware as well as software implementations can provide position dependent dampening to the control sticks such that when the control stick is located about a null position, a higher rate of dampening is provided than when the control stick is located outside the null position, when a lower rate of dampening is provided. The system provides a stable active hand controller control stick without degraded force and feel characteristics of the system.

Gregory, William W.↗