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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

The kinematics and dynamics of space manipulators - The virtual manipulator approach

Future robotic manipulator systems will be required to perform complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coupling between the manipulators and its spacecraft. This dynamic coupling also makes it difficult to analyze these systems. This paper introduces a new analytical modeling method for space manipulators called the Virtual Manipulator (VM), which has a fixed based in inertial space at a point called a Virtual Ground. The kinematics and dynamics of the manipulator, spacecraft, and payload can be described relatively easily in terms of the VM. With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.

Vafa, Z.↗

Advancing global change biology through experimental manipulations: Where have we been and where might we go?

Abstract This commentary summarizes the publication history of Global Change Biology for works on experimental manipulations over the past 25 years and highlights a number of key publications. The retrospective summary is then followed by some thoughts on the future of experimental work as it relates to mechanistic understanding and methodological needs. Experiments for elevated CO 2 atmospheres and anticipated warming scenarios which take us beyond historical analogs are suggested as future priorities. Disturbance is also highlighted as a key agent of global change. Because experiments are demanding of both personnel effort and limited fiscal resources, the allocation of experimental investments across Earth's biomes should be done in ecosystems of key importance. Uncertainty analysis and broad community consultation should be used to identify research questions and target biomes that will yield substantial gains in predictive confidence and societal relevance. A full range of methodological approaches covering small to large spatial scales will continue to be justified as a source of mechanistic understanding. Nevertheless, experiments operating at larger spatial scales encompassing organismal, edaphic, and environmental diversity of target ecosystems are favored, as they allow for the assessment of long‐term biogeochemical feedbacks enabling a full range of questions to be addressed. Such studies must also include adequate investment in measurements of key interacting variables (e.g., water and nutrient availability and budgets) to enable mechanistic understanding of responses and to interpret context dependency. Integration of ecosystem‐scale manipulations with focused process‐based manipulations, networks, and large‐scale observations will aid more complete understanding of ecosystem responses, context dependence, and the extrapolation of results. From the outset, these studies must be informed by and integrated with ecosystem models that provide quantitative predictions from their embedded mechanistic hypotheses. A true two‐way interaction between experiments and models will simultaneously increase the rate and robustness of Global Change research.

Hanson, Paul J.↗

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Kwon, Dong-Soo↗

On the dynamics of space manipulators using the Virtual Manipulator, with applications to path planning

Robotic manipulators carried by future spacecraft are expected to perform important tasks in space, such as the servicing of satellites. However, the performance of these systems could be severely degraded by dynamic disturbances to the spacecraft caused by manipulator motions. This paper presents a method for representing the dynamics of space manipulator systems using the recently developed Virtual Manipulator (VM) concept. This representation is then applied to develop algorithms which can be used to plan manipulator motions that minimize disturbances of the spacecraft.

Vafa, Z.↗

On the dynamics of manipulators in space using the virtual manipulator approach

A virtual manipulator (VM) concept has been developed recently for the modeling of manipulators working in space. The authors show that the VM facilitates planning and control of the motions of manipulators mounted on spacecraft, minimizing the degrading consequences of manipulator/vehicle dynamic interactions.

Vafa, Z.↗

Manipulability, force, and compliance analysis for planar continuum manipulators

Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance.

Non-NASA Center↗

Distinguishing enantiomeric amino acids with chiral cyclodextrin adducts and structures for lossless ion manipulations

Enantiomeric molecular evaluations remain an enormous challenge for current analytical techniques. To date, derivatizations strategies and long separation times are generally required in these studies, and the development and implementation of new approaches is greatly desired to increase speed and distinguish currently unresolvable compounds. Herein, we describe a method using chiral cyclodextrin adducts and structures for lossless ion manipulations (SLIM) ion mobility to achieve rapid, high resolution separations of D and L enantiomeric amino acids. In the analyses, chiral cyclodextrin adducts are added to each sample. Two cyclodextrins were found to sandwich each amino acid and form host-guest noncovalent complexes that were distinct for each D and L amino acid pair studied and thus separable with ion mobility (IM) in SLIM devices. The SLIM was also used to accumulate much larger ion populations than previously feasible for evaluation and therefore allow enantiomeric measurements of higher sensitivity and resolution than previously reported by any other IM-based approach.

chiral separations, cyclodextrins, enantiomers, io↗

Towards Resolving the Spatial Metabolome with Unambiguous Molecular Annotations in Complex Biological Systems by Coupling Mass Spectrometry Imaging with Structures for Lossless Ion Manipulations

We demonstrate the coupling of liquid extraction surface analysis (LESA) to structures for lossless ion manipulations in conjunction with serpentine ultralong path with extending routing (SLIM SUPER) ion mobility-mass spectrometry (IM-MS) for the unambiguous annotation of important isomeric glycoforms in carbon-fixing communities. A major bottleneck of current mass spectrometry imaging (MSI) methods is their inability to accurately and confidently delineate amongst isomers within a single probing area. Our methodology provides gains in both sensitivity and IM resolution, while simultaneously gaining insight on the spatial distribution of these biological isomers in a mixed organism composed of moss, cyanobacteria and fungus. We envision this methodology will be broadly applicable to other mass spectrometry imaging modalities and invaluable in multiplexed, untargeted, analyses of a single probing location.

Nagy, Gabe↗

A meta-analysis of 1,119 manipulative experiments on terrestrial carbon-cycling responses to global change

Direct quantification of terrestrial biosphere responses to global change is crucial for projections of future climate change in Earth system models. Here, we synthesized ecosystem carbon-cycling data from 1,119 experiments performed over the past four decades concerning changes in temperature, precipitation, CO2 and nitrogen across major terrestrial vegetation types of the world. Most experiments manipulated single rather than multiple global change drivers in temperate ecosystems of the USA, Europe and China. The magnitudes of warming and elevated CO2 treatments were consistent with the ranges of future projections, whereas those of precipitation changes and nitrogen inputs often exceeded the projected ranges. Increases in global change drivers consistently accelerated, but decreased precipitation slowed down carbon-cycle processes. Nonlinear (including synergistic and antagonistic) effects among global change drivers were rare. Belowground carbon allocation responded negatively to increased precipitation and nitrogen addition and positively to decreased precipitation and elevated CO2. The sensitivities of carbon variables to multiple global change drivers depended on the background climate and ecosystem condition, suggesting that Earth system models should be evaluated using site-specific conditions for best uses of this large dataset. Together, this synthesis underscores an urgent need to explore the interactions among multiple global change drivers in underrepresented regions such as semi-arid ecosystems, forests in the tropics and subtropics, and Arctic tundra when forecasting future terrestrial carbon-climate feedback.

Song, Jian↗

Experimental longitudinal emittance manipulation using laser-based photoionization in the Fermilab Linac

A series of simulations and beam studies were conducted at Fermilab’s linear accelerator to evaluate the effectiveness of longitudinal emittance control via laser-induced photoionization. While similar laser techniques have been employed at Fermilab to enhance injection and extraction efficiency into the Booster, the work presented here focuses on extending these methods to bunch-by-bunch manipulation. This approach utilizes fine-scale correction of the H- bunches’ longitudinal spatial distribution. In theory, loosely confined particles in longitudinal phase space contribute to emittance growth during acceleration. By selectively removing these outlying particles through laser scraping (H- + γ → H + e-), this growth can be reduced. This report presents experimental results from both symmetric and asymmetric longitudinal scraping of H⁻ bunches in the Fermilab linac, which were subsequently injected into Booster, and evaluates the broader applicability of this method for future high-intensity accelerator operations.

Landon, Parker [Boston U.; Fermilab]↗

Study of design and control of remote manipulators. Part 4: Experiments in video camera positioning with regard to remote manipulation

The results are presented of a study involving closed circuit television as the means of providing the necessary task-to-operator feedback for efficient performance of the remote manipulation system. Experiments were performed to determine the remote video configuration that will result in the best overall system. Two categories of tests were conducted which include: those which involved remote control position (rate) of just the video system, and those in which closed circuit TV was used along with manipulation of the objects themselves.

Mackro, J.↗

Thermal Nondestructive Evaluation Report: Inspection of the Refurbished Manipulator Arm System in the Manipulator Development Facility at Johnson Space Center 10-12 January 2001

On 4 December 2002, a failure of the Refurbished Manipulator Arm System (RMAS) occurred in the Manipulator Development Facility (MDF) at Johnson Space Center. When the Test Director commanded a should pitch maneuver to lift the arm from its payload bay pedestal, the yaw controls failed. This, coupled with a gravitational forces (due to the angle of the shoulder joint with respect to vertical), resulted in uncontrolled arm motion. The shoulder yaw joint moved approximately 20 degrees, causing the extended arm to strike and severely damage the port side MDF catwalk handrails. The arm motion stopped after impact with the handrails. On 10-12 January 2001, inspections were performed on the port face of the lower and upper arms of the RMAS using a infrared thermography developed at Langley Research Center. This paper presents the results of those nondestructive inspections and provides a complete description of the anomalies found and their locations.

Cramer, K. Elliott↗

Traveling-Wave-Based Electrodynamic Switch for Concurrent Dual-Polarity Ion Manipulations in Structures for Lossless Ion Manipulations

In this work, we describe the development of a dual-polarity traveling-wave (TW) structures for lossless ion manipulations (SLIM) ion mobility spectrometry (IMS) device capable of switching both positive and negative ions that are traveling simultaneously along the same path to different regions of the SLIM. Through simulations, the routing efficiency of the SLIM TW switch was compared to a SLIM direct-current-based (DC) switch developed previously for IMS-MS. We also report on the initial experimental evaluation of a dual-polarity SLIM platform, which uses the TW-based ion switch to achieve higher resolution multipass serpentine ultralong path with extended routing (SUPER) IMS separations. Overall, these results show that the dual-polarity TW switch is not only as effective as DC switching in terms of routing efficiency but also is agnostic to the polarity of the ions being routed.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Study of design and control of remote manipulators. Part 2: Vibration considerations in manipulator design

An investigation is reported involving a mathematical procedure using 4 x 4 transformation matrices for analyzing the vibrations of flexible manipulators. Previous studies with the procedure are summarized and the method is extended to include flexible joints as well as links, and to account for the effects of various power transmission schemes. A systematic study of the allocation of structural material and the placement of components such as motors and gearboxes was undertaken using the analytical tools developed. As one step in this direction the variables which relate the vibration parameters of the arm to the task and environment of the arm were isolated and nondimensionalized. The 4 x 4 transformation matrices were also used to develop analytical expressions for the terms of the complete 6 x 6 compliance matrix for the case of two flexible links joined by a rotating joint, flexible about its axis of rotation.

Book, W. J.↗

Autonomous manipulation on a robot: Summary of manipulator software functions

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.

Lewis, R. A.↗