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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 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Long‐Term Large‐Scale Atmospheric Forcing Data From Three‐Dimensional Constrained Variational Analysis for the ARM SGP Site

Here, this study presents a long‐term three‐dimensional large‐scale forcing data set (VARANAL3D) derived from the three‐dimensional constrained variational analysis (3DCVA) method at the Atmospheric Radiation Measurement (ARM) program Southern Great Plains (SGP) site from 2004 to 2018. Building on the same input data sets as the conventional continuous forcing data set (VARANAL), VARANAL3D maintains overall consistency in domain‐averaged fields while introducing spatial variability, offering critical insights into the influence of mesoscale synoptic systems on cloud‐related processes. Evaluations are conducted across four cloud and precipitation regimes: Clear‐sky, Shallow‐clouds, Afternoon‐precipitation, and Nocturnal‐precipitation, presenting high consistency of the domain‐mean forcing data sets while emphasizing the role of subdomain forcing variability particularly in precipitating regimes. Single column model (SCM) simulations demonstrate that subdomain VARANAL3D forcing improves cloud and precipitation representation, with the ensemble outperforming domain‐mean forcing in three cloudy and precipitating regimes. Overall, these results highlight VARANAL3D's value for investigating the impacts of spatial variability of large‐scale forcing on atmospheric processes. The VARANAL3D data set provides new opportunities for evaluating model physics, advancing the development of scale‐aware parameterizations and deepening our understanding of cloud and precipitation dynamics.

Environmental sciences↗
DOE OSTI2026

Synthesis of ARM User Facility Surface Rainfall Datasets to Construct a Best Estimate Value Added Product (PrecipBE)

Surface precipitation measurements are essential for Earth system model (ESM) evaluation and understanding cloud processes. An ever-growing need for robust, temporally evolving, and easy-to-use statistical datasets provides motivation for a baseline ground-based precipitation properties data product. The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility operates an extensive suite of precipitation instruments with various sensitivities and operating mechanisms, which render the decision of which instrument to use based on one or more fixed thresholds challenging and prone to errors and bias. Using a long-term instrument inter-comparison from a unique per-precipitation event perspective, rather than instantaneous sample comparison, we demonstrate that ARM rainfall-measuring instruments are generally consistent with each other at the statistical level. Inter-instrument deviations at the single event level can be large, especially for specific rainfall event properties such as maximum precipitation rates. A machine-learning (ML) analysis using a random forest regressor indicates that in some cases, depending on instrument, local site climatology, and/or specific deployment configuration, certain atmospheric state variables influence the measured quantities in an unpredictable manner. Thus, a-priori weighting of different instruments does not necessarily lead to more accurate and less biased synthesis of instrument data. These results motivate the design of the ARM precipitation best-estimate (PrecipBE) value-added product, which incorporates all valid precipitation data while considering data quality and other instrument limitations. PrecipBE consists of time series and tabular statistics datasets in an easy-to-use and insightful per-precipitation event format. It provides a large set of precipitation event properties supplemented with ancillary data from ARM datasets that correspond to the detected precipitation events. We describe the PrecipBE algorithm and demonstrate its use via the examination of a single-day output as well as a long-term trend analysis of precipitation events at the ARM Southern Great Plains (SGP) site, covering more than 30 years of data. The trend analysis tentatively suggests a long-term temporal tendency for mainly shorter and less intense precipitation events at the SGP site, but a long-term increase in annual rainfall by more than 36 mm (5 %) per decade. This rainfall trend is catalyzed primarily by more extreme event properties of relatively rare, intense precipitation events, with event total and 1 min maximum precipitation rate at a 1 year timeframe increasing up to 5 mm and 9 mm h −1 (several percent) per decade, respectively. While the currently available PrecipBE datasets (at https://adc.arm.gov/discovery/, last access: 8 December 2025) cover rainfall from multiple ARM deployments up to March 2025, PrecipBE is planned to be expanded to include solid-phase precipitation and will soon become an operational product with a several-day lag from real-time. We invite the ARM user community to leverage this new product and welcome user feedback to further enhance the dataset.

Silber, Israel [Pacific Northwest National Laborat↗
NASA NTRS1990

Kinematically redundant arm formulations for coordinated multiple arm implementations

Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation.

Robert W Bailey↗
NASA NTRS1979

Controller arm for a remotely related slave arm

A segmented controller arm configured and dimensioned to form a miniature kinematic replica of a remotely related slave arm is disclosed. The arm includes: (1) a plurality of joints for affording segments of the arm simultaneous angular displacement about a plurality of pairs of intersecting axes, (2) a plurality of position sensing devices for providing electrical signals indicative of angular displacement imparted to corresponding segments of the controller shaft about the axes, and (3) a control signal circuit for generating control signals to be transmitted to the slave arm. The arm is characterized by a plurality of yokes, each being supported for angular displacement about a pair of orthogonally related axes and counterbalanced against gravitation by a cantilevered mass.

Salisbury, J. K., Jr.↗
NASA NTRS1988

Molecular clouds in the Carina arm - The largest objects, associated regions of star formation, and the Carina arm in the Galaxy

The Columbia CO survey of the southern Galactic plane is used to identify giant molecular clouds and cloud complexes in the Vela-Carina-Centaurus section of the Galaxy. Twenty-seven giant molecular clouds between l = 270 and 300 deg are catalogued and their heliocentric distances given. In addition, 16 clouds at l greater than 300 deg beyond the solar circle extend the catalog to include the very distant portion of the Carina arm. The most massive clouds in the catalog trace the Carina arm over 23 kpc in the plane of the Galaxy. The average mass of these objects is 1.4 x 10 to the 6th solar, and their average spacing along the arm is 700 pc. The composite distribution projected onto the Galactic plane of the largest molecular clouds in the Carina arm and of similarly massive clouds in the first and second quadrants strongly suggests that the Carina and Sagittarius arms form a single spiral arm about 40 kpc in length wrapping two-thirds of the way around the Galaxy. Descriptions of each cloud, including identification of associated star-forming regions, are presented in an appendix.

Grabelsky, D. A.↗
NASA NTRS1989

Dual redundant arm configuration optimization with task-oriented dual arm manipulability

It is shown that the required motion and force trajectories of a given task can be abstracted by a series of desired manipulability ellipsoids, and that a task-oriented dual-arm manipulability measure (TODAMM) can be mathematically defined by quantifying how the manipulability of one arm affects the other and measuring the geometrical closeness between the desired and the actual manipulability ellipsoids. TODAMM can be used in the optimization of dual-arm joint configurations. The task-oriented manipulability measure developed can also be used in the joint configuration optimization of a single arm, providing efficient joint configurations in terms of joint motions and joint torques for the required Cartesian motions and static forces. The dual-arm joint configuration optimization based on TODAMM can be applied to a variety of tasks which require dual-arm cooperation.

Lee, Sukhan↗
DOE OSTI2025

Over three decades, and counting, of near-surface turbulent flux measurements from the Atmospheric Radiation Measurement (ARM) user facility

Processes mediating the coupling of terrestrial, aquatic, biospheric, and atmospheric systems influence weather, climate, and ecosystem dynamics via transfer of energy, momentum, water, and carbon (or other species). These exchange processes are quantified by measurements of near-surface turbulent fluxes. Understanding processes at these interfaces provides insight toward understanding and predicting current and future states within the Earth system. The Atmospheric Radiation Measurement (ARM) user facility has been conducting measurements of near-surface turbulent fluxes since the early 1990s at long-term fixed locations and shorter-term mobile deployments across the Earth. ARM has utilized two established methods for conducting these measurements: energy balance Bowen ratio (EBBR) and eddy covariance (EC). Primary measurements from the former include sensible and latent heat flux, while the latter also measures fluxes of momentum and carbon (primarily carbon dioxide, with methane fluxes measured at two locations to date). The EBBR systems have been deployed at 22 locations, and, to date, the EC systems have been deployed at over 50 sites, with plans for additional novel site locations in the future. Herein, the history, evolution, and key aspects of these instrument systems are documented, along with information on data quality assurance and post-processing, as well as best use practices. Additionally, three data validation experiments were recently conducted, and their key findings are summarized. Finally, ancillary datasets acquired by ARM, which can contextualize and aid interpretation of the near-surface turbulent flux measurements, are discussed. The datasets described herein include the eddy correlation flux measurement system: 30ECOR (https://doi.org/10.5439/1879993, Sullivan et al., 1997), 30QCECOR (https://doi.org/10.5439/1097546, Gaustad, 2003), ECORSF (https://doi.org/10.5439/1494128, Sullivan et al., 2019a), and associated AmeriFlux and Methane Value-Added Product, AMCMETHANE (https://doi.org/10.5439/1508268, Billesbach, 2011); the energy balance Bowen ratio system: 30EBBR (https://doi.org/10.5439/1023895, Sullivan et al., 1993) and 30BAEBBR (https://doi.org/10.5439/1027268, Gaustad and Xie, 1993); and the carbon dioxide flux measurement system: CO2FLX (https://doi.org/10.5439/1287574, https://doi.org/10.5439/1287575, https://doi.org/10.5439/1287576, Koontz et al., 2015a, b, c; https://doi.org/10.5439/1989774, https://doi.org/10.5439/1989776, https://doi.org/10.5439/1992202, Biraud and Chan, 2002a, b, c). These data can be found by searching the above data stream names at https://adc.arm.gov/discovery/#/results/ (last access: 8 September 2025).

Sullivan, Ryan C. [Argonne National Laboratory (AN↗
DOE OSTI2025

Long-term measurements of ice nucleating particles at Atmospheric Radiation Measurement (ARM) sites worldwide

Ice nucleating particles (INPs) play a critical role in cloud microphysics and precipitation formation, yet long-term, spatially extensive observational datasets remain limited. Here, we present one of the most comprehensive publicly available datasets of immersion-mode INP concentrations using a single analytical method, generated through the U.S. Department of Energy's (DOE) Atmospheric Radiation Measurement (ARM) user facility. INP filter samples have been collected across a broad range of environments – including agricultural plains, Arctic coastlines, high-elevation mountain sites, marine regions, and urban areas – via fixed observatories, mobile facility deployments, and vertically-resolved tethered balloon system operations. We describe the standardized processing and quality assurance pipeline, from filter collection and processing using the Ice Nucleation Spectrometer to final data products archived on the ARM Data Discovery portal. The dataset includes both total INP concentrations and selectively treated samples, allowing for classification of biological, organic, and inorganic INP types. It features a continuous 5-year record of INP measurements from a central U.S. site, with data collection still ongoing. Seasonal and site-specific differences in INP concentrations are illustrated through intercomparisons at −10 and −20 °C, revealing distinct regional sources and atmospheric drivers. We also outline mechanisms for researchers to access existing data, request additional sample analyses, and propose future field campaigns involving ARM INP measurements. This dataset supports a wide range of scientific applications, from observational and mechanistic studies to model development, and provides critical constraints on aerosol-cloud interactions across diverse atmospheric regimes (Creamean et al., 2024, 2020b; https://doi.org/10.5439/1770816).

Creamean, Jessie M. [Colorado State Univ., Fort Co↗
NASA NTRS1999

Haptic stabilization of posture: changes in arm proprioception and cutaneous feedback for different arm orientations

Postural sway during quiet stance is attenuated by actively maintained contact of the index finger with a stationary surface, even if the level of applied force (<1 N) cannot provide mechanical stabilization. In this situation, changes in force level at the fingertip lead changes in center of foot pressure by approximately 250 ms. These and related findings indicate that stimulation of the fingertip combined with proprioceptive information about the hand and arm can serve as an active sensor of body position relative to the point of contact. A geometric analysis of the relationship between hand and torso displacement during body sway led to the prediction that arm and hand proprioceptive and finger somatosensory information about body sway would be maximized with finger contact in the plane of body sway. Therefore, the most postural stabilization should be possible with such contact. To test this analysis, subjects touched a laterally versus anteriorly placed surface while in each of two stances: the heel-to-toe tandem Romberg stance that reduces medial-lateral stability and the heel-to-heel, toes-outward, knees-bent, "duck stance" that reduces fore-aft stability. Postural sway was always least with finger contact in the unstable plane: for the tandem stance, lateral fingertip contact was significantly more effective than frontal contact, and, for the duck stance, frontal contact was more effective than lateral fingertip contact. Force changes at the fingertip led changes in center of pressure of the feet by approximately 250 ms for both fingertip contact locations for both test stances. These results support the geometric analysis, which showed that 1) arm joint angles change by the largest amount when fingertip contact is maintained in the plane of greatest sway, and 2) the somatosensory cues at the fingertip provide both direction and amplitude information about sway when the finger is contacting a surface in the unstable plane.

Non-NASA Center↗
DOE OSTI2025

Comparison of CERES SYN1deg Radiative Fluxes with Those Derived from Observations at the ARM ENA Site

Profiles of radiative fluxes simulated from thermodynamic and cloud observations made at the Atmospheric Radiation Measurement (ARM) eastern North Atlantic (ENA) site for a 6-yr period are termed as ENARad. ENARad radiative fluxes are compared to those from the Clouds and the Earth’s Radiant Energy System (CERES) 1°-resolution synoptic product (SYN1deg)-simulated radiative flux profiles as well as the CERES instrument observed top-of-the-atmosphere (TOA) fluxes and ground site broadband radiometer measurements. Monthly average differences between ENARad and surface radiometer reported fluxes and differences between ENARad, SYN1deg, and observed fluxes at TOA were statistically insignificant. SYN1deg significantly overestimated surface downwelling shortwave flux by 12 ± 52 W m −2 and surface downwelling longwave flux by 5 ± 20 W m −2 on monthly time scales. Such overestimations were traced to a moister and warmer subcloud layer, a drier cloud layer, and a moister and colder above-cloud-free troposphere in the ancillary thermodynamic and cloud properties used by SYN1deg than observed. Similarly, low-cloud coverage, boundaries, and liquid water paths utilized by SYN1deg were also significantly higher than observed. Intramodel differences in the hourly values of shortwave fluxes exceeded 100 W m−2 at the TOA and the surface. These differences were also due to inaccuracies in the representation of low-cloud properties within the SYN1deg product relative to those determined by ENA ARM instrumentation and used as ENARad ancillary data. Results presented are relevant to investigations employing the CERES SYN1deg data product, studies that estimate radiative fluxes from surface-based or satellite-borne observations, and comparative analyses of radiative fluxes derived using different methodological approaches.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1995

Cloud Properties Derived From GOES-7 for Spring 1994 ARM Intensive Observing Period Using Version 1.0.0 of ARM Satellite Data Analysis Program

This document describes the initial formulation (Version 1.0.0) of the Atmospheric Radiation Measurement (ARM) program satellite data analysis procedures. Techniques are presented for calibrating geostationary satellite data with Sun synchronous satellite radiances and for converting narrowband radiances to top-of-the-atmosphere fluxes and albedos. A methodology is documented for combining geostationary visible and infrared radiances with surface-based temperature observations to derive cloud amount, optical depth, height, thickness, temperature, and albedo. The analysis is limited to two grids centered over the ARM Southern Great Plains central facility in north-central Oklahoma. Daytime data taken during 5 Apr. - 1 May 1994, were analyzed on the 0.3 deg and 0.5 deg latitude-longitude grids that cover areas of 0.9 deg x 0.9 deg and 10 deg x 14 deg, respectively. Conditions ranging from scattered low cumulus to thin cirrus and thick cumulonimbus occurred during the study period. Detailed comparisons with hourly surface observations indicate that the mean cloudiness is within a few percent of the surface-derived sky cover. Formats of the results are also provided. The data can be accessed through the World Wide Web computer network.

Minnis, Patrick↗
NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗
DOE OSTI2025

Exposing Process‐Level Biases in a Global Cloud Permitting Model With ARM Observations

The emergence of global convective‐permitting models (GCPMs) represents a significant advancement in climate modeling, offering improved representation of deep convection and complex precipitation patterns. In this study, we evaluate the performance of the Simple Cloud‐Resolving E3SM Atmosphere Model (SCREAM) using its doubly periodic configuration (DP‐SCREAM) against large eddy simulations and modern observational data sets from the Atmospheric Radiation Measurement program. We introduce several new transitional cloud regime cases, such as the transition from shallow to deep convection and from stratocumulus to cumulus, as well as cold‐air outbreak scenarios. The results reveal both strengths and limitations of SCREAM, particularly in the accurate simulation of cloud transitions and midlevel convection, with varying degrees of sensitivity to horizontal and vertical resolution. Despite improvements at higher resolutions, key biases remain, including the abrupt transition from shallow to deep convection and the lack of congestus clouds. These findings underscore the need for further refinement in turbulence parameterizations and vertical grid resolution in GCPMs.

Bogenschutz, Peter A. [Lawrence Livermore National↗
NASA NTRS2004

Sensory-Feedback Exoskeletal Arm Controller

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

An, Bin↗
NASA NTRS1990

Dual redundant arm system operational quality measures and their applications - Dynamic measures

Dual-arm dynamic operation quality measures are presented which quantify the efficiency and capability of generating Cartesian accelerations by two cooperative arms based on the analysis of dual-arm dynamic interactions. Dual-arm dynamic manipulability is defined as the efficiency of generating Cartesian accelerations under the dynamic and kinematic interactions between individual arms and an object under manipulation. The analysis of dual-arm dynamic interactions is based on the so-called Cartesian space agent model of an arm, which represents an individual arm as a force source acting upon a point mass with the effective Cartesian space arm dynamics and an environment or an object under manipulation. The Cartesian space agent model of an arm makes it possible to derive the dynamic and kinematic constraints involved in the transport, assembly and grasping modes of dual-arm cooperation. A task-oriented operational quality measure, (TOQd) is defined by evaluating dual-arm dynamic manipulability in terms of given task requirements. TOQd is used in dual-arm joint configuration optimization. Simulation results are shown. A complete set of forward dynamic equations for a dual-arm system is derived, and dual-arm dynamic operational quality measures for various modes of dual-arm cooperation allowing sliding contacts are established.

Lee, Sukhan↗