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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

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NASA NTRS1999

The Mars Surveyor '01 Rover and Robotic Arm

The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments. The Marie Curie Rover, the twin sister to Sojourner Truth, is expected to explore the surface of Mars in early 2002. Scientific investigations to determine the elemental composition of surface rocks and soil using the Alpha Proton X-Ray Spectrometer (APXS) will be conducted along with several technology experiments including the Mars Experiment on Electrostatic Charging (MEEC) and the Wheel Abrasion Experiment (WAE). The Rover will follow uplinked operational sequences each day, but will be capable of autonomous reactions to the unpredictable features of the Martian environment. The Mars Surveyor 2001 Robotic Arm will perform rover deployment, and support various positioning, digging, and sample acquiring functions for MECA (Mars Environmental Compatibility Assessment) and Mossbauer Spectrometer experiments. The Robotic Arm will also collect its own sensor data for engineering data analysis. The Robotic Arm Camera (RAC) mounted on the forearm of the Robotic Arm will capture various images with a wide range of focal length adjustment during scientific experiments and rover deployment

Bonitz, Robert G.↗

NASA NTRS2000

Context-Dependent Arm Pointing Adaptation

We sought to determine the effectiveness of head posture as a contextual cue to facilitate adaptive transitions in manual control during visuomotor distortions. Subjects performed arm pointing movements by drawing on a digitizing tablet, with targets and movement trajectories displayed in real time on a computer monitor. Adaptation was induced by presenting the trajectories in an altered gain format on the monitor. The subjects were shown visual displays of their movements that corresponded to either 0.5 or 1.5 scaling of the movements made. Subjects were assigned to three groups: the head orientation group tilted the head towards the right shoulder when drawing under a 0.5 gain of display and towards the left shoulder when drawing under a 1.5 gain of display, the target orientation group had the home & target positions rotated counterclockwise when drawing under the 0.5 gain and clockwise for the 1.5 gain, the arm posture group changed the elbow angle of the arm they were not drawing with from full flexion to full extension with 0.5 and 1.5 gain display changes. To determine if contextual cues were associated with display alternations, the gain changes were returned to the standard (1.0) display. Aftereffects were assessed to determine the efficacy of the head orientation contextual cue. . compared to the two control cues. The head orientation cue was effectively associated with the multiple gains. The target orientation cue also demonstrated some effectiveness while the.arm posture cue did not. The results demonstrate that contextual cues can be used to switch between multiple adaptive states. These data provide support for the idea that static head orientation information is a crucial component to the arm adaptation process. These data further define the functional linkage between head posture and arm pointing movements.

Seidler, R. D.↗

NASA NTRS2015

The Asteroid Redirect Mission (ARM)

The National Aeronautics and Space Administration (NASA) is developing a robotic mission to visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, and redirect it into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts will explore the boulder and return to Earth with samples. This Asteroid Redirect Mission (ARM) is part of NASA's plan to advance the technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. Subsequent human and robotic missions to the asteroidal material would also be facilitated by its return to cislunar space. Although ARM is primarily a capability demonstration mission (i.e., technologies and associated operations), there exist significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, asteroidal resources and in-situ resource utilization (ISRU), and capability and technology demonstrations. In order to maximize the knowledge return from the mission, NASA is organizing an ARM Investigation Team, which is being preceded by the Formulation Assessment and Support Team. These teams will be comprised of scientists, technologists, and other qualified and interested individuals to help plan the implementation and execution of ARM. An overview of robotic and crewed segments of ARM, including the mission requirements, NEA targets, and mission operations, will be provided along with a discussion of the potential opportunities associated with the mission.

Abell, Paul↗

NASA NTRS2018

Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with a curator; other potential future returned samples may require cryogenic curation. Robot arms may be combined with high resolution cameras within a sample cabinet and controlled remotely by curator. Sophisticated robot arm and hand combination systems can be programmed to mimic the movements of a curator wearing a data glove; successful implementation of such a system may ultimately allow a curator to virtually operate in a nitrogen, cryogenic, or biologically sensitive environment with dexterity comparable to that of a curator physically handling samples in a glove box.

Snead, C. J.↗

NASA NTRSDate not supplied

Thermal Vacuum Testing Strategy and Thermal Desktop Model Correlation for the Moon to Mars Planetary Autonomous Construction Technologies (MMPACT) Robotic Terrestrial Arm

This paper discusses the initial thermal vacuum testing of the MMPACT robotic terrestrial arm. The robotic arm is part of a construction system designed for the lunar south pole surface. The first thermal vacuum test was a risk mitigation test to ensure the arm could operate in vacuum, with all other data collection as secondary priorities. 44 thermocouples (TCs) were attached to the arm. Installation was done with additional care to account for both the extra wiring harness weight on the arm with the TC wires and increased focus on stabilizing the TC attachments to the moving components. Thermal steady state of <= 0.01°C/hour was reached for the hot set of testing conditions. This data was used to correlate the Thermal Desktop (TD) model to the test results within +/- 5°C.

Thermal analysis↗

NASA NTRSDate not supplied

Thermal Vacuum Testing Strategy and Thermal Desktop Model Correlation for the Moon to Mars Planetary Autonomous Construction Technologies (MMPACT) Robotic Terrestrial Arm

Thermal analysis↗

NASA NTRS2023

Increasing the Payload Capacity of Soft Robot Arms by Localized Stiffening

Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them from performing many tasks. This paper presents a model-based design approach to effectively increase the payload capacity of soft robot arms. The proposed approach uses localized body stiffening to decrease the compliance at the end effector without sacrificing the robot’s range of motion. This approach is validated on both a simulated and a real soft robot arm, where experiments show that increasing the stiffness of localized regions of their bodies reduces the compliance at the end effector and increases the height to which the arm can lift a payload. By increasing the payload capacity of soft robot arms, this approach has the potential to improve their efficacy in a variety of tasks including object manipulation and exploration of cluttered environments.

Daniel Bruder↗

DOE OSTI2022

ARM Aerosol Measurement Science Group Charter

The Atmospheric Radiation Measurement (ARM) Aerosol Measurement Science Group (AMSG) is tasked with providing enhanced coordination of ARM Climate Research Facility observations of aerosols and atmospheric trace gases with the needs of its users. Its objective is to ensure advanced, well-characterized observational measurements and data products at the spatial and temporal scales necessary for improving climate science and climate model forecasts. The primary function of the AMSG will be to provide strategies to the ARM Technical Director and ARM Chief Operations Officer that can be used to implement a coherent measurement and data processing approach that addresses the priority aerosol science needs of ARM and Atmospheric System Research. The group fulfills the need for an integrated oversight to the planning, coordination, and leadership of aerosol instrumentation selection and deployment, measurement strategy and quality, and data product development from both science and operations perspectives.

Source record↗

DOE OSTI2025

2025 Atmospheric Radiation Measurement (ARM) Annual Report

ARM is a multi-laboratory, U.S. Department of Energy (DOE) Office of Science user facility and a key contributor to atmospheric research efforts. For more than 30 years, ARM has supported the DOE and Office of Science missions by providing atmospheric observations to enable scientific discovery, transform our understanding of the atmosphere, and evaluate and improve the accuracy of atmospheric models. ARM’s cutting-edge capabilities for scientists include continuously operating ground-based observatories, aerial observation platforms, and high performance computing.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Boundary Layer Climatology at ARM Southern Great Plains

Operational since 1992, the Atmospheric Radiation Measurement (ARM) southern great plains (SGP) site at Oklahoma, USA has become a reference research site for meteorological studies. Due to an open data policy the ARM data are used by researchers all over the world. In this report, we review the long-term climatology of the atmospheric boundary layer, SGP instrumentations, the site and some site-specific atmospheric conditions which potentially effect wind turbines within the region. As the atmospheric boundary layer is bounded and influenced by the surface, observations of surface radiation components and heat fluxes are crucial in understanding land-atmosphere interactions. The entrainment of air, updrafts, downdrafts and boundary layer height characteristics is needed for understanding the structure and growth of the atmospheric boundary layer. Therefore, measurements from both surface in-situ and remote sensing observations at SGP provide an overall climatology and their interactions from surface up to the boundary layer. Measurements from a 60 m meteorological tower, surface flux stations, disdrometers, soil temperature and moisture flux plates, coherent Doppler lidar, Raman lidar, radiosondes, and satellite data at SGP central facility were analyzed. All the measurements were generally within a few square kilometers of each other at the central facility. This report focuses on data from January 2010 to June 2020 at SGP central facility. The various sections describe the ARM SGP site and surrounding wind turbines; in-situ and remote sensing instrumentation used in the report; provides mathematical equations to analyze fluxes, turbulence and other boundary layer parameters; a climatological analysis of surface winds, fluxes and thermodynamic parameters for several years; an analysis of observed winds in the framework of Monin-Obukhov Similarity Theory; an analysis of the boundary layer winds and direction from a Doppler lidar; multi-year turbulence estimates through the boundary layer from a Doppler lidar; atmospheric boundary layer water vapor and relative humidity profiles from Raman lidar; cloud base height and boundary layer height from multiple sensors and satellite data; and finally site specific atmospheric conditions, such as nocturnal low-level jets. Diurnal, seasonal and yearly variations of surface, sub-surface and boundary layer quantities, such as wind speed, direction, temperature, atmospheric stability, soil temperature, and various atmospheric fluxes at SGP showed distinct trends useful for focused modeling studies. The applicability of surface similarity theory on ARM SGP data is also evaluated, which showed northerly flows are aligned with MO theory estimates compared to southerly flows. Boundary layer winds and direction profiles for several years from a Doppler lidar shows a consistent presence of a nocturnal low-level jet and predominant southerly wind directions through the boundary layer at SGP. The inter-annual variability at SGP is low (<3.5%), with a mean annual wind speed of approximately 7 m s -1 at 100 m above ground level. Boundary layer turbulence and moisture transport from Doppler and Raman lidars are evaluated, which provides evidence of increased water vapor mass flux into the great plains during nocturnal low-level jets. The moisture flux from nocturnal low-level jets is observed to be maximum during summer periods. A novel machine learning algorithm is implemented to accurately estimate the planetary boundary layer height, providing further insights into growth and destruction of the convective boundary layer height during various seasons and land-atmosphere conditions. The high frequency of low-level clouds during winter, spring and fall seasons is validated using the multi-sensor array and satellite estimates of cloud top height. Satellite vegetative fraction data provides insight into seasonal surface roughness and vegetation variability around SGP site.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Advanced Precipitation and Boundary Layer Data Products Derived from ARM Radar Wind Profilers

This research project was successful in delivering on four main objectives. First, software was developed to accurately calculate 915-MHz radar wind profiler (RWP) spectrum moments from the recorded Doppler velocity power spectra. Second, software was developed to calibrate the RWP reflectivity factor using collocated surface disdrometer observations. Third, the Python processing code was documented and given to the ARM Infrastructure to produce ARM ‘b level’ calibrated RWP products. Fourth, calibrated RWP products were uploaded to the ARM Archive as PI Products for 10 years of SGP RWP observations and for GoAmazon and TRACER field campaign RWP observations. In addition to working with RWP observations, this research project also worked with KAZR observations to distinguish insects from boundary layer clouds to help improve the ARSCL cloud mask product. The PI worked with senior and early career ARM funded scientists at BNL exploring how to include calibrated RWP moments into future versions of the ARSCL product.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2013

In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

Mars surface operations↗

NASA NTRSDate not supplied

ARM Data as A Resource for Validation of NASA PACE Cloud Retrievals

NASA’s Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) mission will launch in January 2024 and continue and improve upon satellite data records in its eponymous domains. PACE will carry a broad-swath hyperspectral imager, OCI, which will provide MODIS/VIIRS-type cloud data products (i.e. a cloud mask, top height, visible optical thickness, droplet effective radius, phase, and derived water path). It will also carry two multi-angle polarimeters (HARP2 and SPEXone) which will not only provide the above but also enable retrievals of additional cloud properties (e.g. droplet effective variance, ice crystal asymmetry parameter). Validating satellite-based cloud retrievals is challenging. We plan to use several ARM data streams to evaluate PACE cloud data products and are prototyping our analyses using retrievals from MODIS on the Aqua satellite and OLCI on the Sentinel-3A satellite. This poster shows how we plan to use ARM data to evaluate liquid water path (via MWRRET) and cloud top height retrievals (via KARZASRCL), with example results from these proxy sensors and ARM data from the SGP, ENA, and NSA sites. We seek comments from and collaborations with the ARM community to get the most out of our respective data streams.

ARM↗

DOE OSTI2020

Impact of the adhesion-force lever-arm “a” on the Rock ‘n’ Roll resuspension model and how to compute it from contact mechanics

The paper proposes a methodology to fill a gap in the context of mechanistic particle resuspension models related to the adhesion and lift force lever arms ( a ): to date, only one experimental observation exists from a centrifuge experiment with a specific particle/surface pair which found r P / a = 100 and assumed that the contact points were symmetric with respect to the particle center. However, the Reeks and Hall’s (2001) model is highly sensitive to this parameter, which therefore cannot be used as-is for different particle diameters or materials. This paper proposes a methodology to compute the adhesion and lift force lever arms ( a A and a L , respectively) based on Atomic Force Microcopy (AFM) surface roughness measurements and contact mechanics arguments. In practice, a spherical, perfectly smooth particle is brought in contact (computationally) with the measured surface roughness and is then rotated by the point of contact to determine the two or more asperities over which the particle would sit on the surface. A method to compute the asperity radius of curvature is devised to compute the asperity deformation and the correct partitioning of the total deformation between the particle and the asperity is presented. For the glass surface under consideration, the asperity deformation was negligible, i.e., it was below the van der Waals radius, which is the limit of applicability of contact mechanics. The Reeks and Hall’s (2001) model is then extended to account for the joint probability of a A and a L . Significant differences in particle resuspended after a day in common atmospheric conditions are found between the approach that uses the lever-arm distributions or their mean values. Also, important differences are found when comparing the lever-arm distribution and r P / a = 100. Hence, one should be cautious of using r P / a = 100 for surface/particle pairs differing from those in the original study. Finally, limits of applicability of the theories used are presented together with considerations regarding how to extend the method to non-spherical particles and different materials.

42 ENGINEERING↗

DOE OSTI2021

Topological Frustration as a New Parameter to Tune Morphology Revealed through Exploring the Continuum between A-B-C 3-Arm Star and Linear Triblock Polymers

Block polymers assemble into a variety of phase-separated morphologies based on volume fraction (φ) and interactions (χ) of the respective blocks. The arrangement of three different polymer blocks could either be a 3-arm star, with each block having one terminus attached to a common junction point or a linear A-B-C architecture. A versatile strategy is reported to synthesize a series of well-defined graft polymers that lie along the unexplored continuum between a 3-arm star and an A-B-C linear triblock polymer architecture. Using the technique of single-molecule insertion, precise control over the position of graft arm C along the B chain was achieved. A series of discrete graft polymers (PMMA-b-PS-g-PEO) with fixed φ and prescribed ω values that lie on the continuum between a 3-arm star (ω = 0) and linear triblock polymer (ω = 1) were synthesized. Morphological studies using small-angle X-ray scattering and conventional and energy-filtered transmission electron microscopy reveal the transition between lamellae, perforated lamellae, and cylindrical morphologies with systematic variation in the ω values, a trend attributed to the topological frustration and the associated χ values between the three blocks. Molecular dynamic simulations of coarse-grained models were found to predict phase diagrams that are consistent with the experimentally observed morphologies. Furthermore, our results suggest that changes in ω lead to topological frustration which is an important additional new design parameter that can be used to tune the morphology of multiblock polymers in addition to φ and χ.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2021

Evaluation of CloudSat Radiative Kernels Using ARM and CERES Observations and ERA5 Reanalysis

Despite the widespread use of the radiative kernel technique for studying radiative feedbacks and radiative forcings, there has not been any systematic, observation-based validation of the radiative kernel method. Here, we utilize observed and reanalyzed radiative fluxes and atmospheric profiles from the Atmospheric Radiation Measurement (ARM) program and ERA5 reanalysis to assess a set of observation-based radiative kernels from CloudSat for six ARM sites. The CloudSat radiative kernels, convoluted with the ERA5 state variables, can almost perfectly reconstruct the monthly anomalies of shortwave (SW) and longwave (LW) radiative fluxes in ERA5 at the surface (SFC) and top-of-atmosphere (TOA) with correlations significantly being greater than 0.95. The biases of kernel-estimated flux anomalies calculated using the ARM-observed state variables can be more than twice as large when compared with the ARM-observed surface flux anomalies and Clouds and Earth’s Radiant Energy System (CERES) observed anomalies at the TOA. Generally, clouds contribute to most (>60%) of the variance of flux anomalies at Southern Great Plain (SGP), Tropical Western Pacific (TWP), and Eastern North Atlantic (ENA), and surface albedo dominates (>69%) the variance of SW flux anomalies at North Slope of Alaska (NSA). Furthermore, the radiative kernels exhibit the lowest correlation (r ~ [0.55,0.85]) when reconstructing SFC LW flux anomalies at SGP, TWP, and ENA, whose biases are related to the possibility that the kernels may not fully capture the characteristics associated with MJO and ENSO at TWP and the presence of clouds at SGP and ENA.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2023

Formation of asymmetric arms in barred galaxies

We establish a dynamical mechanism to explain the origin of the asymmetry between the arms observed in some barred disc galaxies, where one of the two arms emanating from the bar ends is very well defined, while the second one displays a ragged structure, extending between its ridge and the bar. To this purpose, we study the invariant manifolds associated with the Lyapunov periodic orbits around the unstable equilibrium points at the ends of the bar. Matter from the galaxy centre is transported along these manifolds to the periphery, forming this way the spiral arms that emanate from the bar ends. If the mass distribution in the galaxy centre is not homogeneous, because of an asymmetric bar with one side stronger than the other, or because of a non-centred bulge, the dynamics about the two unstable Lagrange points at the ends of the bar will not be symmetric as well. One of their invariant manifolds becomes more extended than the other, enclosing a smaller section and the escaping orbits on it are fewer and dispersed in a wider region. The result is a weaker arm and more ragged than the one at the other end of the bar.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2024

Enhancing Discoverability and Management of Atmospheric Data at Scale: Solutions from the ARM Data Center

The Atmospheric Radiation Measurement (ARM) is a multi-laboratory and multi-institutional U.S. Department of Energy (DOE) Office of Science National User Facility. The ARM Data Center (ADC), located at Oak Ridge National Laboratory, collects, archives, and shares vast atmospheric data crucial for climate research. The ADC manages over 7 PB of data from 460 instruments worldwide, processing it into more than 11,000 diverse data products using the Network Common Data Form (NetCDF) for machine-independent accessibility. The primary challenge addressed in this paper is the efficient management and distribution of vast and diverse datasets essential for the climate research community, enhancing accessibility through advanced tools like Data Discovery. The ADC has developed advanced infrastructure and software architecture to handle the continuous influx of heterogeneous data to enhance data discoverability, resulting in increased scientific collaboration. In 2023, users from over 34 countries downloaded and utilized ARM data, resulting in 1,455 publications. The ADC’s efforts have significantly improved the discoverability and usability of atmospheric data, fostering extensive scientific research and collaboration. This paper details the solutions implemented by the ADC team for efficient data discovery and distribution, and it demonstrates ARM’s capability of staging processed data for scientific analysis.

Shah, Chirag [ORNL] (ORCID:0000000203145737)↗