Search NASA⌕ Search

SEARCH · Search NASA

Results for “LIMB”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2017

Limb Darkening and Planetary Transits: Testing Center-to-limb Intensity Variations and Limb-darkening Directly from Model Stellar Atmospheres

The transit method, employed by Microvariability and Oscillation of Stars ( MOST ), Kepler , and various ground-based surveys has enabled the characterization of extrasolar planets to unprecedented precision. These results are precise enough to begin to measure planet atmosphere composition, planetary oblateness, starspots, and other phenomena at the level of a few hundred parts per million. However, these results depend on our understanding of stellar limb darkening, that is, the intensity distribution across the stellar disk that is sequentially blocked as the planet transits. Typically, stellar limb darkening is assumed to be a simple parameterization with two coefficients that are derived from stellar atmosphere models or fit directly. In this work, we revisit this assumption and compute synthetic planetary-transit light curves directly from model stellar atmosphere center-to-limb intensity variations (CLIVs) using the plane-parallel Atlas and spherically symmetric SAtlas codes. We compare these light curves to those constructed using best-fit limb-darkening parameterizations. We find that adopting parametric stellar limb-darkening laws leads to systematic differences from the more geometrically realistic model stellar atmosphere CLIV of about 50–100 ppm at the transit center and up to 300 ppm at ingress/egress. While these errors are small, they are systematic, and they appear to limit the precision necessary to measure secondary effects. Our results may also have a significant impact on transit spectra.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2015

FIRST DETECTION OF >100 MeV GAMMA-RAYS ASSOCIATED WITH A BEHIND-THE-LIMB SOLAR FLARE

We report the first detection of >100 MeV gamma-rays associated with a behind-the-limb solar flare, which presents a unique opportunity to probe the underlying physics of high-energy flare emission and particle acceleration. On 2013 October 11 a GOES M1.5 class solar flare occurred ∼9.°9 behind the solar limb as observed by STEREO-B. RHESSI observed hard X-ray (HXR) emission above the limb, most likely from the flare loop-top, as the footpoints were occulted. Surprisingly, the Fermi Large Area Telescope (LAT) detected >100 MeV gamma-rays for ∼30 minutes with energies up to 3 GeV. The LAT emission centroid is consistent with the RHESSI HXR source, but its uncertainty does not constrain the source to be located there. The gamma-ray spectra can be adequately described by bremsstrahlung radiation from relativistic electrons having a relatively hard power-law (PL) spectrum with a high-energy exponential cutoff, or by the decay of pions produced by accelerated protons and ions with an isotropic pitch-angle distribution and a PL spectrum with a number index of ∼3.8. We show that high optical depths rule out the gamma-rays originating from the flare site and a high-corona trap model requires very unusual conditions, so a scenario in which some of the particles accelerated by the CME shock travel to the visible side of the Sun to produce the observed gamma-rays may be at work.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2019

Endovascular Extra-Anatomic Femoro-Popliteal Bypass for Limb Salvage in Chronic Critical Limb Ischemia

Purpose: To report the initial clinical experience with fully endovascular extra-anatomic femoro-popliteal bypass (FPB) for limb salvage in patients with critical limb ischemia (CLI) and no traditional endovascular or surgical revascularization options. Methods: Between June 2013 and May 2018, endovascular procedure was proposed for limb salvage during multidisciplinary team meeting in fifteen hospitalized patients (median age 67 years; 73% men) with CLI and a high risk of major amputation. Primary outcome was amputation-free survival at 1 year. Secondary outcomes included mortality, cardiovascular (CV) events and major limb amputation at 1 year, primary/secondary bypass patency and wound healing at the last follow-up visit. Procedure-related complications (deaths, CV events, hemorrhages) were recorded through 30 days. Results: Technical procedure success rate was 100%. Major peri-procedural outcomes occurred in two patients (13%): One patient died secondary to cardiogenic shock; one patient suffered acute coronary syndrome associated with iliopsoas bleeding. No major amputation occurred through 30 days. Median follow-up period was 21.5 (18.25–45.5) months (last follow-up visits on April 2019). Amputation-free survival at 1-year and at the last follow-up visit was 80% and 53%, respectively. Cumulative mortality at 1-year and at the last follow-up visit was 13% and 33%, respectively. Primary and secondary bypass patency was 27% and 60%, respectively. Complete wound healing was achieved in 11 patients (73%). Conclusion: Endovascular extra-anatomic FPB represents an innovative approach for limb salvage in CLI with no traditional endovascular or surgical revascularization options. Our clinical experience highlights that this technique remains challenging because of frequent comorbidities and fragility of this patient population. Level of Evidence: Level 4, Case series.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2017

Limb-Enhancer Genie: An accessible resource of accurate enhancer predictions in the developing limb

Epigenomic mapping of enhancer-associated chromatin modifications facilitates the genome-wide discovery of tissue-specific enhancers in vivo. However, reliance on single chromatin marks leads to high rates of false-positive predictions. More sophisticated, integrative methods have been described, but commonly suffer from limited accessibility to the resulting predictions and reduced biological interpretability. Here we present the Limb-Enhancer Genie (LEG), a collection of highly accurate, genome-wide predictions of enhancers in the developing limb, available through a user-friendly online interface. We predict limb enhancers using a combination of > 50 published limb-specific datasets and clusters of evolutionarily conserved transcription factor binding sites, taking advantage of the patterns observed at previously in vivo validated elements. By combining different statistical models, our approach outperforms current state-of-the-art methods and provides interpretable measures of feature importance. Our results indicate that including a previously unappreciated score that quantifies tissue-specific nuclease accessibility significantly improves prediction performance. We demonstrate the utility of our approach through in vivo validation of newly predicted elements. Moreover, we describe general features that can guide the type of datasets to include when predicting tissue-specific enhancers genome-wide, while providing an accessible resource to the general biological community and facilitating the functional interpretation of genetic studies of limb malformations.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2017

Fermi -LAT Observations of High-energy Behind-the-limb Solar Flares

We report on the Fermi -LAT detection of high-energy emission from the behind-the-limb (BTL) solar flares that occurred on 2013 October 11, and 2014 January 6 and September 1. The Fermi -LAT observations are associated with flares from active regions originating behind both the eastern and western limbs, as determined by STEREO . All three flares are associated with very fast coronal mass ejections (CMEs) and strong solar energetic particle events. We present updated localizations of the >100 MeV photon emission, hard X-ray (HXR) and EUV images, and broadband spectra from 10 keV to 10 GeV, as well as microwave spectra. We also provide a comparison of the BTL flares detected by Fermi -LAT with three on-disk flares and present a study of some of the significant quantities of these flares as an attempt to better understand the acceleration mechanisms at work during these occulted flares. We interpret the HXR emission to be due to electron bremsstrahlung from a coronal thin-target loop top with the accelerated electron spectra steepening at semirelativistic energies. The >100 MeV gamma-rays are best described by a pion-decay model resulting from the interaction of protons (and other ions) in a thick-target photospheric source. The protons are believed to have been accelerated (to energies >10 GeV) in the CME environment and precipitate down to the photosphere from the downstream side of the CME shock and landed on the front side of the Sun, away from the original flare site and the HXR emission.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2002

Calibration of the Shuttle Ozone Limb Sounding Experiment (SOLSE) and the Limb Ozone Retrieval Experiment (LORE)

The calibration and characterization of two new instruments designed to retrieve ozone profiles into the lower stratosphere will be presented. These instruments will fly as a single payload on the Space Shuttle Columbia currently scheduled to lift off July 11, 2002. The purpose of SOLSE (Shuttle Ozone Limb Sounding Experiment) and LORE (Limb Ozone Retrieval Experiment) is to provide a thorough test of the limb ozone retrieval technique, which is being employed on several satellite instruments currently deployed or planned for deployment in the near future. OSIRIS (Optical Spectrograph and Infrared Imager System) and SCIAMACHY (Scanning Imaging Absorption Spectrometer for Atmospheric Chartography) are already in orbit, while OMPS (the Ozone Mapping and Profiler Suite) is planned as the primary US ozone monitoring instrument in the next decade.. SOLSE is a Czerny-Turner spectrograph utilizing a 1k x 1k cooled CCD at the focal plane and covering the spectral range of 310-380 nm in the ultraviolet and 535-865 nm in the visible to near infrared. LORE is a 5 channel filter radiometer with center band wavelengths of 322, 350, 603, 675, and 1000 nm. The focus of this paper will be on measurements of the SOLSE spectrograph performance in the limb-viewing configuration including stray light rejection, spatial and spectral resolution and absolute radiometric response.

Janz, S. J.↗
DOE OSTI2016

Progressive Loss of Function in a Limb Enhancer during Snake Evolution

The evolution of body shape is thought to be tightly coupled to changes in regulatory sequences, but specific molecular events associated with major morphological transitions in vertebrates have remained elusive. In this paper, we identified snake-specific sequence changes within an otherwise highly conserved long-range limb enhancer of Sonic hedgehog (Shh). Transgenic mouse reporter assays revealed that the in vivo activity pattern of the enhancer is conserved across a wide range of vertebrates, including fish, but not in snakes. Genomic substitution of the mouse enhancer with its human or fish ortholog results in normal limb development. In contrast, replacement with snake orthologs caused severe limb reduction. Synthetic restoration of a single transcription factor binding site lost in the snake lineage reinstated full in vivo function to the snake enhancer. Our results demonstrate changes in a regulatory sequence associated with a major body plan transition and highlight the role of enhancers in morphological evolution.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS1982

Measurements of the limb darkening of faculae near the solar limb

Measurements are presented of the contrast at 525 nm of solar faculae. The measurements were obtained using an extreme limb photometer (ELP) in 1975 and 1979 at the San Fernando Observatory. The mean contrast of active regions was determined from the limb inward to 54 arcsec, averaged over an annulus determined using the slits of the ELP. It is found that the contrast of faculae increases with heliocentric angle theta, from mu approximately 0.25 to mu approximately 0.065, where mu is the cosine of theta. The average value of the mean contrast of facular regions is 2.1%, with a possible upper limit of approximately 5% at mu approximately 0.1, determined from regions with the greatest filling factor. When corrected for a filling factor of 10-15%, this mean contrast implies a contrast for individual faculae of 30-50%.

Chapman, G. A.↗
NASA NTRS1999

The Retrieval of Ozone Profiles from Limb Scatter Measurements: Results from the Shuttle Ozone Limb Sounding Experiment

Two instruments were flown on shuttle flight STS-87 to test a new technique for inferring the ozone vertical profile using measurements of scattered sunlight from the Earth's limb. The instruments were an ultraviolet imaging spectrometer designed to measure ozone between 30 and 50 km, and a multi-filter imaging photometer that uses 600 nm radiances to measure ozone between 15 km and 35 km. Two orbits of limb data were obtained on December 2, 1997. For the scans analyzed the ozone profile was measured from 15 km to 50 km with approximately 3 km vertical resolution. Comparisons with a profile from an ozonesonde launched from Ascension Island showed agreement mostly within +/- 5%. The tropopause at 15 km was clearly detected.

McPeters, Richard D.↗
NASA NTRS2019

Joint Assimilation of the Aura Microwave Limb Sounder and Ozone Mapping and Profiler Suite Limb Profiler Data: Towards a Reanalysis of Stratospheric Ozone for Trend Studies

The future trajectory of the stratospheric ozone recovery will be sensitive to greenhouse gas concentrations through thermal control of chemical loss and via stratospheric circulation changes. The latter in particular is subject to considerable uncertainty meriting continuing monitoring of the evolution of ozone throughout the depth of the stratosphere. Atmospheric reanalyses utilize the data assimilation methodology to obtain comprehensive representations of the state of the atmosphere, including its composition, on multidecadal scales by combining diverse measurements from satellite-borne and conventional data sources. Systematic biases among these various data types pose a challenge for assimilation by introducing spurious discontinuities that affect the utility of reanalyses for studies of long-term variability and trends.In this presentation we will outline an approach, developed at NASA's Global Modeling and Assimilation Office (GMAO), that allows joint assimilation of stratospheric ozone profiles from the Microwave Limb Sounder (MLS) on EOS Aura and the Ozone Mapping and Profiler Suite Limb Profiler (OMPS-LP) currently flying on the Suomi-NPP satellite with future missions projected into the 2030s. We will demonstrate that a simple offline correction significantly reduces biases between MLS and OMPS-LP ozone data providing a strategy for generating a long-term vertically resolved homogenized representation of stratospheric ozone in future reanalyses. One novel element of our approach compared to previous GMAO reanalysis is the use of a version of the Goddard Earth Observing System model with full stratospheric chemistry. We will show selected comparisons of MLS and OMPS-LP assimilation experiments with independent ozonesonde and satellite data as well as two examples of process-based evaluation focused on the 2016 QBO disruption and Arctic winter ozone loss focusing on the relative performance of the MLS and OMPS-LP analyses.

Wargan, K.↗
NASA NTRS1990

The systematic radial downflow in the transition region of the quiet sun from limb-to-limb observations of the C IV resonance lines

This paper presents absolute velocities of C IV 1548, 1550 nm measured as a function of position along the solar equator, which was free of both active regions and coronal holes, and uniformly representative of the quiet sun. These observations were made with moderate spatial resolution (18 arcsec) using an EUV spectrometer dedicated to measuring absolute wavelengths (velocities) by direct comparison with a platinum spectrum generated on board the sounding rocket. On the assumption that systematic horizontal motions cancel statistically so that the line-of-sight velocities approach zero at the limb, a net radial downflow of 7.5 + or - 1.0 km/sec was found. The assumption was tested using the wavelength reference and found to be valid within the absolute accuracy of the rest wavelengths of the C IV lines.

Rottman, Gary J.↗
NASA NTRS1993

Prostaglandin E2 Restores Cancellous Bone to Immobilized Limb and Adds Bone to Overloaded Limb in Right Hindlimb Immobilization Rats

The purpose of this study was to determine whether prostaglandin E2 (PGE2) can restore cancellous bone mass and architecture to osteopenic, continuously immobilized (IM), proximal tibial metaphysis (PTM) in female rats. The right hindlimb of three and one-half-month-old Sprague-Dawley female rats were immobilized by right hindlimb immobilization (RHLI) in which the right hindlimb was underloaded and the contralateral left limb was overloaded during ambulation. After 4 or 12 weeks of RHLI, the rats were treated with 3 or 6 mg PGE2/kg/day and RHLI for 8 or 16 weeks. Bone histomorphometry was performed on microradiographs of PTM. Immobilization (IM) induced a transient cancellous bone loss and decreased trabecular thickness, number and node density, and increased free end density that established a new steady state after 4 weeks of IM. Three or 6 mg PGE2/kg/d for 8 weeks beginning at 4 or 12 weeks of IM completely restored cancellous bone mass (+127 to +188 percent) and structure to the age-related control levels in spite of continuous IM. Another 8 weeks of treatment maintained bone mass and architecture at these levels. No differences in cancellous bone mass and architecture were found between the overloaded PTM or RHLI rats and the age-related controls. However, 3 and 6 mg/kg/d of PGE2 treatment started at 4 or 12 weeks for 8 weeks significantly increased cancellous bone mass in the overloaded PTM (+45 to +74% of untreated controls), and another 8 weeks of treatment maintained bone mass at these levels. Our findings indicate that daily 3 or 6 mg PGE2/kg/d treatment restores and maintains PTM cancellous bone mass in continuously immobilized (right) tibiae, and adds and maintains extra bone to slightly overloaded PTM cancellous bone in female rats.

Li, M.↗
NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗
DOE OSTI2019

Prediction of Limb Salvage Following Percutaneous Vascular Intervention Using a Composite Tibial Artery Perfusion Score

Purpose: To assess a novel tibial artery perfusion score (TPS) for predicting limb salvage in critical limb ischemia (CLI) patients undergoing percutaneous vascular intervention (PVI). Patients and Methods: A consecutive cohort of 115 CLI patients undergoing PVI in 144 limbs from 2011 to 2016 was analyzed. TPS comprised a 27-point scale based on: (1) patent tibial vessels following PVI, (2) severity of calcification of the tibial arteries, (3) presence of an intact pedal arch following intervention, (4) whether or not revascularization was direct or indirect based on the target angiosome, (5) presence of angiosome blush at the completion of index intervention. Limbs were stratified into (1) High [21–27 points], (2) Medium [13–20 points], and (3) Low [0–12 points] TPS. Predictive value of TPS was evaluated using logistic regression and Cox proportional hazards models. Results: The median follow-up was 15.7 months (range 0.4–69.9 months). Limb salvage in High, Medium, and Low TPS groups was 90.6%, 85.9%, and 55.6%, respectively, as freedom from the composite outcome: (1) limb complication resulting in death, (2) tibial bypass surgery, (3) above-the-knee amputation, or (4) below-the-knee amputation in patients without supratibial disease at the time of PVI. TPS was significantly associated with limb salvage defined as freedom from both the composite outcome and major amputation. Conclusions: Based on this preliminary investigation, TPS was associated with limb salvage in CLI limbs, particularly in high-risk limbs. Further validation in a prospective cohort may identify patients with high-risk limbs in need of closer surveillance and earlier reintervention. Level of Evidence: Level IV, case series.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS2016

Limb Correction of Infrared Imagery in Cloudy Regions for the Improved Interpretation of RGB Composites

Red-Green-Blue (RGB) composites (EUMETSAT User Services 2009) combine information from several channels into a single composite image. RGB composites contain the same information as the original channels, but presents the information in a more efficient manner. However, RGB composites derived from infrared imagery of both polar-orbiting and geostationary sensors are adversely affected by the limb effect, which interferes with the qualitative interpretation of RGB composites at large viewing zenith angles. The limb effect, or limb-cooling, is a result of an increase in optical path length of the absorbing atmosphere as viewing zenith angle increases (Goldberg et al. 2001; Joyce et al. 2001; Liu and Weng 2007). As a result, greater atmospheric absorption occurs at the limb, causing the sensor to observe anomalously cooler brightness temperatures. Figure 1 illustrates this effect. In general, limb-cooling results in a 4-11 K decrease in measured brightness temperature (Liu and Weng 2007) depending on the infrared band. For example, water vapor and ozone absorption channels display much larger limb-cooling than infrared window channels. Consequently, RGB composites created from infrared imagery not corrected for limb effects can only be reliably interpreted close to nadir, which reduces the spatial coverage of the available imagery. Elmer (2015) developed a reliable, operational limb correction technique for clear regions. However, many RGB composites are intended to be used and interpreted in cloudy regions, so a limb correction methodology valid for both clear and cloudy regions is needed. This paper presents a limb correction technique valid for both clear and cloudy regions, which is described in Section 2. Section 3 presents several RGB case studies demonstrating the improved functionality of limb-corrected RGBs in both clear and cloudy regions, and Section 4 summarizes and presents the key conclusions of this work.

RGB↗
NASA NTRS2006

Modification of a Limbed Robot to Favor Climbing

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.

Okon, Avi↗