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This presentation provides an overview of key concepts in arms control, a history of nuclear arms control agreements, some of the contemporary challenges and opportunities in the field, a discussion of the process for negotiating arms control agreements, and updates on recent developments.
Mission and Vision Statements for the U.S. Department of Energy (DOE)’s Atmospheric Radiation Measurement (ARM) Climate Research Facility Mission The ARM Climate Research Facility, a DOE scientific user facility, provides the climate research community with strategically located in situ and remote-sensing observatories designed to improve the understanding and representation, in climate and earth system models, of clouds and aerosols as well as their interactions and coupling with the Earth’s surface. Vision To provide a detailed and accurate description of the Earth atmosphere in diverse climate regimes to resolve the uncertainties in climate and Earth system models toward the development of sustainable solutions for the nation's energy and environmental challenges.
Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot’s body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm’s exploration tendency based on the arm’s collision history improves the system’s ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.
“Now!” With that word, the Atomic Age – and the era of nuclear weapons testing – dawned. The advent of World War II’s first irresistible weapon, which had been secretly tested in the New Mexico desert in July 1945, would help hasten the inevitable: complete victory for the Allies. Codenamed Trinity, the test was the first of over a thousand conducted by the United States between 1945 and 1992. Nuclear weapons would change future clashes as well. The looming Cold War, with roots stretching all the way back to 1917, was history’s first conflict between two, major nations armed with nuclear weapons. It is clear the existence of those weapons played an important role in maintaining a tenuous peace between the United States and the Soviet Union; it is also clear nuclear weapons testing played a prominent role in fueling both the arms race and the success of deterrence. Yet, the history of nuclear weapons testing is rarely remembered, even though nuclear tests have been performed in the very recent past. Of the estimated 2,000-plus nuclear tests ever performed, the U.S. is responsible for approximately half. This is the story of U.S. full-scale nuclear weapons testing.
The Manned Maneuvering Unit (MMU) and its support equipment provide an extravehicular astronaut mobility, and the ability to work outside the confines of the Shuttle Orbiter payload bay. The MMU design requirements are based on the highly successful Skylab M-509 maneuvering unit. Design of the MMU was started as an R&D effort in April 1975 and Flight Hardware design was started in August 1979 to support a possible requirement for in-space inspection and repair of Orbiter thermal protection tiles. Subsequently, the qualification test and production activities were slowed, and the current projected earliest first flight is now STS-11 in January, 1984. The MMU propulsion subsystem provides complete redundancy with two identical "system". Each system contains a high pressure gaseous nitrogen tank, an isolation valve, a regulator, and twelve 1.7 lbf (7.5 N) thrusters. The thrusters are packaged to provide the crew member six-degree-of-freedom control in response to commands from translational and rotational hand controllers. This paper discusses the MMU control arm requirements, design, and developmental history.
ABSTRACT We obtain a quantitative star formation history (SFH) of a shell-like structure (‘shell’) located in the northeastern part of the Small Magellanic Cloud (SMC). We use the Survey of the MAgellanic Stellar History to derive colour–magnitude diagrams (CMDs), reaching below the oldest main-sequence turnoff, from which we compute the SFHs with CMD-fitting techniques. We present, for the first time, a novel technique that uses red clump (RC) stars from the CMDs to assess and account for the SMC’s line-of-sight depth effect present during the SFH derivation. We find that accounting for this effect recovers a more accurate SFH. We quantify an $\sim$7 kpc line-of-sight depth present in the CMDs, in good agreement with depth estimates from RC stars in the northeastern SMC. By isolating the stellar content of the northeastern shell and incorporating the line-of-sight depth into our calculations, we obtain an unprecedentedly detailed SFH. We find that the northeastern shell is primarily composed of stars younger than $\sim$500 Myr, with significant star formation enhancements around $\sim$250 and $\sim$450 Myr. These young stars are the main contributors to the shell’s structure. We show synchronicity between the northeastern shell’s SFH with the Large Magellanic Cloud’s (LMC) northern arm, which we attribute to the interaction history of the SMC with the LMC and the Milky Way (MW) over the past $\sim$500 Myr. Our results highlight the complex interplay of ram pressure stripping and the influence of the MW’s circumgalactic medium in shaping the SMC’s northeastern shell.
The U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility held a two-day workshop at the National Science Foundation National Center for Atmospheric Research in Boulder, Colorado in November 2023 to discuss the history and future of the Large-Eddy Simulation (LES) ARM Symbiotic Simulation and Observation (LASSO) activity. LASSO is a suite of data products focused on supplementing ARM observations with high-resolution modeling. The workshop used a hybrid format with 15 invited, in-person attendees and 36 virtual attendees logging in for portions of the workshop. Many topics were covered at the workshop, with this report reflecting the ensuing discussion. Some topics discussed had clear conclusions while others require further thought, given the breadth of topics included in a short workshop.
The Treaty on the Nonproliferation of Nuclear Weapons (NPT), with its quinquennial review conferences (RevCons), has become the foundation of the international nonproliferation regime over the course of its 50-year history. With more states parties than any other arms control agreement (currently 191), the Treaty provides a legally binding framework for all states parties, constraining proliferation of nuclear weapons and committing the five recognized states who possess nuclear weapons to work toward disarmament. The NPT has enjoyed wide success in constraining the spread of nuclear weapons. Only one state party has left the agreement and gone on to acquire these weapons, and the overall track record of compliance with IAEA safeguards has been robust. However, for all its effectiveness in the area of nonproliferation, its achievements on the disarmament front have been relatively unimpressive. While the NWS – most notably the United States and the Soviet Union/Russia – have decreased the overall size of their nuclear arsenals significantly since 1970, these arsenals have remained an important feature of NWS security policies. The limited progress towards disarmament has created friction between the NNWS and NWS and has been the source of mounting tension within the NPT regime. The 2020 RevCon, the 50th anniversary of the NPT and 25th anniversary of its indefinite extension, faces a range of contentious challenges, old and new, which call into question the Treaty’s future viability.
A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived. Arm trajectories using sequences of third-degree polynomials to describe the time history of each joint variable are presented and two approaches to the avoidance of obstacles are given. The equations of motion for the arm are derived and then decomposed into time-dependent factors and time-independent coefficients. Several new and simplifying relationships among the coefficients are proven. Two sample trajectories are analyzed in detail for purposes of determining the most important contributions to total force in order that relatively simple approximations to the equations of motion can be used.
Mild traumatic brain injury (TBI) is associated with persistent sleep-wake dysfunction, including insomnia and circadian rhythm disruption, which can exacerbate functional outcomes including mood, pain, and quality of life. Present therapies to treat sleep-wake disturbances in those with TBI (e.g., cognitive behavioral therapy for insomnia) are limited by marginal efficacy, poor patient acceptability, and/or high patient/provider burden. Thus, this study aimed to assess the feasibility and preliminary efficacy of morning bright light therapy, to improve sleep in Veterans with TBI (NCT03578003). Thirty-three Veterans with history of TBI were prospectively enrolled in a single-arm, open-label intervention using a lightbox (~10,000 lux at the eye) for 60-minutes every morning for 4-weeks. Pre- and post-intervention outcomes included questionnaires related to sleep, mood, TBI, post-traumatic stress disorder (PTSD), and pain; wrist actigraphy as a proxy for objective sleep; and blood-based biomarkers related to TBI/sleep. The protocol was rated favorably by ~75% of participants, with adherence to the lightbox and actigraphy being ~87% and 97%, respectively. Post-intervention improvements were observed in self-reported symptoms related to insomnia, mood, and pain; actigraphy-derived measures of sleep; and blood-based biomarkers related to peripheral inflammatory balance. The severity of comorbid PTSD was a significant positive predictor of response to treatment. Morning bright light therapy is a feasible and acceptable intervention that shows preliminary efficacy to treat disrupted sleep in Veterans with TBI. A full-scale randomized, placebo-controlled study with longitudinal follow-up is warranted to assess the efficacy of morning bright light therapy to improve sleep, biomarkers, and other TBI related symptoms.
The general association of luminous young stars with spiral arms in galaxies has led to widespread acceptance of the idea that the formation of massive stars, at least, is somehow triggered by the interaction of interstellar gas clouds with a spiral density wave. A very simple model for the gas in a spiral galaxy, with a specified initial surface density and angular velocity is examined. Typical results from this simple model, with parameters appropriate to NGC 6946, are shown. The accuracy of the presumption that the molecular gas distributions in galaxies is based upon observations of CO J = 1-0 emission, is discussed.
The crisis of arms control is obvious and broadly discussed among states, within the world’s expert community and to a lesser extent the media. This crisis has at least three building blocks: Russia continues to violate or undermine key arms control treaties and commitments; China rejects to join the existing arms control architecture; and both countries heavily invest in the modernization of their armed forces, including development of the nuclear arsenals. In the current highly competitive environment, arms control is more difficult to achieve and is likely to accomplish less than what was optimistically anticipated a generation ago. The growing pressure to “save arms control at all cost”, often expressed by the Western expert community, further complicates the situation. The excessively aspirational and ideological approach to arms control – in which arms control, disarmament, and non-proliferation (ADN) become a silver bullet solution – is as dangerous as security and defence policies which entirely exclude ADN. As James Cameron rightly points out, “history should teach policy-makers to look beyond formulae for strategic stability to other ways in which arms control can help to contain disruptive challenges to the balance of power and minimize the chances of war”.
A general method of generating optimal trajectories between an initial and a final position of an n degree of freedom manipulator arm with nonlinear equations of motion is proposed. The method is based on the assumption that the time history of each of the coordinates can be expanded in a series of simple time functions. By searching over the coefficients of the terms in the expansion, trajectories which minimize the value of a given cost function can be obtained. The method has been applied to a planar three degree of freedom arm.
The 1998 lander payload consists of a descent imager, the Mars Volatiles and Climate Surveyor (MVACS) instruments (lander stereo camera, arm-mounted close-up imager, meteorology package, thermal and evolved gas analyzer), and a LIDAR instrument. The mission focuses on assessment of near-surface water ice in the south polar region, and the volatile and climate history of Mars. In order to achieve these objectives, the landing site must allow access to polar layered deposits by the robotic arm, which may be able to dig as much as 0.5 m below the surface. Hence, the presence of recent aeolian debris at the landing site may adversely affect the ability of the MVACS instruments to gather the samples and acquire data needed to properly address the science objectives. The studies described here include mapping surface units in the landing region (73S - 77S, 140W - 230W) to infer the distribution of aeolian debris and to identify potential landing sites where mantling is minimal. Because the '98 lander will not be able to survive very low temperature conditions, this study also includes mapping of south polar seasonal frost retreat based on Viking Orbiter images. The results of this work, in conjunction with complementary studies by other investigators, will facilitate the selection of the Mars Surveyor 1998 landing site (and backup) by the summer of 1998.
During rapid rolling maneuvers, the F-16 XL aircraft exhibits a 2.5 Hz lightly damped roll oscillation, perceived and described as 'roll ratcheting.' This phenomenon is common with fly-by-wire control systems, particularly when primary control is derived through a pedestal-mounted side-arm controller. Analytical studies have been conducted to model the nature of the integrated control characteristics. The analytical results complement the flight observations. A three-degree-of-freedom linearized set of aerodynamic matrices was assembled to simulate the aircraft plant. The lateral-directional control system was modeled as a linear system. A combination of two second-order transfer functions was derived to couple the lateral acceleration feed through effect of the operator's arm and controller to the roll stick force input. From the combined systems, open-loop frequency responses and a time history were derived, describing and predicting an analogous in-flight situation. This report describes the primary control, aircraft angular rate, and position time responses of the F-16 XL-2 aircraft during subsonic and high-dynamic-pressure rolling maneuvers. The analytical description of the pilot's arm and controller can be applied to other aircraft or simulations to assess roll ratcheting susceptibility.
The solidification kinetics involved in the process of melt spinning a Ni-base superalloy have been characterized. Through a correlation of ribbon thickness to melt puddle residence time, it was found that the solidification front velocity, V, is typically about 100 mm/sec at the ribbon surface not in contact with the spinning wheel. The rate of solidification varies within the ribbon, increasing with decreasing distance, S, from the wheel-contact surface as V = 3.65/s. Ribbon microstructure and texture characteristics are discussed in light of this kinetics result. The thickness-vs-time correlation was further analyzed to yield information about thermal history during ribbon formation. These thermal results are generally consistent with those deduced from dendrite arm spacing measurements.
Background: Hip strength is an important factor for control of the lumbo-pelvic-hip complex. Deficits in hip strength may affect throwing performance and contribute to upper extremity injuries. Hypothesis: Deficits in hip abduction isometric strength would be greater in those who sustained an upper extremity injury and hip strength would predict injury incidence. Study Design: Prospective cohort study. Level of Evidence: Level 3. Methods: Minor League baseball players (n = 188, age = 21.5 ± 2.2 years; n = 98 pitchers; n = 90 position players) volunteered. Hip abduction isometric strength was assessed bilaterally with a handheld dynamometer in side-lying position, expressed as torque using leg length (N·m). Hip abduction strength asymmetry was represented by [(trail leg/lead leg) × 100]. Overuse or nontraumatic throwing arm injuries were prospectively tracked. Poisson regression models were used to estimate relative risk ratios associated with hip asymmetry; confounders, including history of prior overuse injury in the past year, were included. Results: Hip abduction asymmetry ranged from 0.05% to 57.5%. During the first 2 months of the season, 18 players (n = 12 pitchers) sustained an upper extremity injury. In pitchers, for every 5% increase in hip abduction asymmetry, there was a 1.24 increased risk of sustaining a shoulder or elbow injury. No relationship between hip abduction strength and injury was observed for position players. Conclusion: Hip abduction asymmetry in pitchers was related to subsequent upper extremity injuries. The observed risk ratio indicates that hip abduction asymmetry may contribute a significant but small increased risk of injury. Clinical Relevance: Hip abduction muscle deficits may affect pitching mechanics and increase arm stress. Addressing hip asymmetry deficits that exceed 5% may be beneficial in reducing upper extremity injury rates in pitchers.
An instrumented task board was developed at NASA Marshall Space Flight Center (MSFC). An overview of the task board design, and current development status is presented. The task board was originally developed to evaluate operator performance using the Protoflight Manipulator Arm (PFMA) at MSFC. The task board evaluates tasks for Orbital Replacement Unit (ORU), fluid connect and transfers, electrical connect/disconnect, bolt running, and other basic tasks. The instrumented task board measures the 3-D forces and torques placed on the board, determines the robot arm's 3-D position relative to the task board using IR optics, and provides the information in real-time. The PFMA joint input signals can also be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to real-time force/torque data presentation. The instrumented task board's most promising use is developing benchmarks for NASA centers for comparison and evaluation of telerobotic performance.