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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 OSTI2011

SAPHIRE 8 Volume 5 - Workspaces

The Systems Analysis Programs for Hands-on Integrated Reliability Evaluations (SAPHIRE) Version 8 is a software application developed for performing a complete probabilistic risk assessment using a personal computer running the Microsoft Windows™ operating system. SAPHIRE 8 is funded by the U.S. Nuclear Regulatory Commission (NRC). The role of the Idaho National Laboratory (INL) in this project is that of software developer and tester. In older versions of SAPHIRE, the model creation and analysis functions were intermingled. However, in SAPHIRE 8, the act of creating a model has been separated from the analysis of that model in order to improve the quality of both the model (e.g., by avoiding inadvertent changes) and the analysis. Consequently, in SAPHIRE 8, the analysis of models is performed by using what are called Workspaces. Currently, there are Workspaces for three types of analyses: (1) the NRC’s Accident Sequence Precursor program, where the workspace is called “Events and Condition Assessment (ECA);” (2) the NRC’s Significance Determination Process (SDP); and (3) the General Analysis (GA) workspace. Workspaces for each type are created and saved separately from the base model which keeps the original database intact. Workspaces are independent of each other and modifications or calculations made within one workspace will not affect another. In addition, each workspace has a user interface and reports tailored for their intended uses.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2019

Workspace and Office Design: A Review of the Literature

The Systems Analysis & Decision Support (02150) group completed a review of the research literature on workspace and office design in 2016 for the Asset Management Department (04853). The goal was to characterize results and lessons learned from existing research to understand the effectiveness of current workspaces at Sandia National Laboratories and inform guidance for future workspace design. The study team reviewed 96 documents, published primarily since the year 2000, covering a range of factors associated with workspace design - workspace costs, acoustics, collaboration and privacy, generational preferences, employee health, performance and productivity, organizational retention, and workspace satisfaction. The research literature consistently highlighted the relative deficiencies of open-plan office spaces as compared to traditional private enclosed offices for knowledge workers. While open-plan offices can provide some cost savings, they may not be cost effective in the long term due to future hidden costs incurred by degradations in employee productivity, increased attrition, and increased sickness absences as well as any post-construction modifications needed to resolve emerging workspace issues. The chief deficiencies of open-plan offices include lower levels of employee satisfaction due to reduced visual and auditory privacy, increased interruptions, distractions from irrelevant background speech, less physical space, and more ambient noise. The drawbacks reported in the literature tend to outweigh any benefits associated with potential facilitation of coworker interactions and collaboration. Key suggestions identified in the literature to guide and optimize workspace and office design are provided.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS1989

Development of kinematic equations and determination of workspace of a 6 DOF end-effector with closed-kinematic chain mechanism

This report presents results from the research grant entitled Active Control of Robot Manipulators, funded by the Goddard Space Flight Center, under Grant NAG5-780, for the period July 1, 1988 to January 1, 1989. An analysis is presented of a 6 degree-of-freedom robot end-effector built to study telerobotic assembly of NASA hardware in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic mechanisms are chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on link constraints. Computer simulation results are presented.

Nguyen, Charles C.↗
NASA NTRS2013

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Abdallah, Muhammad E.↗
DOE OSTI2024

Cable-Driven Parallel Robot (CDPR) for Panelized Envelope Retrofits: Feasible Workspace Analysis

Recent decades have seen remarkable progress in the field of robotic-assisted construction. Cable-driven parallel robots (CDPRs) emerge as promising tools for automating construction processes, due to their advantageous features such as scalability, reconfigurability, compact design, and high payload-to-weight ratio. This paper uses a simple static model to determine the feasibility of a CDPR for overclad panel installation in building envelope retrofits. Given that the building facade needs to be a subset of the CDPR’s wrench-feasible workspace, we focus on the sensitivity of the workspace concerning various cable arrangements and CDPR frame sizes (e.g., height and width extensions). Our analysis indicates that no cable arrangement satisfies the requirement of complete facade coverage and avoids cable-to-panel collisions. Thus, frame extension is needed to enhance coverage. However, in densely populated areas where width extension is limited by space constraints, height extension alone is insufficient to guarantee full facade coverage. This paper pioneers the investigation of CDPRs for panelized envelope retrofits, showcasing their advantages and limitations and paving the way for further research and development.

Liu, Yifang↗
NASA NTRS1988

Dynamic workspace analysis of two cooperating robot arms

The main objective of dynamic workspace analysis is to determine the maximum force/moment that the robots can generate jointly at each point within their common workspace. The authors develop a conceptually simple procedure to solve this problem. This procedure models the two cooperating robot arms as a closed-chain system and is based on the theory of linear transformations and the properties of mechanics.

Tarn, T. J.↗
DOE OSTI2017

Radiologist Digital Workspace Use and Preference: a Survey-Based Study

Literature regarding the heterogeneity of and preferences for radiology workstation design—and, in particular, the digital workspace of the radiology workstation—is scant. The purpose of this study was to determine the nature of the digital environments across the specialty and the degree of satisfaction users associated with the particular facets of those environments. A survey was sent to the membership of the Association of University Radiologists in February 2015. The survey comprised 10 questions establishing demographics, current typical workstation setup, perceived satisfaction with that setup, and preferences for potential altered setups. A total of 336 radiologists responded, with a cross-section similar to that described in the 2015 ACR annual workforce survey (1). Although there was a rough split in the number of radiologists using one or two non-diagnostic monitors (46 vs. 51%, respectively), the strong majority (75%) of radiologists use two diagnostic monitors. Users of two non-diagnostic monitors were more likely to keep open the case info (87 vs. 68%) and EMR (84 vs 68%). More senior radiologists tended to find the current setup easy more frequent than younger radiologists, and the latter group was more likely to believe additional monitors would be helpful. Although many radiologists are comfortable with their computing workflows, a significant number indicate dissatisfaction and may be interested in being able to specify the amount of monitor space with which they can work. Additional monitors may promote improved quality in addition to any potential productivity gains.

61 RADIATION PROTECTION AND DOSIMETRY↗
NASA NTRS1986

Workspace Program for Complex-Number Arithmetic

COMPLEX is workspace program designed to empower APL with complexnumber capabilities. Complex-variable methods provide analytical tools invaluable for applications in mathematics, science, and engineering. COMPLEX written in APL.

Patrick, M. C.↗
NASA NTRS1987

Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

Basta, Robert A.↗
NASA NTRS2003

NASA's MERBoard: An Interactive Collaborative Workspace Platform

This chapter describes the ongoing process by which a multidisciplinary group at NASA's Ames Research Center is designing and implementing a large interactive work surface called the MERBoard Collaborative Workspace. A MERBoard system involves several distributed, large, touch-enabled, plasma display systems with custom MERBoard software. A centralized server and database back the system. We are continually tuning MERBoard to support over two hundred scientists and engineers during the surface operations of the Mars Exploration Rover Missions. These scientists and engineers come from various disciplines and are working both in small and large groups over a span of space and time. We describe the multidisciplinary, human-centered process by which this h4ERBoard system is being designed, the usage patterns and social interactions that we have observed, and issues we are currently facing.

Trimble, Jay↗
NASA NTRS2005

Workspaces in the Semantic Web

Due to the recency and relatively limited adoption of Semantic Web technologies. practical issues related to technology scaling have received less attention than foundational issues. Nonetheless, these issues must be addressed if the Semantic Web is to realize its full potential. In particular, we concentrate on the lack of scoping methods that reduce the size of semantic information spaces so they are more efficient to work with and more relevant to an agent's needs. We provide some intuition to motivate the need for such reduced information spaces, called workspaces, give a formal definition, and suggest possible methods of deriving them.

Wolfe, Shawn R.↗
NASA NTRS2014

Applying Workspace Limitations in a Velocity-Controlled Robotic Mechanism

A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.

Abdallah, Muhammad E.↗
NASA NTRS1988

Detecting and avoiding collisions between two robot arms in a common workspace

A novel approach to collision detection is presented and methods of avoiding collisions are discussed. Collisions are assumed to be between the wrists of two robots (which correspond to the upper three links of PUMA manipulators). A sphere model for the wrist is employed because it is rotationally invariant and computationally efficient. The collision detection algorithm involves obtaining the potential collision path segments along the straight line trajectories without considering the motion characteristics, and mapping the potential collision segment information into the time domain to obtain the space-time collisions.

Basta, Robert A.↗
NASA NTRS1990

Workspace visualization and time-delay telerobotic operations

The paper examines the performance of telerobotic tasks where the operator and robot are physically separated, and a comunication time delay of up to several seconds between them exists. This situation is applicable to space robotic servicing-assembly-maintenance operations on low earth or geosynchronous orbits with a ground-based command station. Attention is given to two developments which address advanced time-delay teleoperations for unstructured tasks: (1) the 'phantom robot', a real-time predictive graphics simulator developed to allow teleoperator eye-to-hand coordination or robot free-space kinematics under a time delay of several seconds; and (2) shared compliance control, a modified form of automatic electromechanical impedance control employed in parallel with manual position control to permit soft contact and grasp compliance with workpiece geometry under a time delay of several seconds.

Schenker, P. S.↗
NASA NTRS2016

Establishing and Monitoring an Aseptic Workspace for Building the MOMA Mass Spectrometer

Mars Organic Molecule Analyzer (MOMA) is an instrument suite on the ESA ExoMars 2018 Rover, and the Mass Spectrometer (MOMA-MS) is being built at Goddard Space Flight Center (GSFC). As MOMA-MS is a life-detection instrument and it thus falls in the most stringent category of Planetary Protection (PP) biological cleanliness requirements. Less than 0.03 sporem2 is allowed in the instrument sample path. In order to meet these PP requirements, MOMA-MS must be built and maintained in a low bioburden environment. The MOMA-MS project at GSFC maintains three cleanrooms with varying levels of bioburden control. The Aseptic Assembly Cleanroom has the highest level of control, applying three different bioburden reducing methods: 70 IPA, 7.5 Hydrogen Peroxide, and Ultra-Violet C light. The three methods are used in rotation and each kills microbes by a different mechanism, reducing the likelihood of microorganisms developing resistance to all three. The Integration and Mars Chamber Cleanrooms use less biocidal cleaning, with the option to deploy extra techniques as necessary. To support the monitoring of cleanrooms and verification that MOMA-MS hardware meets PP requirements, a new Planetary Protection lab was established that currently has the capabilities of standard growth assays for spore or vegetative bacteria, rapid bioburden analysis that detects Adenosine Triphosphate (ATP), plus autoclave and DHMR verification. The cleanrooms are monitored both for vegetative microorganisms and by rapid ATP assay, and a clear difference in bioburden is observed between the aseptic the other cleanroom.

Contamination Control Engineering↗
NASA NTRS2016

Establishing and Monitoring an Aseptic Workspace for Building the MOMA Mass Spectrometer

Mars Organic Molecule Analyzer (MOMA) is an instrument suite on the European Space Agency (ESA) ExoMars 2020 Rover, and the Mass Spectrometer (MOMA-MS) is being built at Goddard Space Flight Center (GSFC). MOMA-MS is a life-detection instrument and thus falls in the most stringent category of Planetary Protection (PP) biological cleanliness requirements. Less than 0.03 spore/m2 are allowed in the instrument sample path. In order to meet these PP requirements, MOMA-MS must be built and maintained in a low bioburden environment. The MOMA-MS project at GSFC maintains three clean rooms with varying levels of bioburden control. The Aseptic Assembly Clean room has the highest level of control, applying three different bioburden reducing methods: 70% Isopropyl Alcohol (IPA), 7.5% Hydrogen Peroxide, and Ultra-Violet C (UVC) light. The three methods are used in rotation and each kills microorganisms by a different mechanism, reducing the likelihood of microorganisms developing resistance to all three. The Integration and Mars Chamber Clean rooms use less biocidal cleaning, with the option to deploy extra techniques as necessary. To support the monitoring of clean rooms and verification that MOMA-MS hardware meets PP requirements, a new Planetary Protection lab was established that currently has the capabilities of standard growth assays for spore or vegetative bacteria, rapid bioburden analysis that detects Adenosine Triphosphate (ATP), plus autoclave and Dry Heat microbial Reduction (DHMR) verification. The clean rooms are monitored for vegetative microorganisms and by rapid ATP assay, and a clear difference in bioburden is observed between the aseptic and other clean room.

Contamination Control Engineering↗