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NASA NTRS2019

ARMS: A Developing Metadata Standard for Describing Astrobiology Research Products

These presentation slides introduce the Astrobiology Resource Metadata Standard (ARMS), a new metadata standard under development at NASA Ames Research Center, in conjunction with the Astrobiology Habitable Environments Database (AHED) project. The intent of this standard is to enable uniform, internet-based search and discovery of astrobiology 'resources', i.e. virtually any product of astrobiology research, including datasets, physical samples, software, publications, websites, images, video, presentations, etc. The current draft of ARMS defines 16 different metadata properties used to describe a given resource, including routine information such as name, resource type, description, personnel, funding, and related publications. But the true power in ARMS lies in four astrobiology-specific pieces of metadata: field site location enables geospatially-restricted search for resources using placenames or geospatial coordinates; research theme associates resources with one of six broad areas of astrobiological research (as identified in the 2015 NASA Astrobiology Strategy document); astrobiology disciplines captures the set of science disciplines most relevant to creation or use of resources; and finally, astrobiology keywords characterize resources in much in the same summarizing way that journal article keywords describe publications. An initial draft of the ARMS standard is being prepared for circulation to the astrobiology community for feedback and revision.

Science Metadata↗
NASA NTRSDate not supplied

Overview of SatCORPS Satellite-Derived Cloud and Radiation Retrieval Coverage of ARM Domains

The ARM Climate Research Facility program maintains a number of climatically representative sites, which provide long-term cloud- and climate-monitoring records via ground-based instrumentation. These measurements provide a valuable data record over a localized region, but can be greatly enhanced by use of satellite monitoring. Satellite analyses over larger domains can provide parameters helpful for monitoring climate and evaluating models. The NASA/Langley Cloud group routinely derives such cloud and radiative parameters, from various geostationary and polar-orbiting satellite coverage over ARM sites; the group provides near-realtime analyses covering the 3 ARM fixed sites, as well as the GO-Amazon AMF site. This is accomplished by employing a suite of algorithms including VISST (Visible Infrared Solar Split-Window Technique), SIST (Solar Infrared Split-Window Technique), and SINT (Solar-infrared Infrared Near-Infrared Technique), now collectively called SatCORPS (Satellite Cloud Observations and Radiative Property retrieval System). An overview and catalog of SatCORPS-derived datasets processed for ASR, and available from both the ARM archive and the NASA/Langley Cloud group website, is provided. Specific improvements included in recently added datasets such as GO-Amazon and Azores are highlighted, including an improved cloud-detection mask, as well as improvements in derived Top-of-Atmosphere (TOA) SW albedoes and LW fluxes. New narrowband-to-broadband (NB-BB) fits and corrections for improved TOA fluxes are illustrated, including MTSAT-1/CERES Aqua NB-BB fits for the TWPICE field campaign, as well as new fits covering the Azores region which incorporate GERB TOA fluxes (Geostationery Earth Radiation Budget). Finally, validation of the reprocessed SatCORPS datasets is shown.

M M Khader↗
NASA NTRS2021

InSight Robotic Arm Testing Activities for HP3 Mole Anomaly Recovery on Mars

The InSight lander’s Heat Flow and Physical Properties Package (HP3 ) was deployed on Mars in February 2019 and began attempting to penetrate to its target depth range of 3-5 meters shortly thereafter. However, the mole’s downward progress stopped after only 35 cm of penetration. In response, the project convened an Anomaly Response Team (ART) and since then has been attempting to diagnose the problem and assist the mole using the tools available on Mars. The key asset used in this effort has been the Instrument Deployment System (IDS), which includes two cameras and a robotic Instrument Deployment Arm (IDA). Since the IDS was originally intended only to deploy InSight’s primary instruments to the Martian surface, new testbed setups, experiments, and operational protocols (e.g., command sequences) were required and had to be developed on a short timeline. The HP3 Mole ART first focused on gathering all observable data on Mars about the state of the mole and Support Structure Assembly (SSA), as well as the physical properties of the Martian regolith. This included using the robotic arm to point the IDC (Instrument Deployment Camera) at the SSA during diagnostic hammering attempts to observe motion of the SSA and science tether. Images taken during these attempts revealed some motion of the SSA, but no apparent change in mole depth. At JPL, the IDS and Testbed teams re-created the hardware configuration on Mars based on limited knowledge of the mole’s state. They devised and tested techniques to use the robotic arm and cameras to accomplish previously untested activities on Mars, including imaging the HP3 , using the IDA to interact with the terrain, and using the IDA to move the SSA away from the partially-embedded mole. The team executed the more promising techniques on Mars. After diagnostic hammering on Mars, the team decided to move the SSA to gain visibility of the mole’s configuration and access to the soil around the mole. After developing the technique and practicing the maneuver in the InSight testbed, the team lifted the SSA on Mars and placed it behind the mole. This revealed a pit surrounding the now exposed mole, observations of which provided essential clues for determining the root cause of the mole’s lack of progress. The IDS and Testbed teams altered the testbed to match the situation on Mars. They devised IDA techniques to determine the Martian soil properties and assist the mole’s descent. They tested these techniques in the testbed and executed the more promising ones on Mars. These include using the robotic arm to alter the regolith near the mole and to push on the mole while it hammers. This paper discusses the anomaly resolution testing in the testbed at JPL, describes how the IDS team prepared for the anomaly recovery activities on Mars, and provides preliminary results of the efforts to assist the HP3 mole on Mars.

Kim, Junggon↗
NASA NTRS2021

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). 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 47 associated with MJO and ENSO at TWP and the presence of clouds at SGP and ENA.

Radiative kernels↗
NASA NTRS2000

MVACS Robotic Arm

The primary purpose of the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm is to support to the other MVACS science instruments by digging trenches in the Martian soil; acquiring and dumping soil samples into the thermal evolved gas analyzer (TEGA); positioning the Soil Temperature Probe (STP) in the soil: positioning the Robotic Arm Air Temperature Sensor (RAATS) at various heights above the surface, and positioning the Robotic Arm Camera (RAC) for taking images of the surface, trench, soil samples, magnetic targets and other objects of scientific interest within its workspace.

robotics robotic arm sampling MVACS↗
NASA NTRS1974

Orthotic arm joint

An improved orthopedic (orthotic) arm joint that can be used in various joint of mechanical arms is described. The arm joints includes a worm, which is coupled to an electric motor for rotating a worm gear carried within a rotatable housing. The worm gear is supported on a thrust bearing and the rotatable housing is supported on a radial thrust bearing. A bolt extends through the housing, bearings, and worm gear for securing the device together. A potentiometer extends through the bolt, and is coupled to the rotatable housing for rotating therewith, so as to produce an electrical signal indicating the angular position of the rotatable housing.

Dane, D. H.↗
NASA NTRS1977

Proto-Flight Manipulator Arm (P-FMA)

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Britton, W. R.↗
NASA NTRS1981

Simplified robot arm dynamics for control

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

Bejczy, A. K.↗
NASA NTRS1983

Kinematic equations for resolved-rate control of an industrial robot arm

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Barker, L. K.↗
NASA NTRS1983

Dynamic analysis for robot arm control

Explicit state equations provide detailed analytic insight into the dynamic behavior of a robot arm and facilitate the understanding of the control problem. The analytic strength of explicit state equations is exemplified for a given robot arm. In fact, for the quoted example, the explicit and exact state equations involve considerably less computation than the use of the known most efficient general-purpose computational algorithm for robot arm dynamics.

Bejczy, A. K.↗
NASA NTRS1984

On the '3 kiloparsec arm' - Resonance excitation of linear and nonlinear waves by an oval distortion in the central region

The mechanism responsible for the massive rapidly expanding Galactic feature known as the 3-kpc arm (Rougoor and Oort, 1960) is investigated theoretically in the framework of a density-wave model of the Galaxy. The arm is attributed to outgoing waves excited at the outer Lindblad resonance (OLR) of a small rotating oval distortion near the Galactic center. Linear and nonlinear models are developed, and it is shown that a density crest at 3.5 kpc with expansion velocity 53 km/s can be generated by a distortion turning at 118 km/s kpc with a 10-percent perturbation of the main gravitational field at the OLR (located at 3 kpc). The wave character of the nonlinear solution is found to be the same as that of the linear solution and to give good agreement with the observations in terms of expansion velocity, size, shape, and mass; only the observed asymmetry of the arm is not reproduced.

Yuan, C.↗
NASA NTRS1985

Extended moment arm anti-spin device

A device which corrects aerodynamic spin is provided in which a collapsible boom extends an aircraft moment arm and an anti-spin parachute force is exerted upon the end of the moment arm to correct intentional or inadvertent aerodynamic spin. This configuration effects spin recovery by means of a parachute whose required diameter decreases as an inverse function of the increasing length of the moment arm. The collapsible boom enables the parachute to avoid the aircraft wake without mechanical assistance, retracts to permit steep takeoff, and permits a parachute to correct spin while minimizing associated aerodynamic, structural and in-flight complications.

Whipple, R. D.↗
NASA NTRS1983

Robot arm dynamic model reduction for control

General methods are described by which the mathematical complexities of explicit and exact state equations of robot arms can be reduced to a simplified and compact state equation representation without introducing significant errors into the robot arm dynamic model. The model reduction methods are based on homogeneous coordinates and on the Langrangian algorithm for robot arm dynamics, and utilize matrix, vector and numeric analysis techniques. The derivation of differential vector representation of centripetal and Coriolis forces which has not yet been established in the literature is presented.

Bejczy, A. K.↗
NASA NTRS1986

Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms

The Denavit-Hartenberg parameters define the relative location of successive joint axis systems in a robot arm. A recent justifiable criticism is that one of these parameters becomes extremely large when two successive joints have near-parallel rotational axes. Geometrically, this parameter then locates a joint axis system at an excessive distance from the robot arm and, computationally, leads to an ill-conditioned transformation matrix. In this paper, a simple modification (which results from constraining a transverse vector between successive joint rotational axes to be normal to one of the rotational axes, instead of both) overcomes this criticism and favorably locates the joint axis system. An example is given for near-parallel rotational axes of the elbow and shoulder joints in a robot arm. The regular and modified parameters are extracted by an algebraic method with simulated measurement data. Unlike the modified parameters, extracted values of the regular parameters are very sensitive to measurement accuracy.

Barker, L. K.↗
NASA NTRS1986

Anthropometric considerations for a 4-axis side-arm flight controller

A data base on multiaxis side-arm flight controls was generated. The rapid advances in fly-by-light technology, automatic stability systems, and onboard computers have combined to create flexible flight control systems which could reduce the workload imposed on the operator by complex new equipment. This side-arm flight controller combines four controls into one unit and should simplify the pilot's task. However, the use of a multiaxis side-arm flight controller without complete cockpit integration may tend to increase the pilot's workload.

Debellis, W. B.↗
NASA NTRS1987

Molecular clouds in the Carina arm - Large-scale properties of molecular gas and comparison with H I

Results from the first large-scale survey in the CO (J = 1 - 0) line of the Vela-Carina-Centaurus region of the southern Milky Way are reported. The results demonstrate that molecular clouds in the Galaxy are largely confined to the spiral arms and that CO is therefore an extremely good tracer of the large-scale structure of the system. The Carina arm is the dominant feature in the data. Its abrupt tangent at l of roughly 280 deg and characteristic loop in the (l, v) diagram are unmistakable evidence for CO spiral structure. When the emission is integrated over velocity and latitude, the height of the step seen in the tangent direction indicate that the arm-interarm contrast is at least 13:1.

Grabelsky, D. A.↗
NASA NTRS1988

Position And Force Control For Multiple-Arm Robots

Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.

Hayati, Samad A.↗