Pilot Fullerton reviews checklist on Aft Flight Deck Onorbit Station

NASA Technical Reports Server (NTRS)

1982-01-01

Pilot Fullerton, wearing communication kit assembly (assy) mini headset, reviews checklist and looks at remote manipulator system (RMS) closed circuit television (CCTV) views displayed on CCTV monitors at Aft Flight Deck Onorbit Station. Taken from the aft flight deck starboard side, Fullerton is seen in front of Panels A7 and A8 with remote manipulator syste (RMS) translation hand control (THC) and RMS rotation hand control (RHC) in the foreground and surrounded by University of Michigan (U of M) GO BLUE and United States Air Force - A Great Way of Life Decals.

INFLIGHT - STS-7

NASA Image and Video Library

1983-06-27

Full views of "Challenger" in Space, taken by the Shuttle Pallet Satellite (SPAS), also views of Cargo Bay and Remote Manipulator System (RMS) extended. 1. SHUTTLE - RMS (STS-7) Also available in 4x5 CN

Astronaut Richard H. Truly in training session RMS for STS-2 bldg 9A

NASA Technical Reports Server (NTRS)

1981-01-01

Astronaut Richard H. Truly in training session with the Remote Manipulator System (RMS) for STS-2 bldg 9A. Views show Truly working at the command console while watching out the windows. Karen Ehlers, an RMS procedures specialist, can be seen at left side of frame (34314); view from behind Truly as he trains at the RMS console (34315).

OBSS and RMS arm during a survey of the TPS during STS-115

NASA Image and Video Library

2006-09-09

S115-E-05307 (10 Sept. 2006) --- As in the case of the previous two shuttle missions, a tandem of the orbiter boom sensor system (OBSS) and the remote manipulator system (RMS) arm conducts a survey of the thermal protection system on the Space Shuttle Atlantis.

RMS/OBSS inspection of shuttle thermal tile system

NASA Image and Video Library

2011-02-25

S133-E-006073 (25 Feb. 2011) --- Controlled by the STS-133 astronauts inside Discovery's cabin, the Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) equipped with special cameras, begins to conduct thorough inspections of the shuttle’s thermal tile system on flight day 2. Photo credit: NASA or National Aeronautics and Space Administration

Hardware interface for isolation of vibrations in flexible manipulators: Development and applications

NASA Technical Reports Server (NTRS)

Manouchehri, Davoud; Lindsay, Thomas; Ghosh, David

1994-01-01

NASA's Langley Research Center (LaRC) is addressing the problem of isolating the vibrations of the Shuttle remote manipulator system (RMS) from its end-effector and/or payload by modeling an RMS flat-floor simulator with a dynamic payload. Analysis of the model can lead to control techniques that will improve the speed, accuracy, and safety of the RMS in capturing satellites and eventually facilitate berthing with the space station. Rockwell International Corporation, also involved in vibration isolation, has developed a hardware interface unit to isolate the end-effector from the vibrations of an arm on a Shuttle robotic tile processing system (RTPS). To apply the RTPS isolation techniques to long-reach arms like the RMS, engineers have modeled the dynamics of the hardware interface unit with simulation software. By integrating the Rockwell interface model with the NASA LaRC RMS simulator model, investigators can study the use of a hardware interface to isolate dynamic payloads from the RMS. The interface unit uses both active and passive compliance and damping for vibration isolation. Thus equipped, the RMS could be used as a telemanipulator with control characteristics for capture and berthing operations. The hardware interface also has applications in industry.

Analytical formulation of selected activities of the remote manipulator system

NASA Technical Reports Server (NTRS)

Zimmerman, K. J.

1977-01-01

Existing analysis of Orbiter-RMS-Payload kinematics were surveyed, including equations dealing with the two body kinematics in the presence of a massless RMS and compares analytical explicit solutions with numerical solutions. For the following operational phases of the RMS numerical demonstration, problems are provided: (1) payload capture; (2) payload stowage and removal from cargo bay; and (3) payload deployment. The equation of motion provided accounted for RMS control forces and torque moments and could be extended to RMS flexibility and control loop simulation without increasing the degrees of freedom of the two body system.

Extended RMS

NASA Image and Video Library

2005-08-02

ISS011-E-11416 (2 August 2005) --- A line of thunderstorms form the backdrop for this view of the extended Space Shuttle Discovery’;s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

End effector on orbiter's RMS arm

NASA Image and Video Library

2001-03-13

STS102-E-5201 (13 March 2001) --- A view of the interior of the end effector apparatus on the end of the Canadian-built remote manipulator system (RMS) arm. The photograph was taken with a digital still camera.

International Space Station (ISS)

NASA Image and Video Library

2001-04-24

This is a Space Shuttle STS-100 mission onboard photograph. Astronaut Scott Parazynski totes a Direct Current Switching Unit while anchored on the end of the Canadian-built Remote Manipulator System (RMS) robotic arm. The RMS is in the process of moving Parazynski to the exterior of the Destiny laboratory (right foreground), where he will secure the spare unit, a critical part of the station's electrical system, to the stowage platform in case future crews will need it. Also in the photograph are the Italian-built Raffaello multipurpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System.

RMS arm extended over Earth view

NASA Image and Video Library

2005-08-02

ISS011-E-11414 (2 August 2005) --- A line of thunderstorms form the backdrop for this view of the extended Space Shuttle Discovery’s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

Development of Japanese experiment module remote manipulator system

NASA Technical Reports Server (NTRS)

Matsueda, Tatsuo; Kuwao, Fumihiro; Motohasi, Shoichi; Okamura, Ryo

1994-01-01

National Space Development Agency of Japan (NASDA) is developing the Japanese Experiment Module (JEM), as its contribution to the International Space Station. The JEM consists of the pressurized module (PM), the exposed facility (EF), the experiment logistics module pressurized section (ELM-PS), the experiment logistics module exposed section (ELM-ES) and the Remote Manipulator System (RMS). The JEMRMS services for the JEM EF, which is a space experiment platform, consists of the Main Arm (MA), the Small Fine Arm (SFA) and the RMS console. The MA handles the JEM EF payloads, the SFA and the JEM element, such as ELM-ES.

View of the RMS end effector touching the SIR-B antenna during STS 41-G

NASA Image and Video Library

1984-10-05

41G-03-008 (5-13 Oct. 1984) --- The end effector of the space shuttle Challenger's remote manipulator system (RMS) taps against the shuttle imaging radar's (SIR-B) antenna to secure it during NASA's 41-G mission. Photo credit: NASA

Modelling the Shuttle Remote Manipulator System: Another flexible model

NASA Technical Reports Server (NTRS)

Barhorst, Alan A.

1993-01-01

High fidelity elastic system modeling algorithms are discussed. The particular system studied is the Space Shuttle Remote Manipulator System (RMS) undergoing full articulated motion. The model incorporates flexibility via a methodology the author has been developing. The technique is based in variational principles, so rigorous boundary condition generation and weak formulations for the associated partial differential equations are realized, yet the analyst need not integrate by parts. The methodology is formulated using vector-dyad notation with minimal use of tensor notation, therefore the technique is believed to be affable to practicing engineers. The objectives of this work are as follows: (1) determine the efficacy of the modeling method; and (2) determine if the method affords an analyst advantages in the overall modeling and simulation task. Generated out of necessity were Mathematica algorithms that quasi-automate the modeling procedure and simulation development. The project was divided into sections as follows: (1) model development of a simplified manipulator; (2) model development of the full-freedom RMS including a flexible movable base on a six degree of freedom orbiter (a rigid-body is attached to the manipulator end-effector); (3) simulation development for item 2; and (4) comparison to the currently used model of the flexible RMS in the Structures and Mechanics Division of NASA JSC. At the time of the writing of this report, items 3 and 4 above were not complete.

JEM RMS OPS

NASA Image and Video Library

2009-09-23

ISS020-E-042237 (23 Sept. 2009) --- NASA astronaut Nicole Stott and European Space Agency astronaut Frank De Winne, both Expedition 20 flight engineers, work the controls of the JEM Robotic Manipulator System (JEM-RMS) in the Kibo laboratory of the International Space Station. De Winne and Stott used the JEM-RMS to grapple the Exposed Pallet (EP) from the station’s Canadarm2 and berth it to the JEM Exposed Facility / Exposed Facility Unit 10 (JEF EFU10).

JEM RMS OPS

NASA Image and Video Library

2009-09-23

ISS020-E-042225 (23 Sept. 2009) --- NASA astronaut Nicole Stott and European Space Agency astronaut Frank De Winne, both Expedition 20 flight engineers, work the controls of the JEM Robotic Manipulator System (JEM-RMS) in the Kibo laboratory of the International Space Station. De Winne and Stott used the JEM-RMS to grapple the Exposed Pallet (EP) from the station’s Canadarm2 and berth it to the JEM Exposed Facility / Exposed Facility Unit 10 (JEF EFU10).

14. NBS REMOTE MANIPULATOR SIMULATOR (RMS) CONTROL ROOM. THE RMS ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

14. NBS REMOTE MANIPULATOR SIMULATOR (RMS) CONTROL ROOM. THE RMS CONTROL PANEL IS IDENTICAL TO THE SHUTTLE ORBITER AFT FLIGHT DECK WITH ALL RMS SWITCHES AND CONTROL KNOBS FOR INVOKING ANY POSSIBLE FLIGHT OPERATIONAL MODE. THIS INCLUDES ALL COMPUTER AIDED OPERATIONAL MODES, AS WELL AS FULL MANUAL MODE. THE MONITORS IN THE AFT FLIGHT DECK WINDOWS AND THE GLASSES THE OPERATOR WEARS PROVIDE A 3-D VIDEO PICTURE TO AID THE OPERATOR WITH DEPTH PERCEPTION WHILE OPERATING THE ARM. THIS IS REQUIRED BECAUSE THE RMS OPERATOR CANNOT VIEW RMS MOVEMENTS IN THE WATER WHILE AT THE CONTROL PANEL. - Marshall Space Flight Center, Neutral Buoyancy Simulator Facility, Rideout Road, Huntsville, Madison County, AL

Astronauts Griggs and Hoffman try to fasten devices on end of RMS

NASA Technical Reports Server (NTRS)

1985-01-01

Astronauts S. David Griggs, left, and Jeffrey A. Hoffman join efforts to fasten one of two snag type devices on the end of the Canadian-built remote manipulator system (RMS) arm of the Shuttle Discovery. A partial view of the Earth's horizon can be seen behind the shuttle.

MS Currie at RMS controls during EVA 2

NASA Image and Video Library

2002-03-05

STS109-E-5625 (5 March 2002) --- Astronaut Nancy J. Currie, mission specialist, controls the Remote Manipulator System (RMS) robotic arm of the Space Shuttle Columbia as two astronauts perform work on the Hubble Space Telescope (HST), temporarily hosted in the shuttle's cargo bay. The image was recorded with a digital still camera.

De Winne and Stott at JEM-RMS controls

NASA Image and Video Library

2009-09-23

ISS020-E-041828 (23 Sept. 2009) --- European Space Agency astronaut Frank De Winne and NASA astronaut Nicole Stott, both Expedition 20 flight engineers, work the controls of the JEM Robotic Manipulator System (JEM-RMS) in the Kibo laboratory of the International Space Station. De Winne and Stott used the JEM-RMS to grapple the Exposed Pallet (EP) from the station’s Canadarm2 and berth it to the JEM Exposed Facility / Exposed Facility Unit 10 (JEF EFU10).

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

PubMed Central

Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

2012-01-01

In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

MS Parazynski transfers the DCSU during the second EVA of STS-100

NASA Image and Video Library

2001-04-24

STS100-396-019 (24 April 2001) --- Astronaut Scott E. Parazynski, STS-100 mission specialist, totes a Direct Current Switching Unit while anchored on the end of the Canadian-built Remote Manipulator System (RMS) robotic arm. The RMS is in the process of moving Parazynski to the exterior of the Destiny laboratory (right foreground), where, assisted by astronaut Chris A. Hadfield (out of frame), he will secure the spare unit--a critical part for the station's electrical system--to the stowage platform for future crews in case it is needed. Also in the frame are the Italian-built Raffaello Multi-Purpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System (SSRMS).

KSC-07pd0454

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0452

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0407

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers prepare the Remote Manipulator System, or robotic arm, for installation on the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0453

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0451

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0446

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0447

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0445

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Study of roles of remote manipulator systems and EVA for shuttle mission support, volume 1

NASA Technical Reports Server (NTRS)

Malone, T. B.; Micocci, A. J.

1974-01-01

Alternate extravehicular activity (EVA) and remote manipulator system (RMS) configurations were examined for their relative effectiveness in performing an array of representative shuttle and payload support tasks. Initially a comprehensive analysis was performed of payload and shuttle support missions required to be conducted exterior to a pressurized inclosure. A set of task selection criteria was established, and study tasks were identified. The EVA and RMS modes were evaluated according to their applicability for each task and task condition. The results are summarized in tabular form, showing the modes which are chosen as most effective or as feasible for each task/condition. Conclusions concerning the requirements and recommendations for each mode are presented.

SPARTAN satellite on RMS arm prior to release

NASA Image and Video Library

1997-11-21

STS087-706-020 (19 November – 5 December 1997) --- The Spartan 201 satellite, held in the grasp of the Space Shuttle Columbia's Remote Manipulator System (RMS) arm, is backdropped over white clouds and blue waters of the Pacific Ocean. Long Island, off the coast of Papua New Guinea, is barely visible in the lower left corner.

Hawley controls the RMS arm from the flight deck during EVA on Flight Day 6

NASA Image and Video Library

1997-02-16

S82-E-5568 (16 Feb. 1997) --- Astronaut Steven A. Hawley, at controls for Remote Manipulator System (RMS), during third Extravehicular Activity (EVA). Hawley had been a mission specialist for the NASA mission which deployed the giant HST in 1990. This view was taken with an Electronic Still Camera (ESC).

KSC-07pd0450

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, a worker helps to attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

An evaluation of training effectiveness of an intelligent tutoring system

NASA Technical Reports Server (NTRS)

Johnson, Debra Steele; Pieper, Kalen F.; Culbert, Chris

1992-01-01

The study evaluated the training effectiveness of an intelligent tutoring system (ITS) for the Remote Manipulator System (RMS). The study examined how well individuals learn the training content and skills from the RMS ITS and to what extent the content and skills learned using the ITS transfer to RMS task performance in the SES, a high fidelity simulator. Three astronauts completed 8 2-hour ITS sessions addressing movement in three coordinate systems, grapple, ungrapple, berth, and unberth procedures, and singularities and reach limits. Their performance was also observed in an SES training session. Performance data were collected using multiple measures: ITS task performance, transfer performance on the SES, a conceptual knowledge test, an opinion survey completed by astronauts, and comments and observations from astronauts and trainers. Results indicated the RMS ITS to be moderately effective and provided evidence of the efficacy of ITS's, in general. Comments and suggestions are provided relating to how the ITS could be improved and to enable decision makers to judge the effectiveness of the RMS ITS.

Extended RMS

NASA Image and Video Library

2005-07-30

S114-E-6077 (30 July 2005) --- The blackness of space and Earth’s horizon form the backdrop for this view while Space Shuttle Discovery was docked to the International Space Station during the STS-114 mission. A portion of Discovery’s remote manipulator system (RMS) robotic arm is visible at lower right and a section of the Station’s truss is visible top frame.

Astronaut Sherwood Spring on RMS checks joints on the ACCESS device

NASA Image and Video Library

1985-11-27

Astronaut Sherwood C. Spring, anchored to the foot restraint on the remote manipulator system (RMS) arm, checks joints on the tower-like Assembly Concept for Construction of Erectable Space Structures (ACCESS) device extending from the payload bay as the Atlantis flies over white clouds and blue ocean waters. The Gulf of Mexico waters form the backdrop for the scene.

Independent Orbiter Assessment (IOA): Assessment of the remote manipulator system FMEA/CIL

NASA Technical Reports Server (NTRS)

Tangorra, F.; Grasmeder, R. F.; Montgomery, A. D.

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the NASA FMEA/CIL baseline with proposed Post 51-L updates included. A resolution of each discrepancy from the comparison is provided through additional analysis as required. The results of that comparison for the Orbiter RMS hardware are documented. The IOA product for the RMS analysis consisted of 604 failure mode worksheets that resulted in 458 potential critical items being identified. Comparison was made to the NASA baseline which consisted of 45 FMEAs and 321 CIL items. This comparison produced agreement on all but 154 FMEAs which caused differences in 137 CIL items.

Direct model reference adaptive control of robotic arms

NASA Technical Reports Server (NTRS)

Kaufman, Howard; Swift, David C.; Cummings, Steven T.; Shankey, Jeffrey R.

1993-01-01

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Independent Orbiter Assessment (IOA): Assessment of the EPD and C/remote manipulator system FMEA/CIL

NASA Technical Reports Server (NTRS)

Robinson, W. W.

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA analysis of the EPD and C/RMS hardware initially generated 345 failure mode worksheets and identified 117 Potential Critical Items (PCIs) before starting the assessment process. These analysis results were compared to the proposed NASA Post 51-L baseline of 132 FMEAs and 66 CIL items.

Hubble Space Telescope (HST) grappled by OV-103's RMS during STS-31 checkout

NASA Image and Video Library

1990-04-25

The Hubble Space Telescope (HST), grappled by Discovery's, Orbiter Vehicle (OV) 103's, remote manipulator system (RMS), is held in a pre-deployment position. During STS-31 checkout procedures, the solar array (SA) panels and the high gain antennae (HGA) will be deployed. The starboard SA (center) and the two HGA are stowed along side the Support System Module (SSM) forward shell. The sun highlights HST against the blackness of space.

KSC-07pd0405

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0449

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers use a hoisting device to move the Remote Manipulator System, or robotic arm, toward the Japanese Experiment Module for installation and testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008.The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0408

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0448

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers use a hoisting device to move the Remote Manipulator System, or robotic arm, toward the Japanese Experiment Module for installation and testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008.The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0404

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

EURECA orbits above the Earth's surface prior to STS-57 OV-105 RMS capture

NASA Technical Reports Server (NTRS)

1993-01-01

Backdropped against open ocean waters, the European Retrievable Carrier (EURECA) spacecraft, with solar array (SA) panels folded flat against its sides, approaches Endeavour, Orbiter Vehicle (OV) 105, on flight day five. Later, the remote manipulator system (RMS) end effector was used to 'capture' the spacecraft. After ten days in Earth orbit, the crew returned to Earth, bringing EURECA home.

Astronaut Jeffrey Hoffman on RMS during third of five HST EVAs

NASA Image and Video Library

1993-12-07

STS061-105-026 (7 Dec. 1993) --- Astronaut Jeffrey A. Hoffman signals directions to European Space Agency (ESA) astronaut Claude Nicollier, as the latter controls the Remote Manipulator System (RMS) arm during the third of five Extravehicular Activities (EVA) on the Hubble Space Telescope (HST) servicing mission. Astronauts Hoffman and F. Story Musgrave earlier changed out the Wide Field\\Planetary Camera (WF\\PC).

STS-57 MS & PLC Low, in EMU and atop the RMS, is maneuvered in OV-105's PLB

NASA Image and Video Library

1993-06-25

The darkness of space forms the backdrop for this extravehicular activity (EVA) scene captured by one of the STS-57 crewmembers in Endeavour's, Orbiter Vehicle (OV) 105's, crew cabin. Pictured near the recently "captured" European Retrievable Carrier (EURECA) at frame center is Mission Specialist (MS) and Payload Commander (PLC) G. David Low. Suited in an extravehicular mobility unit (EMU), Low, anchored to the remote manipulator system (RMS) via a portable foot restraint (PFR) (manipulator foot restraint (MFR)), is conducting Detailed Test Objective (DTO) 1210 procedures. Specifically, this activity will assist in refining several procedures being developed to service the Hubble Space Telescope (HST) on mission STS-61 in December 1993. The PFR is attached to the RMS end effector via a PFR attachment device (PAD). Partially visible in the foreground is the Superfluid Helium Onorbit Transfer (SHOOT) payload.

Spacecraft automatic umbilical system

NASA Technical Reports Server (NTRS)

Goldin, R. W.; Jacquemin, G. G.; Johnson, W. H.

1981-01-01

An umbilical system design is described that incorporates all the features specified for a power system to payload interconnect capability. A proof-of-concept prototype of the umbilical system was built to determine experimentally the suitability of the threading characteristics of the ram mechanism and to verify freedom from cross threading. It is concluded that Berthing systems that utilize remote manipulator systems (RMS) can be simplified by using RMS targets, closed circuit TV cameras, tie into the RMS control system, and grapple-fixture and end-effector-like capture and secure mechanisms. To effect a remotely controlled umbilical interconnect in proximity with a manned spacecraft and to provide for extravehicular activity backup and maintenance capabilities, 18 different mechanisms are found to be necessary. The weight impact of proving for maintenance capability in a large multiple connector umbilical system was found to be in the order of +60 percent.

OV-104's RMS grapples EURECA-1L and holds it in deployment position above PLB

NASA Image and Video Library

1992-08-08

STS046-102-021 (1 Aug 1992) --- The European Space Agency's (ESA) EURECA satellite remains in the grasp of the Space Shuttle Atlantis' Remote Manipulator System (RMS) as the Space Shuttle passes over the Persian Gulf. Most of the theater of the recent war is visible in the frame. Parts of Kuwait, Iraq, Iran and Saudi Arabia can be delineated. The Tethered Satellite System (TSS) remains stowed in the aft cargo bay of Atlantis.

STS-37 Gamma Ray Observatory (GRO) grappled by RMS

NASA Image and Video Library

1991-04-07

Backdropped against the Earth's surface, the Gamma Ray Observatory (GRO) with its solar array (SA) panels deployed is grappled by the remote manipulator system (RMS) during STS-37 systems checkout. GRO's four complement instruments are visible: the Energetic Gamma Ray Experiment Telescope (EGRET) (at the bottom); the Imaging Compton Telescope (COMPTEL) (center); the Oriented Scintillation Spectrometer Experiment (OSSE) (top); and Burst and Transient Source Experiment (BATSE) (on four corners). The view was taken by STS-37 crew through an aft flight deck overhead window.

The 2nd Conference on Remotely Manned Systems (RMS): Technology and Applications

NASA Technical Reports Server (NTRS)

1975-01-01

Control theory and the design of manipulators, teleoperators, and robots are considered. Applications of remotely manned vehicles to space maintenance and orbital assembly, industry and productivity, undersea operations, and rehabilitation systems are emphasized.

ODS and RMS arm in position to grapple Node 1/Unity module

NASA Image and Video Library

1998-12-05

STS088-361-021 (4-15 Dec. 1998) --- The Canadian-built Remote Manipulator System (RMS) arm is about to grapple the Node 1 or Unity Module for mating to the Space Shuttle Endeavour. The move marked the first of many steps that allowed the United States-built Unity Module to be docked with the Russian-built FGB or Zarya Module later in the mission.

SPARTAN-201 satellite lined up with RMS arm for recapture

NASA Image and Video Library

1994-09-15

STS064-76-035 (15 Sept. 1994) --- Backdropped against the darkness of space, the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN-201) satellite is lined up with the space shuttle Discovery's Remote Manipulator System (RMS) arm for re-capture. The free-flying spacecraft had remained some 40 miles away from Discovery for over two days. Photo credit: NASA or National Aeronautics and Space Administration

STS-39 SPAS-II/IBSS spacecraft is released by RMS above the Earth's surface

NASA Image and Video Library

1991-05-06

STS039-17-017 (3 May 1990) --- This STS-39 35mm scene shows the Strategic Defense Initiative Organization (SDIO) Shuttle Pallet Satellite (SPAS-II) as it approaches the remote manipulator system (RMS) end effector following a period of free-flight and data collection. During the eight-day flight, SPAS collected data in both a free-flying mode and while attached to the RMS. A huge blanket of white clouds obscures identifiable points on Earth, nearly 300 statute miles away. The target grappling apparatus on SPAS is clearly seen near bottom center of frame.

OV-104's RMS releases Gamma Ray Observatory (GRO) during STS-37 deployment

NASA Image and Video Library

1991-04-07

Atlantis', Orbiter Vehicle (OV) 104's, remote manipulator system (RMS) releases Gamma Ray Observatory (GRO) during STS-37 deployment. Visible on the GRO as it drifts away from the RMS end effector are the four complement instruments: the Energetic Gamma Ray Experiment (bottom); Imaging Compton Telescope (COMPTEL) (center); Oriented Scintillation Spectrometer Experiment (OSSE) (top); and Burst and Transient Source Experiment (BATSE) (at four corners). GRO's solar array (SA) panels are extended and are in orbit configuration. View was taken through aft flight deck window which reflects some of the crew compartment interior.

Space-based multifunctional end effector systems functional requirements and proposed designs

NASA Technical Reports Server (NTRS)

Mishkin, A. H.; Jau, B. M.

1988-01-01

The end effector is an essential element of teleoperator and telerobot systems to be employed in space in the next decade. The report defines functional requirements for end effector systems to perform operations that are currently only feasible through Extra-Vehicular Activity (EVA). Specific tasks and functions that the end effectors must be capable of performing are delineated. Required capabilities for forces and torques, clearances, compliance, and sensing are described, using current EVA requirements as guidelines where feasible. The implications of these functional requirements on the elements of potential end effector systems are discussed. The systems issues that must be considered in the design of space-based manipulator systems are identified; including impacts on subsystems tightly coupled to the end effector, i.e., control station, information processing, manipulator arm, tool and equipment stowage. Possible end effector designs are divided into three categories: single degree-of-freedom end effectors, multiple degree of freedom end effectors, and anthropomorphic hands. Specific design alternatives are suggested and analyzed within the individual categories. Two evaluations are performed: the first considers how well the individual end effectors could substitute for EVA; the second compares how manipulator systems composed of the top performers from the first evaluation would improve the space shuttle Remote Manipulator System (RMS) capabilities. The analysis concludes that the anthropomorphic hand is best-suited for EVA tasks. A left- and right-handed anthropomorphic manipulator arm configuration is suggested as appropriate to be affixed to the RMS, but could also be used as part of the Smart Front End for the Orbital Maneuvering Vehicle (OMV). The technical feasibility of the anthropomorphic hand and its control are demonstrated. An evolutionary development approach is proposed and approximate scheduling provided for implementing the suggested manipulator systems in time for space stations operations in the early 1990s.

KSC-05PD-0175

NASA Technical Reports Server (NTRS)

2005-01-01

KENNEDY SPACE CENTER, FLA. In the Orbiter Processing Facility bay 3, workers oversee the lowering of the Orbiter Boom Sensor System (OBSS) on the starboard side of Discoverys payload bay. At lower right is the Remote Manipulator System (RMS), or Shuttle robotic arm. The 50-foot-long OBSS attaches to the RMS, and is one of the new safety measures for Return to Flight, equipping the orbiter with cameras and laser systems to inspect the Shuttles Thermal Protection System while in space. The Return to Flight mission, STS-114, has a launch window of May 12 to June 3, 2005.

Hand controller commonality evaluation process

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Bierschwale, John M.; Wilmington, Robert P.; Adam, Susan C.; Diaz, Manuel F.; Jensen, Dean G.

1993-01-01

Hand controller selection for NASA's Orbiter and Space Station Freedom is an important area of human-telerobot interface design and evaluation. These input devices will control remotely operated systems that include large crane-like manipulators (e.g., Remote Manipulator System or RMS), smaller, more dexterous manipulators (e.g., Flight Telerobotic Servicer or FTS), and free flyers (e.g., Orbital Maneuvering Vehicle or OMV). Candidate hand controller configurations for these systems vary in many ways: shape, size, number of degrees-of-freedom (DOF), operating modes, provision of force reflection, range of movement, and 'naturalness' of use. Unresolved design implementation issues remain, including such topics as how the current Orbiter RMS rotational and translational rate hand controllers compare with the proposed Space Station Freedom hand controllers, the advantages that position hand controllers offer for these applications, and whether separate hand controller configurations are required for each application. Since previous studies contain little empirical hand controller task performance data, a controlled study is needed that tests Space Station Freedom candidate hand controllers during representative tasks. This study also needs to include anthropometric and biomechanical considerations.

KSC-04pd1672

NASA Image and Video Library

2004-08-23

KENNEDY SPACE CENTER, FLA. - The Remote Manipulator System (RMS), also known as the Canadian robotic arm, for the orbiter Discovery has arrived at KSC’s Vehicle Assembly Building Lab. Seen on the left end is the shoulder pitch joint. The wrist and shoulder joints on the RMS allow the basic structure of the arm to maneuver similar to a human arm. The RMS is used to deploy and retrieve payloads, provide a mobile extension ladder or foot restraints for crew members during extravehicular activities; and to aid the flight crew members in viewing surfaces of the orbiter or payloads through a television camera on the RMS. The arm is also serving as the base for the new Orbiter Boom Sensor System (OBSS), one of the safety measures for Return to Flight, equipping the Shuttle with cameras and laser systems to inspect the Shuttle’s Thermal Protection System while in space. Discovery is scheduled for a launch planning window of March 2005 on mission STS-114.

Currie at RMS controls on the aft flight deck

NASA Image and Video Library

1998-12-05

S88-E-5010 (12-05-98) --- Operating at a control panel on Endeavour's aft flight deck, astronaut Nancy J. Currie works with the robot arm prior to mating the 12.8-ton Unity connecting module to Endeavour's docking system. The mating took place on late afternoon of Dec. 5. A nearby monitor provides a view of the remote manipulator system's (RMS) movements in the cargo bay. The feat marked an important step in assembling the new International Space Station. Manipulating the shuttle's 50-foot-long robot arm, Currie placed Unity just inches above the extended outer ring on Endeavour's docking mechanism, enabling Robert D. Cabana, mission commander to fire downward maneuvering jets, locking the shuttle's docking system to one of two Pressurized Mating Adapters (PMA) attached to Unity. The mating occurred at 5:45 p.m. Central time, as Endeavour sailed over eastern China.

STS-31 Hubble Space Telescope (HST) (SA & HGA deployed) is grappled by RMS

NASA Image and Video Library

1990-04-24

STS031-76-026 (25 April 1990) --- Most of the giant Hubble Space Telescope (HST) can be seen as it is suspended in space by Discovery's Remote Manipulator System (RMS) following the deployment of part of its solar panels and antennae. The photo was taken with a handheld Hasselblad camera. This was among the first photos NASA released on April 30, 1990, from the five-day STS 31 mission.

Astronaut Jerry Ross on RMS holds on to ACCESS device

NASA Image and Video Library

1985-12-01

61B-102-022 (1 Dec 1985) --- Astronaut Jerry L. Ross, anchored to the foot restraint on the remote manipulator system (RMS), holds onto the tower-like Assembly Concept for Construction of Erectable Space Structures (ACCESS) device, as the Atlantis flies over white clouds and blue ocean waters. The frame was exposed with a negative-equipped camera held by Astronaut Sherwood C. Spring, who was also on the EVA-task.

Earth observations taken during the STS-77 mission

NASA Image and Video Library

1996-06-10

STS077-702-039 (19-29 May 1996) --- The Space Shuttle Endeavour?s Canadian-built Remote Manipulator System (RMS) arm is extended against a panoramic Earth/space background. In a traditional gesture, the view was chosen by the crew members to represent their unique position to view such scenes. A lengthy portion of the South African coast in Sun glint and a Sun burst/flare effect flank the end effector of the RMS.

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1992-01-01

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Rockwell International art concept view on proposed Shuttle payloads

NASA Technical Reports Server (NTRS)

1982-01-01

Rockwell International art concept view on proposed Shuttle payloads. View is of the Solar Max Mission. The shuttle is in orbit with the remote manipulator system (RMS) grappling the satellite into place.

P5 Truss installation

NASA Image and Video Library

2006-12-12

S116-E-05764 (11 Dec. 2006) --- The International Space Station's Canadarm2 moves toward the station's new P5 truss section for a hand-off from Space Shuttle Discovery's Remote Manipulator System (RMS) robotic arm.

P5 Truss installation

NASA Image and Video Library

2006-12-12

S116-E-05765 (11 Dec. 2006) --- The International Space Station's Canadarm2 moves toward the station's new P5 truss section for a hand-off from Space Shuttle Discovery's Remote Manipulator System (RMS) robotic arm.

KSC-07pd0406

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers from the Japan Aerospace Exploration Agency watch from a control area as the Remote Manipulator System, or robotic arm, is attached to a hoisting device to prepare it for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

[STS-31 Onboard 16mm Photography Quick Release]. [Onboard Activities

NASA Technical Reports Server (NTRS)

1990-01-01

This video features scenes shot by the crew of onboard activities including Hubble Space Telescope deploy, remote manipulator system (RMS) checkout, flight deck and middeck experiments, and Earth and payload bay views.

STS-57 MS2 Sherlock operates RMS THC on OV-105's aft flight deck

NASA Image and Video Library

1993-06-25

STS057-31-030 (25 June 1993) --- Astronaut Nancy J. Sherlock operates Endeavour's remote manipulator system (RMS) during the June 25 extravehicular activity of two crewmates. At one point, astronaut G. David Low, while his feet were anchored to a special restraint device on the end of the RMS arm, moved about, with Sherlock's aid, while holding astronaut Peter J. K. (Jeff) Wisoff. The activity represented an evaluation of techniques which might be used on planned future missions -- a 1993 servicing visit to the Hubble Space Telescope and later space station work -- which will require astronauts to frequently lift objects of similar sized bulk.

MS Currie at RMS controls on aft flight deck

NASA Image and Video Library

2002-03-07

STS109-E-5685 (7 March 2002) --- Astronaut Nancy J. Currie, mission specialist, works the controls for Columbia's Remote Manipulator System (RMS) on the crew cabin's aft flight deck. On a week with one lengthy space walk per day, Currie has had her hands full with RMS duties to support the space walks of four crewmates. Astronauts James H. Newman and Michael J. Massimino had just begin EVA-4, during which the duo required the services of Currie to control the robotic arm to maneuver them around the various workstations on the Hubble Space Telescope (HST). The image was recorded with a digital still camera.

During STS-57, EURECA is grappled by OV-105's RMS end effector

NASA Image and Video Library

1993-06-24

STS057-93-052 (24 June 1993) --- The European Retrievable Carrier (EURECA) is held in the grasp of the Space Shuttle Endeavour's Remote Manipulator System (RMS). The photo was taken after EURECA's "capture" from Earth-orbit but prior to its berthing in the Shuttle's cargo bay. The southern two-thirds of the state of Florida, part of the Gulf of Mexico and clouds over the Atlantic form the backdrop for the 70mm image.

MS Mastracchio operates the RMS on the flight deck of Atlantis during STS-106

NASA Image and Video Library

2000-09-11

STS106-E-5099 (11 September 2000) --- Astronaut Richard A. Mastracchio, mission specialist, stands near viewing windows, video monitors and the controls for the remote manipulator system (RMS) arm (out of frame at left) on the flight deck of the Earth-orbiting Space Shuttle Atlantis during Flight Day 3 activity. Atlantis was docked with the International Space Station (ISS) when this photo was recorded with an electronic still camera (ESC).

International Space Station (ISS)

NASA Image and Video Library

2006-07-08

The shadows of astronauts Piers J. Sellers and Michael E. Fossum, STS-121 mission specialists, who are anchored to the Space Shuttle Discovery's Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) foot restraint, are visible against a shuttle's payload bay door during a session of extravehicular activity (EVA).

Virtual reality applications in robotic simulations

NASA Technical Reports Server (NTRS)

Homan, David J.; Gott, Charles J.; Goza, S. Michael

1994-01-01

Virtual reality (VR) provides a means to practice integrated extravehicular activities (EVA)/remote manipulator system (RMS) operations in the on-orbit configuration with no discomfort or risk to crewmembers. VR afforded the STS-61 crew the luxury of practicing the integrated EVA/RMS operations in an on-orbit configuration prior to the actual flight. The VR simulation was developed by the Automation and Robotics Division's Telepresence/Virtual Reality Lab and Integrated Graphics, Operations, and Analysis Lab (IGOAL) at JSC. The RMS Part Task Trainer (PTT) was developed by the IGOAL for RMS training in 1988 as a fully functional, kinematic simulation of the shuttle RMS and served as the RMS portion of the integrated VR simulation. Because the EVA crewmember could get a realistic view of the shuttle and payload bay in the VR simulation, he/she could explore different positions and views to determine the best method for performing a specific task, thus greatly increasing the efficiency of use of the neutral buoyancy facilities.

Computer-generated scenes depicting the HST capture and EVA repair mission

NASA Image and Video Library

1993-11-12

Computer generated scenes depicting the Hubble Space Telescope capture and a sequence of planned events on the planned extravehicular activity (EVA). Scenes include the Remote Manipulator System (RMS) arm assisting two astronauts changing out the Wide Field/Planetary Camera (WF/PC) (48699); RMS arm assisting in the temporary mating of the orbiting telescope to the flight support system in Endeavour's cargo bay (48700); Endeavour's RMS arm assisting in the "capture" of the orbiting telescope (48701); Two astronauts changing out the telescope's coprocessor (48702); RMS arm assistign two astronauts replacing one of the telescope's electronic control units (48703); RMS assisting two astronauts replacing the fuse plugs on the telescope's Power Distribution Unit (PDU) (48704); The telescope's High Resolution Spectrograph (HRS) kit is depicted in this scene (48705); Two astronauts during the removal of the high speed photometer and the installation of the COSTAR instrument (48706); Two astronauts, standing on the RMS, during installation of one of the Magnetic Sensing System (MSS) (48707); High angle view of the orbiting Space Shuttle Endeavour with its cargo bay doors open, revealing the bay's pre-capture configuration. Seen are, from the left, the Solar Array Carrier, the ORU Carrier and the flight support system (48708); Two astronauts performing the replacement of HST's Rate Sensor Units (RSU) (48709); The RMS arm assisting two astronauts with the replacement of the telescope's solar array panels (48710); Two astronauts replacing the telescope's Solar Array Drive Electronics (SADE) (48711).

A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1991-01-01

The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm.

Crew Training- STS-11 (RMS)

NASA Image and Video Library

1983-06-14

S83-33925 (14 June 1983) --- Astronaut Ronald E. McNair, one of NASA?s three 41-B mission specialists, participates in a training session in the Shuttle one-g trainer in the Johnson Space Center?s mockup and integrating laboratory. He stands at the aft flight deck, where controls for the remote manipulator system (RMS) arm are located. Dr. McNair and the remainder of the five-man astronaut crew are scheduled to lift into space aboard the Challenger on February 3, 1984.

Acceleration environment of payloads while being handled by the Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Turnbull, J. F.

1983-01-01

Described in this paper is the method used in the Draper Remote Manipulator System (RMS) Simulation to compute linear accelerations at the point on the SPAS01 payload where its accelerometers are mounted. Simulated accelerometer output for representative on-orbit activities is presented. The objectives of post-flight analysis of SPAS01 data are discussed. Finally, the point is made that designers of acceleration-dependent payloads may have an interest in the capability of simulating the acceleration environment of payloads while under the control of the overall Payload Deployment and retrieval System (PDRS) that includes the Orbiter and its attitude control system as well as the Remote Manipulator Arm.

View of the Challenger's payload bay and the Plasma Diagnostic package

NASA Image and Video Library

1985-08-01

51F-33-024 (29 July-6 Aug 1985) --- The Challenger's remote manipulator system (RMS) arm grasps the plasma diagnostics package (PDP) over the experiment-laden cargo bay of the earth orbiting spacecraft. The instrument pointing system, in a resting mode here, is prominent in the bay.

Japanese Robotic SFA during Expedition 22

NASA Image and Video Library

2010-03-11

ISS022-E-090362 (11 March 2010) --- The Japanese Robotic Manipulator System / Small Fine Arm (RMS/SFA), is featured in this image photographed by an Expedition 22 crew member on the International Space Station. The SFA is also known as ?Ko-bot?.

Endeavour Payload Bay

NASA Image and Video Library

2010-02-20

S130-E-012478 (20 Feb. 2010) --- Backdropped by Earth?s horizon and the blackness of space, a partial view of space shuttle Endeavour's payload bay, vertical stabilizer, orbital maneuvering system (OMS) pods, Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) and docking mechanism are featured in this image photographed by an STS-130 crew member from an aft flight deck window.

Various view with fish-eye lens of STS-103 crew on aft flight deck

NASA Image and Video Library

2000-01-28

STS103-375-027 (19 - 27 December 1999).--- Astronaut Jean-Francois Clervoy, mission specialist representing the European Space Agency (ESA), controls Discovery's remote manipulator system (RMS) robot arm during operations.with the Hubble Space Telescope (HST).

Activity on the flight deck during EVA on Flight Day 7

NASA Image and Video Library

1997-02-17

S82-E-5616 (17 Feb. 1997) --- Astronaut Steven A. Hawley, STS-82 mission specialist, controls the Remote Manipulator System (RMS) on the Space Shuttle Atlantis' aft flight deck. This view was taken with an Electronic Still Camera (ESC).

STS-37 crew EVA in the payload bay

NASA Image and Video Library

2017-12-27

Photographic documentation showing activities in the payload bay of the orbiter Atlantis during STS-37. View include: Gamma Ray Observatory (GRO) on end of Remote Manipulator System (RMS), with Mission Specialist Jay Apt below on the port side of the payload bay.

Earth's horizon

NASA Image and Video Library

2005-07-30

S114-E-6076 (30 July 2005) --- The blackness of space and Earth’s horizon form the backdrop for this view of the extended Space Shuttle Discovery’s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

STS-56 view of freeflying SPARTAN-201 backdropped over the Mediterranean Sea

NASA Image and Video Library

1993-04-17

During STS-56, the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN-201), a freeflying payload, was photographed by Discovery's, Orbiter Vehicle (OV) 103's, crewmembers as it drifted above the Mediterranean Sea near the island of Crete. On the mission's third day, the remote manipulator system (RMS) arm was used to lift SPARTAN-201 from its support structure in OV-103's payload bay and release it in space. SPARTAN-201 was later recaptured by OV-103's RMS and returned to Earth with the astronaut crew.

STS-109 MS Massimino and Newman replace Reaction Wheel assembly during EVA 2

NASA Image and Video Library

2002-03-05

STS109-E-5401 (5 March 2002) --- With his feet secured on a platform connected to the remote manipulator system (RMS) robotic arm of the Space Shuttle Columbia, astronaut Michael J. Massimino, mission specialist, hovers over the shuttle's cargo bay while working in tandem with astronaut James H. Newman, mission specialist, during the STS-109 mission's second day of extravehicular activity (EVA). Inside Columbia's cabin, astronaut Nancy J. Currie, mission specialist, controlled the RMS. The image was recorded with a digital still camera.

STS-109 MS Massimino and Newman replace Reaction Wheel assembly during EVA 2

NASA Image and Video Library

2002-03-05

STS109-E-5402 (5 March 2002) --- With his feet secured on a platform connected to the remote manipulator system (RMS) robotic arm of the Space Shuttle Columbia, astronaut Michael J. Massimino, mission specialist, hovers over the shuttle's cargo bay while working in tandem with astronaut James H. Newman, mission specialist, during the STS-109 mission's second day of extravehicular activity (EVA). Inside Columbia's cabin, astronaut Nancy J. Currie, mission specialist, controlled the RMS. The image was recorded with a digital still camera.

STS-39 SPAS-II IBSS is grappled by RMS over OV-103's payload bay (PLB)

NASA Image and Video Library

1991-05-06

STS039-15-017 (3 May 1990) --- This STS-39 35mm scene shows the Strategic Defense Initiative Organization (SDIO) Shuttle Pallet Satellite (SPAS-II) during its berthing following a period of data collection. During the eight-day flight, SPAS collected data in both a free-flying mode and while attached to the end effector of Discovery's remote manipulator system (RMS). Additional cargo, elements of the Air Force Program (AFP) 675 package, is seen near Discovery's aft bulkhead in the 60-ft. long payload bay.

STS-57 MS3 Wisoff, in EMU and atop the RMS, is maneuvered in OV-105's PLB

NASA Image and Video Library

1993-06-25

STS057-89-067 (25 June 1993) --- Backdropped against the blackness of space, astronaut Peter J. K. (Jeff) Wisoff, stands on a mobile foot restraint on the end of the Space Shuttle Endeavour's Remote Manipulator System (RMS). Astronauts Wisoff and G. David Low participated in a lengthy session of extravehicular activity (EVA) on the mission's fifth day in Earth-orbit. This view was recorded on 70mm film with a handheld Hasselblad camera inside the Space Shuttle Endeavour's crew cabin.

View of the Columbia's open payload bay and the Canadian RMS

NASA Image and Video Library

1981-11-13

STS002-12-833 (13 Nov. 1981) --- Clouds over Earth and black sky form the background for this unique photograph from the space shuttle Columbia in Earth orbit. The photograph was shot through the aft flight deck windows viewing the cargo bay. Part of the scientific payload of the Office of Space and Terrestrial Applications (OSTA-1) is visible in the open cargo bay. The astronauts inside Columbia's cabin were remotely operating the Canadian-built remote manipulator system (RMS). Note television cameras on its elbow and wrist pieces. Photo credit: NASA

STS-57 MS2 Sherlock operates RMS THC on OV-105's aft flight deck

NASA Technical Reports Server (NTRS)

1993-01-01

STS-57 Mission Specialist 2 (MS2) Nancy J. Sherlock operates the remote manipulator system (RMS) translation hand control (THC) while observing extravehicular activity (EVA) outside viewing window W10 on the aft flight deck of Endeavour, Orbiter Vehicle (OV) 105. Positioned at the onorbit station, Sherlock moved EVA astronauts in the payload bay (PLB). Payload Commander (PLC) G. David Low with his feet anchored to a special restraint device on the end of the RMS arm held MS3 Peter J.K. Wisoff during the RMS maneuvers. The activity represented an evaluation of techniques which might be used on planned future missions -- a 1993 servicing visit to the Hubble Space Telescope (HST) and later space station work -- which will require astronauts to frequently lift objects of similar sized bulk. Note: Just below Sherlock's left hand a 'GUMBY' toy watches the actvity.

KSC-2012-3842

NASA Image and Video Library

2012-07-16

CAPE CANAVERAL, Fla. - Inside the Vehicle Assembly Building at NASA’s Kennedy Space Center in Florida, United Space Alliance workers monitor the progress as the container holding the remote manipulator system, or RMS, is lowered onto a flatbed truck for shipment back to the Canadian Space Agency. The RMS, also called the Canadarm, was manufactured for NASA’s Space Shuttle Program by SPAR Aerospace Ltd., which later became a part of MD Robotics in Ontario, Canada. During shuttle missions, the RMS was attached in the payload bay. Mission specialists operated the arm to remove payloads from the payload bay and hand them off to the larger Canadarm 2 on the International Space Station. The shuttle arm also was used during astronaut spacewalks. Photo credit: NASA/Kim Shiflett

Astronaut Dale Gardner using MMU to travel to Westar VI satellite

NASA Technical Reports Server (NTRS)

1984-01-01

Astronaut Dale A. Gardner, wearing the manned maneuvering unit (MMU) approaching the spinng Westar VI satellite over Bahama Banks. The end effector of the remote manipulator system (RMS) controlled by Dr. Anna L. Fisher inside Discovery's cabin, awaits its duty at right.

KSC-05pd2466

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, a crane lifts the remote manipulator system boom out of Atlantis’ payload bay. The boom will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2467

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, the remote manipulator system boom is lifted away from Atlantis’ payload bay and will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

Astronaut Ronald Sega in crew cabin

NASA Image and Video Library

1999-02-23

STS060-57-033 (3-11 Feb 1994) --- Astronaut Ronald M. Sega suspends himself in the weightlessness aboard the Space Shuttle Discovery's crew cabin, as the Remote Manipulator System (RMS) arm holds the Wake Shield Facility (WSF) aloft. The mission specialist is co-principal investigator on the WSF project.

1st EVA - MS Smith and Grunsfeld during RSU changeout

NASA Image and Video Library

2000-01-26

STS103-331-013 (19-27 December 1999) --- Astronauts John M. Grunsfeld (right) and Steven L. Smith share space on the end of the remote manipulator system (RMS) as they change out gyroscopes, contained in rate sensor units (RSU) inside the Hubble Space Telescope (HST).

EVA 2 activity on Flight Day 5 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-15

S82-E-5407 (15 Feb. 1997) --- Astronauts Gregory J. Harbaugh (left) and Joseph R. Tanner on Remote Manipulator System (RMS) during accessing Fine Guidance Sensor (FGS) in the F site. This view was taken with an Electronic Still Camera (ESC).

EVA 2 activity on Flight Day 5 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-15

S82-E-5404 (15 Feb. 1997) --- Astronaut Gregory J. Harbaugh on the Remote Manipulator System (RMS) with the Fine Guidance Sensor (FGS), during the repair of the Hubble Space Telescope (HST). This view was taken with an Electronic Still Camera (ESC).

STS-52 CANEX-2 Canadian Target Assembly (CTA) held by RMS over OV-102's PLB

NASA Image and Video Library

1992-11-01

STS052-71-057 (22 Oct-1 Nov 1992) --- This 70mm frame, photographed with a handheld Hasselblad camera aimed through Columbia's aft flight deck windows, captures the operation of the Space Vision System (SVS) experiment above the cargo bay. Target dots have been placed on the Canadian Target Assembly (CTA), a small satellite, in the grasp of the Canadian-built remote manipulator system (RMS) arm. SVS utilized a Shuttle TV camera to monitor the dots strategically arranged on the satellite, to be tracked. As the satellite moved via the arm, the SVS computer measured the changing position of the dots and provided real-time television display of the location and orientation of the CTA. This type of displayed information is expected to help an operator guide the RMS or the Mobile Servicing System (MSS) of the future when berthing or deploying satellites. Also visible in the frame is the U.S. Microgravity Payload (USMP-01).

Astronaut Ronald Sega in crew cabin

NASA Technical Reports Server (NTRS)

1994-01-01

Astronaut Ronald M. Sega suspends himself in the weightlessness aboard the Space Shuttle Discovery's crew cabin, as the Remote Manipulator System (RMS) arm holds the Wake Shield Facility (WSF) aloft. The mission specialist is co-principle investigator on the the WSF project. Note the University of Colorado, Colorado Springs banner above his head.

SFU retrieval and berth in shuttle orbiter Endeavour's payload bay

NASA Image and Video Library

1996-01-13

STS072-734-011 (11 Jan. 1996) --- The crewmembers captured this 35mm view of the Japanese Space Flyer Unit (SFU) during its berthing with the Remote Manipulator System (RMS). Yet to be deployed is the Office of Aeronautics and Space Technology (OAST) Flyer satellite, seen at bottom center.

SFU rendezvous and SAP jettison

NASA Image and Video Library

1996-01-13

STS072-720-076 (13 Jan. 1996) --- The crewmembers captured this 35mm view of the Japanese Space Flyer Unit (SFU) following the jettisoning of the solar panels. Later they used the Remote Manipulator System (RMS) to latch onto the satellite and berth it in the Space Shuttle Endeavour's aft cargo bay.

Earth Observation taken during the STS-41G mission

NASA Image and Video Library

2009-06-25

41G-121-138 (5-13 Oct 1984) --- A view of the Earth's horizon featuring France and England. The Strait of Dover and the English channel are visible behind the tail (vertical stabilizer) of Challenger. The remote manipulator system (RMS arm rests in its "stow" position at upper left corner.

Astronauts Gardner and Allen on the RMS after recapture of Westar VI

NASA Image and Video Library

1984-11-14

51A-39-063 (14 Nov 1984) --- A 70mm frame of WESTAR VI post-retrieval activity. Astronaut Dale A. Gardner (left), STS-51A mission specialist, holds a "For Sale" sign, making light reference to the status of the re-captured communications spacecraft, which has been stranded since its initial deployment. Astronaut Joseph P. Allen IV stands on the Mobile Foot Restraint (MFR), which in tandem with the Remote Manipulator System (RMS) arm, controlled by Dr. Anna L. Fisher inside the space shuttle Discovery's cabin, served as a cherry-picker for capture efforts. Photo credit: NASA

STS-103 crew perform virtual reality training in building 9N

NASA Image and Video Library

1999-05-24

S99-05678 (24 May 1999)--- Astronaut Jean-Francois Clervoy (right), STS-103 mission specialist representing the European Space Agency (ESA), "controls" the shuttle's remote manipulator system (RMS) during a simulation using virtual reality type hardware at the Johnson Space Center (JSC). Looking on is astronaut John M. Grunsfeld, mission specialist. Both astronauts are assigned to separate duties supporting NASA's third Hubble Space Telescope (HST) servicing mission. Clervoy will be controlling Discovery's RMS and Grunsfeld is one of four astronauts that will be paired off for a total of three spacewalks on the mission.

Astronaut Susan Helms on aft flight deck with RMS controls

NASA Image and Video Library

1994-09-12

STS064-05-028 (9-20 Sept. 1994) --- On the space shuttle Discovery's aft flight deck, astronaut Susan J. Helms handles controls for the Remote Manipulator System (RMS). The robot arm operated by Helms, who remained inside the cabin, was used to support several tasks performed by the crew during the almost 11-day mission. Those tasks included the release and retrieval of the free-flying Shuttle Pointed Autonomous Research Tool For Astronomy 201 (SPARTAN 201), a six-hour spacewalk and the Shuttle Plume Impingement Flight Experiment (SPIFEX). Photo credit: NASA or National Aeronautics and Space Administration

View of the Challenger's payload bay and the Plasma Diagnostic package

NASA Technical Reports Server (NTRS)

1985-01-01

The solar optical universal polarimeter (SOUP) experiment is visible among the cluster of Spacelab 2 hardware in the cargo bay of the Shuttle Challenger. Various components of the instrument positioning system (IPS) are conspicuous at the center of the frame. The Plasma Diagnostic package (PDP) is seen attached to the remote manipulator system (RMS) above the open payload bay.

Experimental Equipment Design and Fabrication Study for Delta-G Experiment

NASA Technical Reports Server (NTRS)

1997-01-01

The Research Machine Shop at UAH did not develop any new technology in the performance of the following tasks. All tasks were performed as specified.UAH RMS shall design and fabricate a "poor" model of a silicon-carbide high-temperature crucible with dimensions of 8 inches in diameter and 4 inches high-temperature crucible for pouring liquid ceramic materials at 1200 C into molds from heating ovens. The crucible shall also be designed with a manipulation fixture to facilitate holding and pouring of the heated liquid material. UAH RMS shall investigate the availability of 400 Hz, high-current (65 volts @ 100 amperes) power systems for use in high-speed rotating disk experiments, UAH RMS shall investigate, develop a methodology, and experiment on the application of filament-wound carbon fibers to the periphery of ceramic superconductors to withstand high levels of rotational g-forces. UAH RMS shall provide analytical data to verify the resulting improved disc with carbon composite fibers.

DomeGene Experiment at Cell Biology Experiment Facility (CBEF) in JPM

NASA Image and Video Library

2009-03-18

ISS018-E-040985 (18 March 2009) --- Japan Aerospace Exploration Agency (JAXA) astronaut Koichi Wakata, Expedition 18 flight engineer, uses a computer at the Japanese Remote Manipulator System (JEM-RMS) work station in the Kibo laboratory of the International Space Station while Space Shuttle Discovery (STS-119) remains docked with the station.

DomeGene Experiment at Cell Biology Experiment Facility (CBEF) in JPM

NASA Image and Video Library

2009-03-18

ISS018-E-040986 (18 March 2009) --- Japan Aerospace Exploration Agency (JAXA) astronaut Koichi Wakata, Expedition 18 flight engineer, uses a computer at the Japanese Remote Manipulator System (JEM-RMS) work station in the Kibo laboratory of the International Space Station while Space Shuttle Discovery (STS-119) remains docked with the station.

Columbia's payload bay with Earth in the background

NASA Image and Video Library

2009-06-24

STS003-17-806 (22-30 March 1982) --- A 70mm out-the-window view showing Israel, the Dead Sea, Sea of Galilee, Jordan River, Sinai, Jordan, the Red Sea and Egypt (in background). Rested Remote Manipulator System (RMS) arm and part of the aft section of space shuttle Columbia in foreground. Photo credit: NASA

Japanese Space Flyer Unit (SFU) satellite rendezvous

NASA Image and Video Library

1996-01-20

STS072-720-042 (13 Jan. 1996) --- The crew members captured this 70mm view of the Japanese Space Flyer Unit (SFU) just prior to the jettisoning of the solar panels. Later, they used the Remote Manipulator System (RMS) to latch onto the satellite and berth it in the Space Shuttle Endeavour’s aft cargo bay.

Endeavour backdropped against space with Sun displaying rayed effect

NASA Image and Video Library

1993-12-09

STS061-105-024 (2-13 Dec. 1993) --- One of Endeavour's space walkers captured this view of Endeavour backdropped against the blackness of space, with the Sun displaying a rayed effect. The extended Remote Manipulator System (RMS) arm that the astronaut was standing on is seen on the left side of the view.

View of the Columbia's RMS arm and end effector grasping IECM

NASA Image and Video Library

1982-06-27

STS004-37-670 (27 June-4 July 1982) --- The North Atlantic Ocean southeast of the Bahamas serves as backdrop for this 70mm scene of the Columbia?s remote manipulator system (RMS) arm and hand-like device (called and end effector) grasping a multi-instrument monitor for detecting contaminants. The experiments is called the induced environment contaminant monitor (IECM). The small box contains 11 instruments for checking the contaminants in and around the orbiter?s cargo bay which might adversely affect delicate experiments carried onboard. Astronauts Thomas K. Mattingly II and Henry W. Hartsfield Jr. manned the Columbia for seven days and one hour. The Columbia?s vertical tail and orbital maneuvering system (OMS) pods are at left foreground. Photo credit: NASA

KSC-05pd2463

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, a crane is lowered toward the remote manipulator system boom in Atlantis’ payload bay. The boom is being removed from Atlantis and will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2465

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, workers secure a crane to the remote manipulator system boom in Atlantis’ payload bay. The boom is being removed from Atlantis and will be temporarily stored.. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2468

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, the remote manipulator system boom that was removed from Atlantis’ payload bay is lifted out of the way. The boom will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2464

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. -In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, a crane is attached to the remote manipulator system boom in Atlantis’ payload bay. The boom is being removed from Atlantis and will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

View of the Challenger's payload bay and the SOUP experiment

NASA Technical Reports Server (NTRS)

1985-01-01

The solar optical universal polarimeter (SOUP) experiment is visible among the cluster of Spacelab 2 hardware in the cargo bay of the Shuttle Challenger, backdropped against white clouds over ocean waters. Various components of the instrument positioning system (IPS) are conspicuous at the center of the frame. The remote manipulator system (RMS) arm is in its stowed position to the right of the frame.

Hot rocket plume experiment - Survey and conceptual design. [of rhenium-iridium bipropellants

NASA Technical Reports Server (NTRS)

Millard, Jerry M.; Luan, Taylor W.; Dowdy, Mack W.

1992-01-01

Attention is given to a space-borne engine plume experiment study to fly an experiment which will both verify and quantify the reduced contamination from advanced rhenium-iridium earth-storable bipropellant rockets (hot rockets) and provide a correlation between high-fidelity, in-space measurements and theoretical plume and surface contamination models. The experiment conceptual design is based on survey results from plume and contamination technologists throughout the U.S. With respect to shuttle use, cursory investigations validate Hitchhiker availability and adaptability, adequate remote manipulator system (RMS) articulation and dynamic capability, acceptable RMS attachment capability, adequate power and telemetry capability, and adequate flight altitude and attitude/orbital capability.

Astronaut Anna Fisher practices control of the RMS in a trainer

NASA Image and Video Library

1984-08-21

S84-40162 (21 Aug. 1984) --- Astronaut Anna L. Fisher controls the Remote Manipulator System (RMS) arm from inside the "orbiter" as part of her training program in the Johnson Space Center's Shuttle Mock-up and Integration Laboratory. Dr. Fisher, one of three mission specialists for mission 51-A, is inside the cabin portion of a trainer called the Manipulatory Development Facility (MDF). She is able to operate the arm in conjunction with an air bearing floor and to log a great deal of rehearsal time for her flight, on which the retrieval of a low-orbiting communications satellite is planned. Photo credit: NASA

MS Currie on aft flight deck with checklist

NASA Image and Video Library

2002-03-07

STS109-E-5681 (7 March 2002) --- Astronaut Nancy J. Currie, mission specialist, remains very near the controls (upper left) for Columbia's Remote Manipulator System (RMS). On a week with one lengthy space walk per day, Currie has had her hands full with RMS duties to support the space walks of four crewmates. A short time later on this day, astronauts James H. Newman and Michael J. Massimino began EVA-4 and the duo required the services of Currie to control the robotic arm to maneuver them around the various work stations on the Hubble Space Telescope (HST). The image was recorded with a digital still camera.

MFD - Documentation of small fine arm in stowed position

NASA Image and Video Library

1997-08-12

S85-E-5044 (12 August 1997) --- View of the payload bay of the Earth-orbiting Space Shuttle Discovery looking toward the shuttle's vertical stabilizer with clouds in the background. Easily recognized is the Manipulator Flight Demonstration (MFD), which is sponsored by Japan's National Space Development Agency (NASDA). MFD will evaluate the use of the Small Fine Arm (SFA) that is planned to be part of the future Japanese Experiment Module's Remote Manipulator System (RMS) on the International Space Station (ISS). The photograph was taken with the Electronic Still Camera (ESC).

Release mechanism for releasing and reattaching experiments on the Space Shuttle

NASA Technical Reports Server (NTRS)

Clark, A. V.

1980-01-01

The release mechanism (REM) unlatches an experiment so that it can be moved about inside and outside the shuttle bay by the remote manipulator system (RMS), and then reattaches it to the REM base. Operated from the crew compartment after the RMS has been attached to the experiment, the REM releases the experiment by an electric motor driving a gear train and linkage which extracts four pins from holes in four plates. Electrical connectors on the REM are disengaged by the mechanical action of the structural pins retracting from the plates. When the REM releases the experiment, an unlatched indicator is actuated in the crew compartment, and then the experiment can be moved by using the RMS. To reattach the experiment to the REM, the RMS places the experiment with REM attachment angles against the flat, smooth surface of the REM; then the RMS moves the experiment into position for latchup. Actuation of an electric motor drives the four pins into the four holes in the plates. When fully latched, a switch actuated by the motion of the linkage, shuts the electric motor off and gives an indication to the crew compartment that the REM is latched.

Automation and Robotics for Space-Based Systems, 1991

NASA Technical Reports Server (NTRS)

Williams, Robert L., II (Editor)

1992-01-01

The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Hubble Space Telescope nears Shuttle Endeavour

NASA Image and Video Library

1993-12-04

STS061-73-040 (4 Dec 1993) --- Backdropped against the blackness of space, the Hubble Space Telescope (HST) nears the Space Shuttle Endeavour. With the aid of the Remote Manipulator System (RMS), the STS-61 crew members later grappled the spacecraft and berthed it in the cargo bay for five-days of servicing chores by four space walkers.

Astronat Dale Gardner using MMU to travel to Westar VI satellite

NASA Technical Reports Server (NTRS)

1984-01-01

Astronat Dale A. Gardner appears to be under the remote manipulator system (RMS) end effector as he makes a turn in space and preapares to use the manned maneuvering unit (MMU) to travel to Westar VI satellite. The 'stinger' he carries will enter the communications satellite through the nozzle of the spent motor.

HST,survey views of Hubble after berthing in payload bay on Flight Day 3

NASA Image and Video Library

1997-02-13

S82-E-5140 (13 Feb. 1997) --- A back-lighted full view of the Hubble Space Telescope (HST) in the grasp of the Remote Manipulation System (RMS) following capture early today. The limb of Earth forms part of the background. This view was taken with an Electronic Still Camera (ESC).

INFLIGHT (EARTH VIEWS) - STS-2

NASA Image and Video Library

1981-11-16

Onboard views by the STS-2 Crew of the Payload Bay with Office of Space and Terrestrial Applications (OSTA)-1 Payload, the Remote Manipulator System (RMS) and Earth views of: Korea, China and Columbia. Also available in 4x5 BW 1. REAGAN, RONALD PRESIDENT - MOCR (STS-2) JSC, HOUSTON, TX Also available in 4x5 BW, 35 CN, 35 BW

INFLIGHT (CREW ACTIVITY) - STS-41G

NASA Image and Video Library

1984-10-14

S84-43433 (11 Oct 1984) --- Photographed through aft flight deck windows, this 70mm frame shows Astronauts David C. Leestma, left, and Kathryn D. Sullivan at the orbital refueling system (ORS) in the aft cargo bay. A wrist camera on the remote manipulator system (RMS) is perched to record the historic extravehicular activity (EVA). Dr. Sullivan's part of the EVA represented the first such feat for an American woman.

Sellers and Fossum on the end of the OBSS during EVA1 on STS-121 / Expedition 13 joint operations

NASA Image and Video Library

2006-07-08

STS121-323-011 (8 July 2006) --- Astronauts Piers J. Sellers and Michael E. Fossum, STS-121 mission specialists, work in tandem on Space Shuttle Discovery's Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) during the mission's first scheduled session of extravehicular activity (EVA). Also visible on the OBSS are the Laser Dynamic Range Imager (LDRI), Intensified Television Camera (ITVC) and Laser Camera System (LCS).

Astronaut James van Hoften on RMS tracking Syncom IV-3 after deployment

NASA Image and Video Library

1985-09-01

51I-41-086 (1 September 1985) --- Astronaut James D. van Hoften, mission specialist, flexes his muscles in celebration of a triumphant extravehicular task. Clouds over the ocean form the backdrop for this 70mm scene, toward the end of a two-day effort to capture, repair and release the previously errant Syncom IV-3 communications satellite. Van Hoften, anchored to a special foot restraint device on the end of Discovery's Remote Manipulator System (RMS), had just performed the final "shove" that started the relative separation of the Shuttle and the Syncom, which is not far out of frame. He had been joined by astronaut William F. Fisher for the busy two days of EVA.

STS-56 freeflying SPARTAN-201 backdropped over the Red Sea coast of Sudan

NASA Image and Video Library

1993-04-17

During STS-56, the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN-201), a freeflying payload, was captured on 70mm film as it drifts over the Red Sea coast of Sudan. SPARTAN-201 was photographed by the crewmembers aboard Discovery, Orbiter Vehicle (OV) 103. On the mission's third day, crewmembers used the remote manipulator system (RMS) to lift the satellite from its support structure in OV-103's payload bay (PLB) and release it into space. SPARTAN-201 was later recaptured by OV-103's RMS and returned to Earth with the astronaut crew. The cape structure in the background is Ras abu Shagara, north of Port Sudan.

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

NASA Technical Reports Server (NTRS)

Taylor, E. C.; Davis, J. D.

1978-01-01

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

Astronaut Kathryn Thornton during second HST extravehicular activity

NASA Image and Video Library

1993-12-06

STS061-95-028 (6 Dec 1993) --- Astronaut Kathryn C. Thornton, on the end of the Space Shuttle Endeavour's Remote Manipulator System (RMS) arm, hovers over equipment associated with servicing chores on the Hubble Space Telescope (HST) during the second extravehicular activity (EVA) on the eleven-day mission. Astronauts Thornton and Thomas D. Akers changed out the solar array panels during this EVA.

Astronauts Jerry Ross and Sherwood Spring assemble ACCESS components

NASA Image and Video Library

1985-12-01

Astronauts Jerry L. Ross (left) and Sherwood C. (Woody) Spring are photographed as they assemble pieces of the Experimental Assembly of Structures in Extravehicular Activities (EASE) device in the open payload bay. The Canadian-built remote manipulator system (RMS) arm (partially obscured in the right portion of the frame) is in position to allow television cameras to record the activity.

Fish-eye view of Hurricane Kenneth in the Pacific Ocean

NASA Image and Video Library

1993-09-13

One of the STS-51 astronauts used a "fish-eye" lens on a 35mm cmaera to photograph this view of Hurricane Kenneth in the Pacific Ocean. The Orbiting Retrievable Far and Extreme Ultraviolet Spectrometer/Shuttle Pallet Satellite (ORFEUS/SPAS) is still in the cargo bay. The Remote Manipulator System (RMS) is extended towards the open payload bay.

Zenith (-ZA/Plane III) side of the FGB/Zarya

NASA Image and Video Library

1998-12-06

STS088-719-059 (6 Dec. 1998) --- Backdropped against the darkness of space, the Russian-built FGB, also called Zarya, approaches the out-of-frame Space Shuttle Endeavour and the U.S.-built Node 1, also called Unity. Inside Endeavour's cabin, the STS-88 crew readied the remote manipulator system (RMS) for Zarya capture as they awaited the rendezvous.

Fish-eye view of Hurricane Kenneth in the Pacific Ocean

NASA Technical Reports Server (NTRS)

1993-01-01

One of the STS-51 astronauts used a 'fish-eye' lens on a 35mm cmaera to photograph this view of Hurricane Kenneth in the Pacific Ocean. The Orbiting Retrievable Far and Extreme Ultraviolet Spectrometer/Shuttle Pallet Satellite (ORFEUS/SPAS) is still in the cargo bay. The Remote Manipulator System (RMS) is extended towards the open payload bay.

The Space Shuttle orbiter payload retention systems

NASA Technical Reports Server (NTRS)

Hardee, J. H.

1982-01-01

Payloads are secured in the orbiter payload bay by the payload retention system or are equipped with their own unique retention systems. The orbiter payload retention mechanisms provide structural attachments for each payload by using four or five attachment points to secure the payload within the orbiter payload bay during all phases of the orbiter mission. The payload retention system (PRS) is an electromechanical system that provides standarized payload carrier attachment fittings to accommodate up to five payloads for each orbiter flight. The mechanisms are able to function under either l-g or zero-g conditions. Payload berthing or deberthing on orbit is accomplished by utilizing the remote manipulator system (RMS). The retention mechanisms provide the capability for either vertical or horizontal payload installation or removal. The payload support points are selected to minimize point torsional, bending, and radial loads imparted to the payloads. In addition to the remotely controlled latching system, the passive system used for nondeployable payloads performs the same function as the RMS except it provides fixed attachments to the orbiter.

STS-31 pre-deployment checkout of the Hubble Space Telescope (HST) on OV-103

NASA Image and Video Library

1990-04-25

The Hubble Space Telescope (HST), grappled by Discovery's, Orbiter Vehicle (OV) 103's, remote manipulator system (RMS), is oriented in a 90 degree pitch position during STS-31 pre-deployment checkout procedures. The solar array (SA) panel (center) and high gain antennae (HGA) (on either side) are stowed along the Support System Module (SSM) forward shell prior to deployment. The sun highlights HST against the blackness of space.

EVA 4 activity on Flight Day 7 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-17

S82-E-5652 (17 Feb. 1997) --- Astronaut Gregory J. Harbaugh (solid stripe on EMU) uses Remote Manipulator System (RMS) as a cherry-picker device to service Hubble Space Telescope (HST). In cooperation with astronaut Joseph R. Tanner, nearby, the mission specialist was in the process of replacing the HST's Magnetic Sensing System (MSS) protective caps with new, permanent covers. This view was taken with an Electronic Still Camera (ESC).

EVA manipulation and assembly of space structure columns

NASA Technical Reports Server (NTRS)

Loughead, T. E.; Pruett, E. C.

1980-01-01

Assembly techniques and hardware configurations used in assembly of the basic tetrahedral cell by A7LB pressure-suited subjects in a neutral bouyancy simulator were studied. Eleven subjects participated in assembly procedures which investigated two types of structural members and two configurations of attachment hardware. The assembly was accomplished through extra-vehicular activity (EVA) only, EVA with simulated manned maneuvering unit (MMU), and EVA with simulated MMU and simulated remote manipulator system (RMS). Assembly times as low as 10.20 minutes per tetrahedron were achieved. Task element data, as well as assembly procedures, are included.

Shearographic non-destructive evaluation of the Space Shuttle

NASA Technical Reports Server (NTRS)

Davis, Christopher K.; Tenbusch, Kenneth E.; Hooker, Jeffery A.; Simmons, Stephen M.

1995-01-01

Preliminary results of shearographic inspections of the shuttle external tank (ET) spray-on foam insulation (SOFI) and solid rocket booster (SRB) Marshall sprayable ablative (MSA-2) epoxy-cork thermal protection systems (TPS) and remote manipulator system (RMS) honeycomb are presented. Debonding SOFI or MSA-2 damage the orbiter belly tile and exposes the ET/SRB to thermal loading. Previous work with the ET/SRB showed promising results with shearography. The first area investigated was the jack pad close-out, one of many areas on the ET where foam is applied at KSC. Voids 0.375 inch were detected in 1.75 inch thick foam using a pressure reduction of less dm 0.4 psi. Of primary interest are areas of the ET that directly face the orbiter tile TPS. It is estimated that 90% of tile TPS damage on the orbiter 'belly' results from debonding SOFI during ascent. Test panels modeling these areas were manufactured with programmed debonds to determine the sensitivity of shearography as a function of debond size, SOFI thickness, and vacuum. Results show a Probability of Detection (POD) of .95 or better for of debonds with a diameter equal to the SOFI thickness at less than 0.4 psi pressure reduction. Preliminary results are also presented on inspections of MSA-2 and the remote manipulator system (RMS) honeycomb material.

Lindsey and Boe on forward flight deck

NASA Image and Video Library

2011-02-26

S133-E-006081 (25 Feb. 2011) --- On space shuttle Discovery’s forward flight deck, astronauts Steve Lindsey (right), STS-133 commander, and Eric Boe, pilot, switch seats for a brief procedure as the crew heads toward a weekend docking with the International Space Station. Earlier the crew conducted thorough inspections of the shuttle’s thermal tile system using the Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) and special cameras. Photo credit: NASA or National Aeronautics and Space Administration

Reaction control system/remote manipulator system automation

NASA Technical Reports Server (NTRS)

Hiers, Harry K.

1990-01-01

The objectives of this project is to evaluate the capability of the Procedural Reasoning System (PRS) in a typical real-time space shuttle application and to assess its potential for use in the Space Station Freedom. PRS, developed by SRI International, is a result of research in automating the monitoring and control of spacecraft systems. The particular application selected for the present work is the automation of malfunction handling procedures for the Shuttle Remote Manipulator System (SRMS). The SRMS malfunction procedures will be encoded within the PRS framework, a crew interface appropriate to the RMS application will be developed, and the real-time data interface software developed. The resulting PRS will then be integrated with the high-fidelity On-orbit Simulation of the NASA Johnson Space Center's System Engineering Simulator, and tests under various SRMS fault scenarios will be conducted.

Robotics technology developments in the United States space telerobotics program

NASA Technical Reports Server (NTRS)

Lavery, David

1994-01-01

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

Hubble Space Telescope Deploy, Eastern Cuba, Haiti

NASA Image and Video Library

1990-04-29

A close up deploy view of the Hubble Space Telescope on the end of the space shuttle remote manipulator system (RMS) with Eastern Cuba, (20.0N, 74.0W) seen on the left side of the telescope and northern Haiti seen on the right side of the telescope. The light colored blue feature in the water north of Haiti is the shallow waters of the Caicos Bank.

EVA 2 activity on Flight Day 5 to survey the HST solar array panels

NASA Image and Video Library

1997-02-15

STS082-719-002 (14 Feb. 1997) --- Astronaut Joseph R. Tanner (right) stands on the end of Discovery's Remote Manipulator System (RMS) arm and aims a camera at the solar array panels on the Hubble Space Telescope (HST) as astronaut Gregory J. Harbaugh assists. The second Extravehicular Activity (EVA) photograph was taken with a 70mm camera from inside Discovery's cabin.

ODS alignment ring at soft-dock with ISS

NASA Image and Video Library

2001-08-12

STS105-E-5067 (12 August 2001) --- One of the STS-105 crew members on the aft flight deck of the Space Shuttle Discovery used a digital still camera to record this close-up view of the docking process between the shuttle and the International Space Station (ISS). The shuttle’s Canadarm or Remote Manipulator System (RMS) arm is in its stowed position at right.

STS-31 pre-deployment checkout of the Hubble Space Telescope (HST) on OV-103

NASA Image and Video Library

1990-04-25

View taken through overhead window W7 aboard Discovery, Orbiter Vehicle (OV) 103, shows the Hubble Space Telescope (HST) grappled by the remote manipulator system (RMS) and held in a 90 degree pitch position against the blackness of space. The solar array (SA) panel (center) and the high gain antennae (HGA) (on either side) are visible along the Support System Module (SSM) forward shell prior to deployment during STS-31.

STS-31 Hubble Space Telescope (HST) solar array panel deploy aboard OV-103

NASA Image and Video Library

1990-04-25

Held in appendage deploy position by Discovery's, Orbiter Vehicle (OV) 103's, remote manipulator system (RMS), the Hubble Space Telescope's (HST's) starboard solar array (SA) bistem cassette is released from its stowed position on the Support System Module (SSM) forward shell. The spreader bar & bistem begin to unfurl the SA wing. View was taken by an STS-31 crewmember through an overhead window & is backdropped against the surface of the Earth.

Task-level testing of the JPL-OMV smart end effector

NASA Technical Reports Server (NTRS)

Hannaford, B.

1987-01-01

An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.

View of the Columbia's remote manipulator system

NASA Image and Video Library

1982-03-30

STS003-09-444 (22-30 March 1982) --- The darkness of space provides the backdrop for this scene of the plasma diagnostics package (PDR) experiment in the grasp of the end effector or ?hand? of the remote manipulator system (RMS) arm, and other components of the Office of Space Sciences (OSS-1) package in the aft section of the Columbia?s cargo hold. The PDP is a compact, comprehensive assembly of electromagnetic and particle sensors that will be used to study the interaction of the orbiter with its surrounding environment; to test the capabilities of the shuttle?s remote manipulator system; and to carry out experiments in conjunction with the fast pulse electron generator of the vehicle charging and potential experiment, another experiment on the OSS-1 payload pallet. This photograph was exposed with a 70mm handheld camera by the astronaut crew of STS-3, with a handheld camera aimed through the flight deck?s aft window. Photo credit: NASA

STS-31 pre-deployment checkout of the Hubble Space Telescope (HST) on OV-103

NASA Image and Video Library

1990-04-25

During STS-31 checkout, the Hubble Space Telescope (HST) is held in a pre-deployment position by Discovery's, Orbiter Vehicle (OV) 103's, remote manipulator system (RMS). The view, taken from the crew cabin overhead window W7, shows the starboard solar array (SA) panel (center) and two high gain antennae (HGA) (on either side) stowed along side the Support System Module (SSM) forward shell. The sun highlights HST against the blackness of space.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12938 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, moves toward Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

Orbiter Boom Sensor System and TPS tiles on orbiter Discovery as seen during EVA 3

NASA Image and Video Library

2005-08-03

S114-E-6310 (3 August 2005) --- The Red Sea forms the backdrop for this view featuring a portion of thermal protection tiles on the Space Shuttle Discovery’s underside and the Canadian-built remote manipulator system (RMS) robotic arm while docked to the international space station during the STS-114 mission. The image was photographed by astronaut Stephen K. Robinson (out of frame), mission specialist, during today’s extravehicular activities (EVA).

Space Shuttle Projects

NASA Image and Video Library

1984-11-08

Astronauts are clowning around in space in this STS-51A onboard photo. Astronaut Gardner, holds a “For Sale” sign after the retrieval of two malfunctioning satellites; the Western Union Telegraph Communication Satellite (WESTAR VI); and the PALAPA-B2 Satellite. Astronaut Allen, who is standing on the RMS (Remote Manipulator System) is reflected in Gardner’s helmet visor. The 51A mission launched aboard the Space Shuttle Discovery on November 8, 1984.

Space Shuttle Projects

NASA Image and Video Library

1984-11-08

Astronauts are clowning around in space in this STS-51A onboard photo. Astronaut Gardner, holds a “For Sale” sign after the retrieval of two malfunctioning satellites; the Western Union Telegraph Communication Satellite (WESTAR VI); and the PALAPA-B2 Satellite. Astronaut Allen, who is standing on the Remote Manipulator System (RMS) is reflected in Gardner’s helmet visor. The 51A mission launched aboard the Space Shuttle Discovery on November 8, 1984.

SRMS maneuvers the ICC-VLD during STS-127 / Expedition 20 Joint Operations

NASA Image and Video Library

2009-07-19

S127-E-006934 (19 July 2009) --- Backdropped by a blue and white Earth, the remote manipulator system (RMS) arm of the Space Shuttle Endeavour, is about to hand off the Integrated Cargo Carrier (ICC) to the International Space Station (out of frame). The ICC is an unpressurized flat bed pallet and keel yoke assembly that was carried into space in the shuttle's payload bay.

Crew Training - STS-33/51L - JSC

NASA Image and Video Library

1985-09-19

S85-40508 (23 Sept. 1985) --- Two women representing the Teacher-in-Space project undergo training in preparation for the STS-51L mission in two photographs made in Johnson Space Center trainers. Sharon Christa McAuliffe, named as prime crew citizen observer on the spaceflight, studies the console on the aft flight deck, which contains controls for the remote manipulator system (RMS) and other important functions. Photo credit: NASA

EVA 3 activity on Flight Day 6 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-16

S82-E-5572 (16 Feb. 1997) --- Pausing near the foot-restraint of the Remote Manipulator System (RMS), astronauts Steven L. Smith (left) and Mark C. Lee communicate with and look toward their in-cabin team members during the third Extravehicular Activity (EVA) to perform servicing chores on the Hubble Space Telescope (HST). This view was taken with an Electronic Still Camera (ESC).

Use of the Remote Access Virtual Environment Network (RAVEN) for coordinated IVA-EVA astronaut training and evaluation.

PubMed

Cater, J P; Huffman, S D

1995-01-01

This paper presents a unique virtual reality training and assessment tool developed under a NASA grant, "Research in Human Factors Aspects of Enhanced Virtual Environments for Extravehicular Activity (EVA) Training and Simulation." The Remote Access Virtual Environment Network (RAVEN) was created to train and evaluate the verbal, mental and physical coordination required between the intravehicular (IVA) astronaut operating the Remote Manipulator System (RMS) arm and the EVA astronaut standing in foot restraints on the end of the RMS. The RAVEN system currently allows the EVA astronaut to approach the Hubble Space Telescope (HST) under control of the IVA astronaut and grasp, remove, and replace the Wide Field Planetary Camera drawer from its location in the HST. Two viewpoints, one stereoscopic and one monoscopic, were created all linked by Ethernet, that provided the two trainees with the appropriate training environments.

Local position control: A new concept for control of manipulators

NASA Technical Reports Server (NTRS)

Kelly, Frederick A.

1988-01-01

Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Hubble Space Telescope Deploy, Cuba, Bahamas and Gulf of Mexico

NASA Image and Video Library

1990-04-29

STS031-151-010 (25 April 1990) --- The Hubble Space Telescope (HST), still in the grasp of Discovery's Remote Manipulator System (RMS), is backdropped over Cuba and the Bahama Islands. In this scene, it has yet to have deployment of its solar array panels and its high gain antennae. This scene was captured with a large format Aero Linhof camera used by several previous flight crews to record Earth scenes.

STS-109 MS Massimino and Newman replace Reaction Wheel assembly during EVA 2

NASA Image and Video Library

2002-03-05

With his feet secured on a platform connected to the remote manipulator system (RMS) robotic arm of the Space Shuttle Columbia, astronaut Michael J. Massimino, mission specialist, hovers over the shuttle's cargo bay while working in tandem with astronaut James H. Newman, mission specialist, to replace the Reaction Wheel Assembly in the Hubble Space Telescope (HST) during the STS-109 mission's second day of extravehicular activity (EVA).

Various views of the STS-103 crew on the flight deck

NASA Image and Video Library

2000-01-26

STS103-334-002 (19-27 December 1999) ---.Astronauts Jean-Francois Clervoy (left).and Curtis L. Brown, Jr. communicate with ground controllers on Discovery's flight deck. Brown is mission commander for NASA's third servicing mission to the Hubble Space Telescope (HST) and.Clervoy is a mission specialist representing the European Space Agency (ESA). Clervoy was the prime operator of the remote manipulator system (RMS), the robotic arm on the Space Shuttle.

Currie and Ross in the Node 1/Unity module

NASA Image and Video Library

1998-12-11

STS088-357-020 (4-15 Dec. 1998) --- Astronauts Jerry L. Ross and Nancy J. Currie, both mission specialists, check procedures list prior to performing a variety of tasks in the United States-built Node 1 or Unity Module. The hatchway in upper left corner accesses the Russian-built FGB or Zarya Module, which had earlier been retrieved with the aid of the Canadian-built Remote Manipulator System (RMS) and linked with Unity.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

Actuators for a space manipulator

NASA Technical Reports Server (NTRS)

Chun, W.; Brunson, P.

1987-01-01

The robotic manipulator can be decomposed into distinct subsytems. One particular area of interest of mechanical subsystems is electromechanical actuators (or drives). A drive is defined as a motor with an appropriate transmission. An overview is given of existing, as well as state-of-the-art drive systems. The scope is limited to space applications. A design philosophy and adequate requirements are the initial steps in designing a space-qualified actuator. The focus is on the d-c motor in conjunction with several types of transmissions (harmonic, tendon, traction, and gear systems). The various transmissions will be evaluated and key performance parameters will be addressed in detail. Included in the assessment is a shuttle RMS joint and a MSFC drive of the Prototype Manipulator Arm. Compound joints are also investigated. Space imposes a set of requirements for designing a high-performance drive assembly. Its inaccessibility and cryogenic conditions warrant special considerations. Some guidelines concerning these conditions are present. The goal is to gain a better understanding in designing a space actuator.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12948 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, moves toward Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12939 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, moves toward Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

EVA 5 - Grunsfeld installs radiator

NASA Image and Video Library

2002-03-08

STS109-315-007 (8 March 2002) --- Astronaut John M. Grunsfeld, STS-109 payload commander, anchored on the end of the Space Shuttle Columbia’s Remote Manipulator System (RMS) robotic arm, moves toward the giant Hubble Space Telescope (HST) temporarily hosted in the orbiter’s cargo bay. Astronaut Richard M. Linnehan (out of frame) works in tandem with Grunsfeld during this fifth and final session of extravehicular activity (EVA). Activities for the space walk centered around the Near-Infrared Camera and Multi-Object Spectrometer (NICMOS) to install a Cryogenic Cooler and its Cooling System Radiator.

EVA 4 activity on Flight Day 7 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-17

S82-E-5606 (17 Feb. 1997) --- Astronaut Gregory J. Harbaugh at work on Hubble Space Telescope (HST), with the assistance of astronaut Joseph R. Tanner (out of frame) on Remote Manipulator System (RMS). After replacing the HST's Solar Array Drive Electronics (SADE), Harbaugh and Tanner replaced the Magnetic Sensing System (MSS) protective lids with new, permanent covers; and they installed pre-cut insulation pieces to correct tears in the HST's protective covering caused by temperature changes in space. This view was taken with an Electronic Still Camera (ESC).

STS-31 Hubble Space Telescope (HST) solar array (SA) deploy aboard OV-103

NASA Image and Video Library

1990-04-25

During STS-31, the Hubble Space Telescope (HST) is held in appendage deploy position by Discovery's, Orbiter Vehicle (OV) 103's, remote manipulator system (RMS) above the payload bay (PLB) and crew compartment cabin. While in this position the solar array (SA) wing bistem cassette (HST center) is deployed from its stowed location along side the Support System Module (SSM) forward shell. A high gain antenna (HGA) remains stowed along the SSM. The Earth's surface and the Earth limb creates a dramatic backdrop.

MS Hadfield and MS Parazynski raise the SSRMS from the SLP during an EVA for STS-100

NASA Image and Video Library

2001-04-22

STS100-714-027 (19 April-1 May 2001) --- Astronaut Chris A. Hadfield, mission specialist representing the Canadian Space Agency (CSA), stands on the portable foot restraint (PFR) connected to the Endeavour's remote manipulator system (RMS) robotic arm, during one of the two days of extravehicular activity (EVA) on the STS-100 mission. Astronaut Scott E. Parazynski, mission specialist, is seen at left near the Spacelab pallet.

STS-125 Flight Controllers on Console During HST Grapple - Orbit 1. Flight Director: Tony Ceccacci

NASA Image and Video Library

2009-05-13

JSC2009-E-119745 (13 May 2009) --- Flight director Tony Ceccacci (left) and astronaut Dan Burbank, STS-125 spacecraft communicator (CAPCOM), monitor data at their consoles in the space shuttle flight control room in the Mission Control Center at NASA's Johnson Space Center during flight day three activities. The Hubble Space Telescope, grappled by Space Shuttle Atlantis? remote manipulator system (RMS), is visible on one of the big screens.

STS-125 Flight Controllers on Console During HST Grapple - Orbit 1. Flight Director: Tony Ceccacci

NASA Image and Video Library

2009-05-13

JSC2009-E-119746 (13 May 2009) --- Flight director Tony Ceccacci (left) and astronaut Dan Burbank, STS-125 spacecraft communicator (CAPCOM), monitor data at their consoles in the space shuttle flight control room in the Mission Control Center at NASA's Johnson Space Center during flight day three activities. The Hubble Space Telescope, grappled by Space Shuttle Atlantis? remote manipulator system (RMS), is visible on one of the big screens.

LEASAT-3 repair during the van Hoften and Fisher EVA

NASA Image and Video Library

1985-08-31

51I-44-012 (1 Sept. 1985) --- Astronaut James D. van Hoften looks on as the Syncom IVC-3 satellite responds to his push against it moments earlier. Dr. van Hoften, mission specialist, is anchored to a foot restraint on the end of the remote manipulator system (RMS) arm of the Earth-orbiting space shuttle Discovery. The 51-I crew members showed this photograph at their Sept. 11 postflight press conference. Photo credit: NASA

Evolving technologies for Space Station Freedom computer-based workstations

NASA Technical Reports Server (NTRS)

Jensen, Dean G.; Rudisill, Marianne

1990-01-01

Viewgraphs on evolving technologies for Space Station Freedom computer-based workstations are presented. The human-computer computer software environment modules are described. The following topics are addressed: command and control workstation concept; cupola workstation concept; Japanese experiment module RMS workstation concept; remote devices controlled from workstations; orbital maneuvering vehicle free flyer; remote manipulator system; Japanese experiment module exposed facility; Japanese experiment module small fine arm; flight telerobotic servicer; human-computer interaction; and workstation/robotics related activities.

Astronaut Susan Helms uses laser instrument during SPARTAN 201 operations

NASA Image and Video Library

1994-09-16

STS064-33-003 (9-20 Sept. 1994) --- Astronaut Susan J. Helms, STS-64 mission specialist, uses a laser instrument during operations with the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN 201). Helms, who spent many mission hours at the controls of the Remote Manipulator System (RMS), joined five other NASA astronauts for almost 11 days in Earth orbit aboard the space shuttle Discovery. Photo credit: NASA or National Aeronautics and Space Administration

The evolution of automation and robotics in manned spaceflight

NASA Technical Reports Server (NTRS)

Moser, T. L.; Erickson, J. D.

1986-01-01

The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

STS-31 MS McCandless and MS Sullivan during JSC WETF underwater simulation

NASA Image and Video Library

1990-03-05

This overall view shows STS-31 Mission Specialist (MS) Bruce McCandless II (left) and MS Kathryn D. Sullivan making a practice space walk in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. McCandless works with a mockup of the remote manipulator system (RMS) end effector which is attached to a grapple fixture on the Hubble Space Telescope (HST) mockup. Sullivan manipulates HST hardware on the Support System Module (SSM) forward shell. SCUBA-equipped divers monitor the extravehicular mobility unit (EMU) suited crewmembers during this simulated extravehicular activity (EVA). No EVA is planned for the Hubble Space Telescope (HST) deployment, but the duo has trained for contingencies which might arise during the STS-31 mission aboard Discovery, Orbiter Vehicle (OV) 103. Photo taken by NASA JSC photographer Sheri Dunnette.

Distribution of man-machine controls in space teleoperation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1982-01-01

The distribution of control between man and machine is dependent on the tasks, available technology, human performance characteristics and control goals. This dependency has very specific projections on systems designed for teleoperation in space. This paper gives a brief outline of the space-related issues and presents the results of advanced teleoperator research and development at the Jet Propulsion Laboratory (JPL). The research and development work includes smart sensors, flexible computer controls and intelligent man-machine interface devices in the area of visual displays and kinesthetic man-machine coupling in remote control of manipulators. Some of the development results have been tested at the Johnson Space Center (JSC) using the simulated full-scale Shuttle Remote Manipulator System (RMS). The research and development work for advanced space teleoperation is far from complete and poses many interdisciplinary challenges.

STS-31 MS McCandless and MS Sullivan during JSC WETF underwater simulation

NASA Technical Reports Server (NTRS)

1990-01-01

This overall view shows STS-31 Mission Specialist (MS) Bruce McCandless II (left) and MS Kathryn D. Sullivan making a practice space walk in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. McCandless works with a mockup of the remote manipulator system (RMS) end effector which is attached to a grapple fixture on the Hubble Space Telescope (HST) mockup. Sullivan manipulates HST hardware on the Support System Module (SSM) forward shell. SCUBA-equipped divers monitor the extravehicular mobility unit (EMU) suited crewmembers during this simulated extravehicular activity (EVA). No EVA is planned for the Hubble Space Telescope (HST) deployment, but the duo has trained for contingencies which might arise during the STS-31 mission aboard Discovery, Orbiter Vehicle (OV) 103. Photo taken by NASA JSC photographer Sheri Dunnette.

EVA view of the Nadir (+ZA, plane I) side of FGB / Zarya

NASA Image and Video Library

1998-12-09

STS088-355-015 (4-15 Dec. 1998) --- Astronaut Jerry L. Ross, STS-88 mission specialist, is pictured during one of three space walks which were conducted on the eleven-day mission. Perched on the end of Endeavour's remote manipulator system (RMS) arm, astronaut James H. Newman, mission specialist, recorded this image. Newman can be seen reflected in Ross' helmet visor. The solar array panel for the Russian-built Zarya module can be seen along right edge.

Astronaut Rhea Seddon works on flyswatter-like snagging device

NASA Technical Reports Server (NTRS)

1985-01-01

Astronaut Rhea Seddon begins works on flyswatter-like snagging device to be used as an extension to the remote manipulator system (RMS) arm on Discovery for an attempt to trip a lever on the troubled Syncom-IV satellite. She is seated on the floor of the aft flight deck with a pair of scissors in her mouth. She is using an exacto knife to cut the extension out of plastic. Her jacket is floating in the bottom right edge of the frame.

View of HST as it approaches Endeavour, taken from aft flight deck window

NASA Image and Video Library

1993-12-04

STS061-53-026 (4 Dec 1993) --- One of the Space Shuttle Endeavour's aft flight deck windows frames this view of the Hubble Space Telescope (HST) as it approaches the Endeavour. Backdropped against western Australia, the Remote Manipulator System (RMS) arm awaits the arrival of the telescope. Once berthed in Endeavour's cargo bay, HST underwent five days of servicing provided by four space walking crew members. Shark Bay (upper left) and Perth (lower left) are visible in the frame.

Astronauts Hoffman and Musgrave replace Solar Array Drive Electronics

NASA Image and Video Library

1993-12-09

STS061-102-010 (9 Dec 1993) --- Astronauts Jeffrey A. Hoffman (left) and F. Story Musgrave team to replace one of two Solar Array Drive Electronics (SADE) units on the Hubble Space Telescope (HST). Musgrave is standing on a foot restraint mounted on the end of the Space Shuttle Endeavour's Remote Manipulator System (RMS) arm. The black object, in upper left corner, is part of the window frame, through which this 70mm frame was exposed, inside Endeavour's cabin.

KSC-2011-4444

NASA Image and Video Library

2011-06-15

CAPE CANAVERAL, Fla. -- In Orbiter Processing Facility-1 at NASA's Kennedy Space Center in Florida, a crane is attached to the remote manipulator system, or RMS, in space shuttle Endeavour's payload bay. The removal is part of Endeavour's transition and retirement processing. Endeavour is being prepared for public display at the California Science Center in Los Angeles. Endeavour flew 25 missions, spent 299 days in space, orbited Earth 4,671 times and traveled 122,883,151 miles over the course of its 19-year career. Photo credit: NASA/Tim Jacobs

Tile survey seen during EVA 3

NASA Image and Video Library

2005-08-03

S114-E-6388 (3 August 2005) --- A close-up view of a portion of the thermal protection tiles on Space Shuttle Discovery’s underside is featured in this image photographed by astronaut Stephen K. Robinson, STS-114 mission specialist, during the mission’s third session of extravehicular activities (EVA). Robinson’s shadow is visible on the thermal protection tiles and a portion of the Canadian-built remote manipulator system (RMS) robotic arm and the Nile River is visible at bottom.

P6 Truss, port side of the Integrated Equipment Assembly (IEA)

NASA Image and Video Library

2000-12-03

STS097-374-015 (5 December 2000) --- This high angle view shows astronaut Carlos I. Noriega, STS-97 mission specialist, traversing over Endeavour's cargo bay during the flight's first space walk on Dec. 5, 2000. Astronaut Joseph R. Tanner, mission specialist, was near the top of the P6 truss structure when he exposed the 35mm frame. The Canadian-built Remote Manipulator System (RMS) arm, instrumental in the current operations, can be seen at bottom right.

Dynamic analysis of Space Shuttle/RMS configuration using continuum approach

NASA Technical Reports Server (NTRS)

Ramakrishnan, Jayant; Taylor, Lawrence W., Jr.

1994-01-01

The initial assembly of Space Station Freedom involves the Space Shuttle, its Remote Manipulation System (RMS) and the evolving Space Station Freedom. The dynamics of this coupled system involves both the structural and the control system dynamics of each of these components. The modeling and analysis of such an assembly is made even more formidable by kinematic and joint nonlinearities. The current practice of modeling such flexible structures is to use finite element modeling in which the mass and interior dynamics is ignored between thousands of nodes, for each major component. The model characteristics of only tens of modes are kept out of thousands which are calculated. The components are then connected by approximating the boundary conditions and inserting the control system dynamics. In this paper continuum models are used instead of finite element models because of the improved accuracy, reduced number of model parameters, the avoidance of model order reduction, and the ability to represent the structural and control system dynamics in the same system of equations. Dynamic analysis of linear versions of the model is performed and compared with finite element model results. Additionally, the transfer matrix to continuum modeling is presented.

Human-in-the-loop evaluation of RMS Active Damping Augmentation

NASA Technical Reports Server (NTRS)

Demeo, Martha E.; Gilbert, Michael G.; Scott, Michael A.; Lepanto, Janet A.; Bains, Elizabeth M.; Jensen, Mary C.

1993-01-01

Active Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).

In Vitro Modeling of Repetitive Motion Injury and Myofascial Release

PubMed Central

Meltzer, Kate R.; Cao, Thanh V.; Schad, Joseph F.; King, Hollis; Stoll, Scott T.; Standley, Paul R.

2010-01-01

Objective In this study we modeled repetitive motion strain (RMS) and myofascial release (MFR) in vitro to investigate possible cellular and molecular mechanisms to potentially explain the immediate clinical outcomes associated with RMS and MFR. Method Cultured human fibroblasts were strained with 8 hours RMS, 60 seconds MFR and combined treatment; RMS+MFR. Fibroblasts were immediately sampled upon cessation of strain and evaluated for cell morphology, cytokine secretions, proliferation, apoptosis, and potential changes to intracellular signaling molecules. Results RMS induced fibroblast elongation of lameopodia, cellular decentralization, reduction of cell to cell contact and significant decreases in cell area to perimeter ratios compared to all other experimental groups (p<0.0001). Cellular proliferation indicated no change among any treatment group; however RMS resulted in a significant increase in apoptosis rate (p<0.05) along with increases in death-associated protein kinase (DAPK) and focal adhesion kinase (FAK) phosphorylation by 74% and 58% respectively, when compared to control. These responses were not observed in the MFR and RMS+MFR group. Of the twenty cytokines measured there was a significant increase in GRO secretion in the RMS+MFR group when compared to control and MFR alone. Conclusion Our modeled injury (RMS) appropriately displayed enhanced apoptosis activity and loss of intercellular integrity that is consistent with pro-apoptotic DAPK2 and FAK signaling. Treatment with MFR following RMS resulted in normalization in apoptotic rate and cell morphology both consistent with changes observed in DAPK2. These in vitro studies build upon the cellular evidence base needed to fully explain clinical efficacy of manual manipulative therapies. PMID:20226363

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

NASA Technical Reports Server (NTRS)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

End effector of the Discovery's RMS with tools moves toward Syncom-IV

NASA Image and Video Library

1985-04-17

51D-44-046 (17 April 1985) --- The Space Shuttle Discovery's Remote Manipulator System (RMS) arm and two specially designed extensions move toward the troubled Syncom-IV (LEASAT) communications satellite during a station keeping mode of the two spacecraft in Earth orbit. Inside the Shuttle's cabin, astronaut Rhea Seddon, 51D mission specialist, controlled the Canadian-built arm in an attempt to move an external lever on the satellite. Crewmembers learned of the satellite's problems shortly after it was deployed from the cargo bay on April 13, 1985. The arm achieved physical contact with the lever as planned. However, the satellite did not respond to the contact as hoped. A 70mm handheld Hassellblad camera, aimed through Discovery's windows, recorded this frame -- one of the first to be released to news media following return of the seven-member crew on April 17, 1985.

Computer graphics applications to crew displays

NASA Technical Reports Server (NTRS)

Wyzkoski, J.

1983-01-01

Astronauts are provided much data and information via the monochrome CRT displays on the orbiter. For this project two areas were investigated for the possible introduction of computer graphics to enhance and extend the utility of these displays. One involved reviewing the current orbiter displays and identifying those which could be improved via computer graphics. As an example, the tabular data on electrical power distribution and control was enhanced by the addition of color and bar charts. The other dealt with the development of an aid to berthing a payload with the Remote Manipulator System (RMS). This aid consists of a graphics display of the top, front and side views of the payload and cargo bay and point of resolution (POR) position and attitude data for the current location of the payload. The initial implementation was on an IBM PC clone. The demonstration software installed in the Johnson Space Center Manipulator Development Facility (MD) was reviewed. Due to current hardware limitations, the MDF verision is slow, i.e., about a 40+ seond update rate and, hence, not real-time. Despite this fact, the evaluation of this additional visual cue as an RMS operator aid indicates that this display, with modifications for speed, etc., can assist the crew. Further development is appropriate.

STS-31 Hubble Space Telescope (HST) pre-deployment procedures aboard OV-103

NASA Image and Video Library

1990-04-24

During STS-31, the Hubble Space Telescope (HST) grappled by the remote manipulator system (RMS) end effector is held in appendage deploy position above Discovery, Orbiter Vehicle (OV) 103. The solar array (SA) bistem cassette has been released from its latch fittings. The bistem spreader bars begin to unfurl the SA wing. The secondary deployment mechanism (SDM) handle is visible at the SA end. Stowed against either side of the HST System Support Module (SSM) forward shell are the high-gain antennae (HGA). Puerto Rico and the Dominican Republic are recognizable at the left of the frame.

RMS massless arm dynamics capability in the SVDS. [equations of motion

NASA Technical Reports Server (NTRS)

Flanders, H. A.

1977-01-01

The equations of motion for the remote manipulator system, assuming that the masses and inertias of the arm can be neglected, are developed for implementation into the space vehicle dynamics simulation (SVDS) program for the Orbiter payload system. The arm flexibility is incorporated into the equations by the computation of flexibility terms for use in the joint servo model. The approach developed in this report is based on using the Jacobian transformation matrix to transform force and velocity terms between the configuration space and the task space to simplify the form of the equations.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12943 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, repairs a 4-by-6-inch section of a thermal blanket on Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12952 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, repairs a 4-by-6-inch section of a thermal blanket on Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

Innovative Robot Archetypes for In-Space Construction and Maintenance

NASA Technical Reports Server (NTRS)

Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher

2005-01-01

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

Prototype part task trainer: A remote manipulator system simulator

NASA Technical Reports Server (NTRS)

Shores, David

1989-01-01

The Part Task Trainer program (PTT) is a kinematic simulation of the Remote Manipulator System (RMS) for the orbiter. The purpose of the PTT is to supply a low cost man-in-the-loop simulator, allowing the student to learn operational procedures which then can be used in the more expensive full scale simulators. PTT will allow the crew members to work on their arm operation skills without the need for other people running the simulation. The controlling algorithms for the arm were coded out of the Functional Subsystem Requirements Document to ensure realistic operation of the simulation. Relying on the hardware of the workstation to provide fast refresh rates for full shaded images allows the simulation to be run on small low cost stand alone work stations, removing the need to be tied into a multi-million dollar computer for the simulation. PTT will allow the student to make errors which in full scale mock up simulators might cause failures or damage hardware. On the screen the user is shown a graphical representation of the RMS control panel in the aft cockpit of the orbiter, along with a main view window and up to six trunion and guide windows. The dials drawn on the panel may be turned to select the desired mode of operation. The inputs controlling the arm are read from a chair with a Translational Hand Controller (THC) and a Rotational Hand Controller (RHC) attached to it.

MOCR activity during Day 6 of STS-3 mission

NASA Technical Reports Server (NTRS)

1982-01-01

Andrew A. Fullerton, the six-year-old son of STS-3 pilot C. Gordon Fullerton, watches a television monitor in the mission control center's viewing room (28802); Mrs. Marie J. Fullerton in the mission control center's viewing room. Other members of the STS-3 pilot's family are seated on each side of Mrs. Fullerton. His sister, Jeanne Dockham, is at left foreground; son Andrew A., at right foreground. Mr. and Mrs. E. G. Buettner, Mrs. Fullerton's parents, are seated at center, and beyond them is Mrs. Charles R. Fullerton, the astronaut's mother (28803); Mary Ann Austin seated at the remote manipulator sytem (RMS) console in the mission operations control room (MOCR) shares the scene with a representation of a 1/15-scale model of the Canadian-built remote manipulator system arm (28804).

View of the payload bay during STS-7

NASA Technical Reports Server (NTRS)

1983-01-01

This 'astronaut's eye view' of the payload bay was taken through the aft flight deck window. It shows the Shuttle pallet satellite (SPAS-01), the experiment pallet for the NASA Office of Space and Terrestrial Applications (OSTA-2), the closed 'cradle' protecting the Telesat F Anik C2 satellite, the Canadian-built remote manipulator system (RMS) arm and a number of canisters for getaway special (GAS) experiments. MBB stands for Messerschmidt-Boelkow-Blohm, a West German firm which built the SPAS. The vertical stabilizer appears to be touching the Earth's horizon.

EVA 1 activity on Flight Day 4 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-14

STS082-730-090 (11-21 Feb. 1997) --- Astronaut Steven L. Smith handles one of the Goddard High Resolution Spectrograph (GHRS) boxes, changed out on the Hubble Space Telescope (HST) on Flight Day 4. Astronauts Smith and Mark C. Lee were participating in the first of five eventual days of Extravehicular Activity (EVA) to service the giant orbital observatory. Smith is standing on the end of the Remote Manipulator System (RMS) arm, which was controlled by astronaut Steven A. Hawley inside the Space Shuttle Discovery's crew cabin.

View of the INSAT/PAM-D being deployed

NASA Image and Video Library

1983-08-30

STS008-49-1724 (31 Aug 1983) --- The Indian National Satellite (INSAT) is about to clear the vertical stabilizer of the Earth-orbiting Space Shuttle Challenger and on its way to a higher orbit. The STS-8 mission's Payload Flight Test Article (PFTA) displays the U.S. flag in the middle of the cargo bay, as the Canadian built Remote Manipulator System (RMS) appears to be waiting for its busy agenda of activity with the barbell-shaped test device. This 70mm frame was exposed by a crewmember using a handheld Hasselblad inside Challenger's cabin.

Forrester prepares to retract the P6 Truss STBD SAW during EVA 2

NASA Image and Video Library

2007-06-13

S117-E-07232 (13 June 2007) --- Astronauts Patrick Forrester and Steven Swanson (out of frame), both STS-117 mission specialists, participate in the mission's second planned session of extravehicular activity (EVA), as construction resumes on the International Space Station. Among other tasks, Forrester, seen here perched on the mobile foot restraint connected to the Canadian-built remote manipulator system (RMS), and Swanson removed all of the launch locks holding the 10-foot-wide solar alpha rotary joint in place and began the solar array retraction.

EVA view taken during STS-102

NASA Image and Video Library

2001-03-11

STS102-312-004 (11 March 2001) --- Astronaut James S. Voss works while anchored to the remote manipulator system (RMS) robot arm on the Space Shuttle Discovery. This extravehicular activity (EVA), on which Voss was joined by astronaut Susan J. Helms (out of frame), was the first of two scheduled STS-102 space walks. The pair, destined to become members of the Expedition Two crew aboard the station later in the mission, rode aboard Discovery into orbit and at the time of this EVA were still regarded as STS-102 mission specialists.

Astronat Dale Gardner using MMU to travel to Westar VI satellite

NASA Image and Video Library

1984-11-14

51A-104-008 (14 Nov 1984) --- Astronaut Dale A. Gardner appears to be under the remote manipulator system (RMS) end effector as he makes a turn in space and prepared to traverse, using the manned maneuvering unit (MMU) backpack, to the nearby Westar VI to "Sting" it with the device he carries. The stringer will enter the communications satellite through the nozzle of the spent motor. Gardner achieved a hard dock at 6:32 A.M. and this picture was photographed about five minutes earlier, on Nov. 14, 1984.

The effects of outcome and process feedback

NASA Technical Reports Server (NTRS)

Johnson, Debra Steele

1990-01-01

A study was conducted to examine the effects of process and outcome feedback on performance during a skill acquisition phase and a transfer test phase. The research also examined the role of two moderators: self-efficacy and intrinsic motivation. Subjects were college students participating for course credit. The task involved using a computerized simulation of the Space Shuttle's Remote Manipulation System (RMS). Results provided evidence of the beneficial effects of process feedback during skill acquisition. Results also provided evidence that self-efficacy and intrinsic motivation moderate the effects of feedback type on performance.

EVA 3 - Linnehan and Grunsfeld install new PCU

NASA Image and Video Library

2002-03-06

STS109-E-5660 (6 March 2002) --- Astronauts John M. Grunsfeld (top) and Richard M. Linnehan participate in a 6 hour, 48 minute space walk designed to install a new Power Control Unit (PCU) on the Hubble Space Telescope (HST). The two went on to replace the original unit launched with the telescope in April 1990. Grunsfeld is on the end of Columbia's Remote Manipulator System (RMS) robotic arm, controlled from inside the crew cabin by astronaut Nancy J. Currie. The image was recorded with a digital still camera.

EVA 2 - MS Newman over Australia

NASA Image and Video Library

2002-03-05

STS109-E-5611 (5 March 2002) --- Astronauts James H. Newman, attached to the Remote Manipulator System (RMS) arm of the Space Shuttle Columbia, and Michael J. Massimino (out of frame) work on the Hubble Space Telescope as the shuttle flies over Western Australia. This day's space walk went on to see astronauts Newman and Massimino replace the port solar array on the Hubble. On the previous day astronauts John M. Grunsfeld and Richard M. Linnehan replaced the starboard solar array on the giant telescope. The image was recorded with a digital still camera.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009664 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009606 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009859 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel (bottom center), mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009654 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009997 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009656 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009646 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009612 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009918 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel, mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009648 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009994 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009911 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel, mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009609 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009908 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel (foreground), mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009890 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel (foreground), mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009605 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009607 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-010000 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

Pre-deploy operations with SPARTAN-201 during STS-64

NASA Image and Video Library

1994-09-12

STS064-111-070 (9-20 Sept. 1994) --- The astronauts onboard the space shuttle Discovery used a 70mm camera to capture this view of the pre-deploy operations with the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN-201) 201. In the grasp of the robot arm device of the Remote Manipulator System (RMS), SPARTAN 201 hovers above Discovery's cargo bay prior to its two days of free-flight, some 40 miles away from the parent spacecraft. Photo credit: NASA or National Aeronautics and Space Administration

EVA 5 activity on Flight Day 8 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-18

S82-E-5718 (18 Feb. 1997) --- Making use of the Remote Manipulator System (RMS) astronauts Mark C. Lee (left), STS-82 payload commander, and Steven L. Smith, mission specialist, perform the final phases of Extravehicular Activity (EVA) duty. Lee holds a patch piece for Bay #10, out of view, toward which the two were headed. A sample of the patch work can be seen on Bay #9 in the upper left quadrant of the picture. This view was taken with an Electronic Still Camera (ESC).

INFLIGHT (MISSION CONTROL CENTER) - STS-2 - JSC

NASA Image and Video Library

1981-11-13

S81-39494 (12 Nov. 1981) --- An overall view of activity in the mission operations control room (MOCR) in Houston?s Mission Control Center (MCC) as viewed from the second front row of consoles during the STS-2 mission. The remote manipulator system (RMS) console is in the immediate foreground. Note TV transmission on the Eidophor screen at front of MOCR and shuttle orbiter marker on tracking map at left indicating the vehicle?s location over the Hawaiian Islands. The downlink was through the Hawaii tracking station. Photo credit: NASA

Space Shuttle Projects

NASA Image and Video Library

2002-03-07

Inside the Space Shuttle Columbia's cabin, astronaut Nancy J. Currie, mission specialist, controlled the Remote Manipulator System (RMS) on the crew cabin's aft flight deck to assist fellow astronauts during the STS-109 mission Extra Vehicular Activities (EVA). The RMS was used to capture the telescope and secure it into Columbia's cargo bay. The Space Shuttle Columbia STS-109 mission lifted off March 1, 2002 with goals of repairing and upgrading the Hubble Space Telescope (HST). The Marshall Space Flight Center in Huntsville, Alabama had the responsibility for the design, development, and construction of the HST, which is the most powerful and sophisticated telescope ever built. STS-109 upgrades to the HST included: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. Lasting 10 days, 22 hours, and 11 minutes, the STS-109 mission was the 108th flight overall in NASA's Space Shuttle Program.

Robotics EP Payloads

NASA Image and Video Library

2009-09-24

ISS020-E-041981 (24 Sept. 2009) --- The exterior of the Japanese Kibo complex of the International Space Station and the station's Canadarm2 (bottom) are featured in this image photographed by an Expedition 20 crew member on the station. European Space Agency astronaut Frank De Winne and NASA astronaut Nicole Stott, both Expedition 20 flight engineers, used the controls of the Japanese Experiment Module Robotic Manipulator System (JEM-RMS) in Kibo to grapple and transfer two Japanese payloads from the Exposed Pallet to their Exposed Facility locations -- first HICO/Hyperspectral Imager for the Coastal Ocean & RAIDS/Remote Atmospheric and Ionospheric Detection System (HREP), then Superconducting Submillimeter-wave Limb-emission Sounder (SMILES).

STS-61 crew utilizing Virtual Reality in training for HST repair mission

NASA Technical Reports Server (NTRS)

1993-01-01

Astronaut Jeffrey A. Hoffman, one of four crewmembers for STS-61 that will conduct scheduled spacewalks during the flight, wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm. Crewmembers are utilizing a new virtual reality training aid which assists in refining positioning patterns for Space Shuttle Endeavour's Remote Manipulator System (RMS) (36890); Astronaut Claude Nicollier looks at a computer display of the Shuttle's robot arm movements as Thomas D. Akers and Kathryn C. Thornton, mission specialists look on. Nicollier will be responsible for maneuvering the astronauts while they stand in a foot restraint on the end of the RMS arm (36891,36894); Hoffman wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm (35892); Nicollier looks at a computer display of the Shuttle's robot arm movements as Akers looks on (36893); While (l-r) Astron

Low voltage picoliter droplet manipulation utilizing electrowetting-on-dielectric platforms.

PubMed

Lin, Yan-You; Welch, Erin R F; Fair, Richard B

2012-10-01

Picoliter droplets actuated on an electrowetting-on-dielectric (EWD) actuator are demonstrated. In this study, the physical scaling of electrodes for 33 μm and 21 μm EWD devices resulted in droplets of 12 pl and 5 pl being dispensed respectively in conjunction with 3 μm SU8 gaskets. The stacked multi-layer insulators in the actuators consisted of 200 nm tantalum pentoxide (Ta 2 O 5 ) and 200 nm parylene C films deposited and coated with 70 nm of CYTOP. The voltages for dispensing droplets on chips without any external pressure sources are 17.1 V rms and 22 V rms for these two sets of devices. A 12 pl droplet can be split into two 6 pl daughter droplets at 18.7 V rms with 33 μm electrode devices. Droplet manipulation is also demonstrated with paramagnetic beads and buffer solutions with proteins. In addition, electrodes with interlocking protrusions and special featured reservoir gasket are designed to facilitate droplet dispensing on these scaled EWD devices. In order to improve sealing of the two-piece sandwich EWD structure, a soft material, Norland Optical Adhesive (NOA), was coated on the top plate along with pressure on top. We demonstrate that based on fundamental theories and experiments, the dimensional scaling of EWD devices has not yet met a limitation as long as the EWD device can be sealed well.

Real-time, high frequency QRS electrocardiograph

NASA Technical Reports Server (NTRS)

Schlegel, Todd T. (Inventor); DePalma, Jude L. (Inventor); Moradi, Saeed (Inventor)

2006-01-01

Real time cardiac electrical data are received from a patient, manipulated to determine various useful aspects of the ECG signal, and displayed in real time in a useful form on a computer screen or monitor. The monitor displays the high frequency data from the QRS complex in units of microvolts, juxtaposed with a display of conventional ECG data in units of millivolts or microvolts. The high frequency data are analyzed for their root mean square (RMS) voltage values and the discrete RMS values and related parameters are displayed in real time. The high frequency data from the QRS complex are analyzed with imbedded algorithms to determine the presence or absence of reduced amplitude zones, referred to herein as RAZs. RAZs are displayed as go, no-go signals on the computer monitor. The RMS and related values of the high frequency components are displayed as time varying signals, and the presence or absence of RAZs may be similarly displayed over time.

LDEF Retrieval over the Namib Desert, Namibia, Africa

NASA Image and Video Library

1990-01-20

STS032-85-029 (12 Jan. 1990) --- (ORIENT PHOTO WITH COLUMBIA'S CARGO BAY IN LOWER CENTER). This 70mm frame was taken during a battery of documentary photographs of the recently-recaptured Long Duration Exposure Facility (LEDF). The Atlantic Coast of Namibia serves as a backdrop for the colorful scene. After five-and-one half years orbiting Earth, LDEF was retrieved by STS-32 crewmembers and brought back home at the end of the eleven-day mission for scientific observation. The bus-sized spacecraft was held in the grasp of Columbia's remote manipulator system (RMS) end effector during the survey.

View of the Columbia's aft section while over Mediterranean Sea

NASA Image and Video Library

1982-03-31

This southerly looking view photographed from the orbiting Space Shuttle Columbia shows a small portion of the vehichle's aft section. The 50-ft Canadian built remote manipulator system (RMS) is in a resting posture (lower right corner) stretched out along the 60-ft. long cargo bay. Many of the components of the OSS-1 payload package are in the bottom center. The Mediterranean Sea is at right foreground. Parts of the Sinai peninsula, Israel, Egypt, Saudi Arabia, Jordan, Palestine, Syria, and Lebanon can be located in the photo. The Red Sea, Gulf of Aqaba, Suez Canal are near the photo's horizon.

Helms holds onto the Rigid Umbilical during EVA

NASA Image and Video Library

2001-03-11

STS102-314-003 (11 March 2001) --- Astronaut Susan J. Helms works while holding onto a rigid umbilical and with her feet anchored to the remote manipulator system (RMS) robot arm on the Space Shuttle Discovery. This extravehicular activity (EVA), on which Helms was joined by astronaut James S. Voss (out of frame), was the first of two scheduled STS-102 space walks. The pair, destined to become members of the Expedition Two crew aboard the station later in the mission, rode aboard Discovery into orbit and at the time of this EVA were still regarded as STS-102 mission specialists.

Hand controller commonality evaluation process

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Bierschwale, John M.; Wilmington, Robert P.; Adam, Susan C.; Diaz, Manuel F.; Jensen, Dean G.

1990-01-01

A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.

EVA 2 - MS Newman and Massimino over Australia

NASA Image and Video Library

2002-03-05

STS109-E-5610 (5 March 2002) --- Astronauts James H. Newman, attached to the Remote Manipulator System (RMS) arm of the Space Shuttle Columbia, and Michael J. Massimino (barely visible against the Hubble Space Telescope near center frame) work on the telescope as the shuttle flies over Australia. This day's space walk went on to see astronauts Newman and Massimino replace the port solar array on the Hubble. On the previous day astronauts John M. Grunsfeld and Richard M. Linnehan replaced the starboard solar array on the giant telescope. The image was recorded with a digital still camera.

Palapa-B communications satellite launched from the Shuttle Challenger

NASA Image and Video Library

1983-06-24

S83-35764 (19 June 1983) --- The Indonesian Palapa B communications satellite is just about to clear the vertical stabilizer of the Earth-orbiting Space Shuttle Challenger to begin its way toward its Earth-orbital destination. Also visible in this 70mm exposure, photographed through the flight deck?s aft windows, are the Shuttle pallet satellite, the experiment package for NASA?s office of space and terrestrial applications (OSTA-2), the now vacated protective cradles for Palapa and Telesat Canada?s Anik C2 satellites, some getaway special (GAS) canisters and the Canadian-built remote manipulator system (RMS) arm.

STS-96 EVA view of Tamara Jernigan

NASA Image and Video Library

1999-05-30

STS096-330-004 (30 May 1999) --- Astronaut Tamara E. Jernigan, mission specialist, is backdropped over the Aegean Sea as she handles the American-built crane which she helped to install on the International Space Station (ISS) during the May 30th space walk. Jernigan's feet are anchored to a mobile foot restraint connected to the Space Shuttle Discovery's Canadian-built Remote Manipulator System (RMS). Jernigan was joined by astronaut Daniel T. Barry, mission specialist, for the lengthy extravehicular activity (EVA). Parts of Greece, Turkey and the Dardenelles are visible some 171 nautical miles below the docked tandem of Discovery and the ISS.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009864 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel (bottom center), mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009944 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), and astronaut Andrew Feustel (top center), mission specialist, participate in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and Feustel installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics.

STS-125 MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-010049 (18 May 2009) --- Astronaut Andrew Feustel, STS-125 mission specialist, participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Feustel and astronaut John Grunsfeld (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics. Astronaut Megan McArthur, STS-125 mission specialist, at the controls of the remote manipulator system (RMS), can be seen through an aft flight deck window.

View of the Columbia's aft section while over Mediterranean Sea

NASA Technical Reports Server (NTRS)

1982-01-01

This southerly looking view photographed from the orbiting Space Shuttle Columbia shows a small portion of the vehichle's aft section. The 50-ft Canadian built remote manipulator system (RMS) is in a resting posture (lower right corner) stretched out along the 60-ft. long cargo bay. Many of the components of the OSS-1 payload package are in the bottom center. The Mediterranean Sea is at right foreground. Parts of the Sinai peninsula, Israel, Egypt, Saudi Arabia, Jordan, Palestine, Syria, and Lebanon can be located in the photo. The Red Sea, Gulf of Aqaba, Suez Canal are near the photo's horizon.

Space Shuttle Projects

NASA Image and Video Library

1994-07-20

The STS-64 patch depicts the Space Shuttle Discovery in a payload-bay-to-Earth attitude with its primary payload, Lidar In-Space Technology Experiment (LITE-1) operating in support of Mission to Planet Earth. LITE-1 is a lidar system that uses a three-wavelength laser, symbolized by the three gold rays emanating from the star in the payload bay that form part of the astronaut symbol. The major objective of the LITE-1 is to gather data about the Earth's troposphere and stratosphere, represented by the clouds and dual-colored Earth limb. A secondary payload on STS-64 is the free-flier SPARTAN 201 satellite shown on the Remote Manipulator System (RMS) arm post-retrieval. The RMS also operated another payload, Shuttle Plume Impingement Flight Experiment (SPIFEX). A newly tested extravehicular activity (EVA) maneuvering device, Simplified Aid for EVA Rescue (SAFER), represented symbolically by the two small nozzles on the backpacks of the two untethered EVA crew men. The names of the crew members encircle the patch: Astronauts Richard N. Richards, L. Blaine Hammond, Jr., Jerry M. Linenger, Susan J. Helms, Carl J. Meade and Mark C. Lee. The gold or silver stars by each name represent that person's parent service.

KSC-2010-1197

NASA Image and Video Library

2010-01-12

CAPE CANAVERAL, Fla. - In the Remote Manipulator System Lab, or RMS Lab, inside the Vehicle Assembly Building at NASA's Kennedy Space Center in Florida, Rafael Rodriguez, lead RMS advanced systems technician with United Space Alliance, installs the mid-transition thermal blanket onto the inspection boom assembly, or IBA, on space shuttle Atlantis' orbiter boom sensor system, or OBSS. The IBA is removed from the shuttle every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. The second in a series of new pressurized components for Russia, the module will be permanently attached to the Zarya module. Three spacewalks are planned to store spare components outside the station, including six spare batteries, a boom assembly for the Ku-band antenna and spares for the Canadian Dextre robotic arm extension. A radiator, airlock and European robotic arm for the Russian Multi-purpose Laboratory Module also are payloads on the flight. Launch is targeted for May 14, 2010. Photo credit: NASA/Jack Pfaller

In vivo Postnatal Electroporation and Time-lapse Imaging of Neuroblast Migration in Mouse Acute Brain Slices

PubMed Central

Oudin, Madeleine Julie; Doherty, Patrick; Lalli, Giovanna

2013-01-01

The subventricular zone (SVZ) is one of the main neurogenic niches in the postnatal brain. Here, neural progenitors proliferate and give rise to neuroblasts able to move along the rostral migratory stream (RMS) towards the olfactory bulb (OB). This long-distance migration is required for the subsequent maturation of newborn neurons in the OB, but the molecular mechanisms regulating this process are still unclear. Investigating the signaling pathways controlling neuroblast motility may not only help understand a fundamental step in neurogenesis, but also have therapeutic regenerative potential, given the ability of these neuroblasts to target brain sites affected by injury, stroke, or degeneration. In this manuscript we describe a detailed protocol for in vivo postnatal electroporation and subsequent time-lapse imaging of neuroblast migration in the mouse RMS. Postnatal electroporation can efficiently transfect SVZ progenitor cells, which in turn generate neuroblasts migrating along the RMS. Using confocal spinning disk time-lapse microscopy on acute brain slice cultures, neuroblast migration can be monitored in an environment closely resembling the in vivo condition. Moreover, neuroblast motility can be tracked and quantitatively analyzed. As an example, we describe how to use in vivo postnatal electroporation of a GFP-expressing plasmid to label and visualize neuroblasts migrating along the RMS. Electroporation of shRNA or CRE recombinase-expressing plasmids in conditional knockout mice employing the LoxP system can also be used to target genes of interest. Pharmacological manipulation of acute brain slice cultures can be performed to investigate the role of different signaling molecules in neuroblast migration. By coupling in vivo electroporation with time-lapse imaging, we hope to understand the molecular mechanisms controlling neuroblast motility and contribute to the development of novel approaches to promote brain repair. PMID:24326479

Nile River, Lake Nasser, North Sudan and Lower Egypt

NASA Image and Video Library

1992-11-01

STS052-152-026 (22Oct-1 Nov 1992) --- Backdropped over eastern Egypt, the Canadian-built remote manipulator system (RMS) attached to NASA's Earth-orbiting Space Shuttle Columbia displays a Canadian Space Agency (CSA) experiment. Materials Exposure in Low Earth Orbit (MELEO) is one of a number of Canadian experiments which flew aboard Columbia for the ten-day STS-52 mission. Principal investigator for the experiment is Dr. David G. Zimick of the CSA. Plastic and composite materials used on the external surfaces of spacecraft have been found to degrade in the harsh environment of space. Evidence suggests that this degradation is caused by interaction with atomic oxygen which induces damaging chemical and physical reactions. The result is a loss in mass, strength, stiffness and stability of size and shape. During the mission, MELEO exposed over 350 material specimens mounted on "witness plates" on the RMS arm. The specimen collection will be analyzed in the weeks following the mission. Typical spacecraft materials and new developments in protective measures against atomic oxygen were tested as part of the MELEO experiment.

Astronauts Hoffman and Musgrave install the Magnetic Sensing System on HST

NASA Image and Video Library

1993-12-07

STS061-77-102 (7 Dec 1993) --- Astronauts Jeffrey A. Hoffman (left) and F. Story Musgrave are partially silhouetted against the Indian Ocean as they work to install the Magnetic Sensing System (MSS) on the Hubble Space Telescope (HST). Musgrave is anchored to the end of the Space Shuttle Endeavour's Remote Manipulator System (RMS) arm. The HST is positioned along the southern end of Madagascar, 325 nautical miles away. Visible on the western coast are the sediment laden Onilahy and Fiherenana Rivers which empty into Saint Augustin Bay. North of Fiherenana River is the Mangoky River. The circular feature on the southern end of Madagascar and to the right of HST is the L'ivakoany Mountains. The eastern coast is relatively straight compared to the western coast.

Astronauts Sullivan and Leestma perform in-space simulation of refueling

NASA Image and Video Library

1984-10-14

S84-43432 (11 Oct. 1984) --- Appearing small in the center background of this image, astronauts Kathryn D. Sullivan, left, and David C. Leestma, both 41-G mission specialists, perform an in-space simulation of refueling another spacecraft in orbit. Their station on the space shuttle Challenger is the orbital refueling system (ORS), positioned on the mission peculiar support structure (MPR ESS). The Large Format Camera (LFC) is left of the two mission specialists. In the left foreground is the antenna for the shuttle imaging radar (SIR-B) system onboard. The Canadian-built remote manipulator system (RMS) is positioned to allow close-up recording capability of the busy scene. A 50mm lens on a 70mm camera was used to photograph this scene. Photo credit: NASA

Space Shuttle Projects

NASA Image and Video Library

1992-09-12

This STS-48 onboard photo is of the Upper Atmosphere Research Satellite (UARS) in the grasp of the RMS (Remote Manipulator System) during deployment, September 1991. UARS gathers data related to the chemistry, dynamics, and energy of the ozone layer. UARS data is used to study energy input, stratospheric photo chemistry, and upper atmospheric circulation. UARS helps us understand and predict how the nitrogen and chlorine cycles, and the nitrous oxides and halo carbons which maintain them, relate to the ozone balance. It also observes diurnal variations in short-lived stratospheric chemical species important to ozone destruction. Data from UARS enables scientists to study ozone depletion in the upper atmosphere.

Space Shuttle Projects

NASA Image and Video Library

1991-09-12

This STS-48 onboard photo is of the Upper Atmosphere Research Satellite (UARS) in the grasp of the RMS (Remote Manipulator System) during deployment, September 1991. UARS gathers data related to the chemistry, dynamics, and energy of the ozone layer. UARS data is used to study energy input, stratospheric photo chemistry, and upper atmospheric circulation. UARS helps us understand and predict how the nitrogen and chlorine cycles, and the nitrous oxides and halo carbons which maintain them, relate to the ozone balance. It also observes diurnal variations in short-lived stratospheric chemical species important to ozone destruction. Data from UARS enables scientists to study ozone depletion in the upper atmosphere.

View of the FGB/Zarya and Node 1/Unity modules in the payload bay

NASA Image and Video Library

1998-12-07

STS088-719-071 (6 Dec. 1998) --- Just a few feet away from a 70mm camera onboard the Space Shuttle Endeavour, the Russian-built control module and the U.S.-built Unity connecting module are mated in the shuttle's cargo bay. Using Endeavour's 50-ft. long Canadian-built Remote Manipulator System (RMS) robot arm, astronaut Nancy J. Currie working from the aft flight deck, plucked Zarya out of orbit at 5:47 p.m. (CST), December 6. The craft had been orbiting Earth for a little over 16 days prior to grapple and subsequent docking to Unity.

In this medium close-up view, captured by an Electronic Still Camera (ESC), the Spartan 207

NASA Technical Reports Server (NTRS)

1996-01-01

STS-77 ESC VIEW --- In this medium close-up view, captured by an Electronic Still Camera (ESC), the Spartan 207 free-flyer is held in the grasp of the Space Shuttle Endeavour's Remote Manipulator System (RMS) following its re-capture on May 21, 1996. The six-member crew has spent a portion of the early stages of the mission in various activities involving the Spartan 207 and the related Inflatable Antenna Experiment (IAE). The Spartan project is managed by NASA's Goddard Space Flight Center (GSFC) for NASA's Office of Space Science, Washington, D.C. GMT: 09:38:05.

STS-109 MS Newman replace Reaction Wheel assembly during EVA 2

NASA Image and Video Library

2002-03-05

STS109-E-5399 (5 March 2002) --- Astronaut James H. Newman, mission specialist, moves about in the Space Shuttle Columbia's cargo bay while working in tandem with astronaut Michael J. Massimino (out of frame), mission specialist, during the STS-109 mission's second day of extravehicular activity (EVA). Inside Columbia's cabin, astronaut Nancy J. Currie, mission specialist, controlled the Remote Manipulator System (RMS) to assist the two in their work on the Hubble Space Telescope (HST). Part of the giant telescope's base, latched down in the payload bay, can be seen just above Newman. The image was recorded with a digital still camera.

Astronaut Kathryn Thornton on HST photographed by Electronic Still Camera

NASA Image and Video Library

1993-12-05

S61-E-011 (5 Dec 1993) --- This view of astronaut Kathryn C. Thornton working on the Hubble Space Telescope (HST) was photographed with an Electronic Still Camera (ESC), and down linked to ground controllers soon afterward. Thornton, anchored to the end of the Remote Manipulator System (RMS) arm, is installing the +V2 Solar Array Panel as a replacement for the original one removed earlier. Electronic still photography is a relatively new technology which provides the means for a handheld camera to electronically capture and digitize an image with resolution approaching film quality. The electronic still camera has flown as an experiment on several other shuttle missions.

Real-time, high frequency QRS electrocardiograph with reduced amplitude zone detection

NASA Technical Reports Server (NTRS)

Schlegel, Todd T. (Inventor); DePalma, Jude L. (Inventor); Moradi, Saeed (Inventor)

2009-01-01

Real time cardiac electrical data are received from a patient, manipulated to determine various useful aspects of the ECG signal, and displayed in real time in a useful form on a computer screen or monitor. The monitor displays the high frequency data from the QRS complex in units of microvolts, juxtaposed with a display of conventional ECG data in units of millivolts or microvolts. The high frequency data are analyzed for their root mean square (RMS) voltage values and the discrete RMS values and related parameters are displayed in real time. The high frequency data from the QRS complex are analyzed with imbedded algorithms to determine the presence or absence of reduced amplitude zones, referred to herein as ''RAZs''. RAZs are displayed as ''go, no-go'' signals on the computer monitor. The RMS and related values of the high frequency components are displayed as time varying signals, and the presence or absence of RAZs may be similarly displayed over time.

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

NASA Technical Reports Server (NTRS)

Dumas, Joseph D.

1996-01-01

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Artist concept of STS-49 Endeavour, OV-105, INTELSAT VI astronaut capture

NASA Technical Reports Server (NTRS)

1992-01-01

STS-49 Endeavour, Orbiter Vehicle (OV) 105, International Telecommunications Satellite Organization (INTELSAT) VI artist concept drawing of on-orbit repair and boost sequence shows extravehicular mobility unit (EMU) suited astronaut, positioned on remote manipulator system (RMS) manipulator foot restraint (MFR), attaching capture bar to INTELSAT VI aft side. When in place, the capture bar grapple fixture will be used to pull the satellite into OV-105's payload bay (PLB). This view illustrates part of the sequence of events NASA plans to unfold on the first voyage of OV-105 during the rescue of the errant INTELSAT VI satellite. Once inside the PLB, a perigee stage will be attached to INTELSAT. With its new motor, INTELSAT VI will be released from OV-105's PLB and when a safe distance away be boosted into a 45,000-transfer orbit. It will then be maneuvered into its proper position 22,300 miles above Earth. Photo credit: Hughes Aircraft Co. and NASA.

In-flight crew training

NASA Technical Reports Server (NTRS)

Gott, Charles; Galicki, Peter; Shores, David

1990-01-01

The Helmet Mounted Display system and Part Task Trainer are two projects currently underway that are closely related to the in-flight crew training concept. The first project is a training simulator and an engineering analysis tool. The simulator's unique helmet mounted display actually projects the wearer into the simulated environment of 3-D space. Miniature monitors are mounted in front of the wearers eyes. Partial Task Trainer is a kinematic simulator for the Shuttle Remote Manipulator System. The simulator consists of a high end graphics workstation with a high resolution color screen and a number of input peripherals that create a functional equivalent of the RMS control panel in the back of the Orbiter. It is being used in the training cycle for Shuttle crew members. Activities are underway to expand the capability of the Helmet Display System and the Partial Task Trainer.

Currie at RMS controls on the aft flight deck

NASA Image and Video Library

1998-12-05

S88-E-5030 (12-05-98) --- Astronaut Nancy J. Currie gently mated the 12.8-ton Unity connecting module to Endeavour's docking system late afternoon of Dec. 5, successfully completing the first task in assembling the new International Space Station. Deftly manipulating the shuttle's 50-foot-long robot arm, Currie placed Unity just inches above the extended outer ring on Endeavour's docking mechanism, enabling astronaut Robert D. Cabana, mission commander, to fire downward maneuvering jets, locking the shuttle's docking system to one of two Pressurized Mating Adapters (PMA) attached to Unity. Turning her head to her right, Currie is using one of the TV monitors on the aft flight deck to assist in the precise maneuver. The photo was taken with an electronic still camera (ESC) at 22:31:08 GMT, Dec. 5.

MS Hadfield works on the SSRMS in the SLP during the first EVA for STS-100

NASA Image and Video Library

2001-04-22

S100-E-5236 (22 April 2001) --- Astronaut Chris A. Hadfield, STS-100 mission specialist representing the Canadian Space Agency (CSA), stands on one Canadian-built robot arm to work with another one. Called Canadarm2, the newest addition to the International Space Station (ISS) was ferried up to the orbital outpost by the STS-100 crew. Hadfield's feet are secured on a special foot restraint attached to the end of the Remote Manipulator System (RMS) arm, which represents one of the standard shuttle components for the majority of the 100-plus STS missions thus far. The picture was recorded with a digital still camera.

MS Hadfield works on the SSRMS in the SLP during the first EVA for STS-100

NASA Image and Video Library

2001-04-22

S100-E-5239 (22 April 2001) --- Astronaut Chris A. Hadfield, STS-100 mission specialist representing the Canadian Space Agency (CSA), stands on one Canadian-built robot arm to work with another one. Called Canadarm2, the newest addition to the International Space Station (ISS) was ferried up to the orbital outpost by the STS-100 crew. Hadfield's feet are secured on a special foot restraint attached to the end of the Remote Manipulator System (RMS) arm, which represents one of the standard shuttle components for the majority of the 100-plus STS missions thus far. The picture was recorded with a digital still camera.

MS Hadfield works on the SSRMS in the SLP during the first EVA for STS-100

NASA Image and Video Library

2001-04-22

S100-E-5238 (22 April 2001) --- Astronaut Chris A. Hadfield, STS-100 mission specialist representing the Canadian Space Agency (CSA), stands on one Canadian-built robot arm to work with another one. Called Canadarm2, the newest addition to the International Space Station (ISS) was ferried up to the orbital outpost by the STS-100 crew. Hadfield's feet are secured on a special foot restraint attached to the end of the Remote Manipulator System (RMS) arm, which represents one of the standard shuttle components for the majority of the 100-plus STS missions thus far. The picture was recorded with a digital still camera.

MS Hadfield works on the SSRMS in the SLP during the first EVA for STS-100

NASA Image and Video Library

2001-04-22

S100-E-5243 (22 April 2001) --- Astronaut Chris A. Hadfield, STS-100 mission specialist representing the Canadian Space Agency (CSA), stands on one Canadian-built robot arm to work with another one. Called Canadarm2, the newest addition to the International Space Station (ISS) was ferried up to the orbital outpost by the STS-100 crew. Hadfield's feet are secured on a special foot restraint attached to the end of the Remote Manipulator System (RMS) arm, which represents one of the standard shuttle components for the majority of the 100-plus STS missions thus far. The picture was recorded with a digital still camera.

EVA 2 activity on Flight Day 5 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-15

STS082-742-047 (11-21 Feb. 1997) --- On Flight Day 5, astronaut Joseph R. Tanner (left) holds a 500 pound piece of hardware as he stands on the end of the Space Shuttle Discovery's Remote Manipulator System (RMS) arm, as tethered astronaut Gregory J. Harbaugh works nearby. The piano-shaped object held aloft by Tanner is actually the Fine Guidance Sensor 1 (FGS-1), which Tanner had just removed from the Hubble Space Telescope (HST). Harbaugh is inspecting the FGS' bay to set the stage for the two to insert the replacement hardware. EDITOR'S NOTE: For orientation purposes, the picture should be held with Space Shuttle's OMS pods at top.

EVA view of the Zenith (-ZA/FGB Plane III) side of the Functional Cargo Block (FGB).

NASA Image and Video Library

1998-12-12

STS088-353-008 (4-15 Dec. 1998) --- Astronaut James H. Newman, mission specialist, translates along a hand rail on the Russian-built Zarya Module in this Extravehicular Activity (EVA) photograph taken by astronaut Jerry L. Ross, mission specialist. Ross and Newman shared three space walks altogether to perform cable connection tasks and to put finishing touches on the exteriors of the recently-joined Zarya and the United States-built Unity (Node 1) modules. Unity is partially visible beneath Zarya, as is most of the cargo bay of the Space Shuttle Endeavour. The Canadian-built Remote Manipulator System (RMS) arm is partially visible, also.

EVA 2 - MS Massimino waves to crewmates

NASA Image and Video Library

2002-03-05

STS109-E-5606 (5 March 2002) --- Astronaut Michael J. Massimino, mission specialist, waves to crewmates on the other side of the aft flight deck windows on Columbia, while equipped with his extravehicular mobility units (EMU) space suit and standing on the end of the Remote Manipulator System (RMS) arm in the shuttle's cargo bay. This day's space walk went on to see astronauts James H. Newman and Massimino replace the port solar array on the Hubble Space Telescope (HST), partially visible in the background. On the previous day astronauts John M. Grunsfeld and Richard M. Linnehan replaced the starboard solar array on the giant telescope. The image was recorded with a digital still camera.

KSC-08pd1539

NASA Image and Video Library

2008-05-31

CAPE CANAVERAL, Fla. -- At the Banana River viewing site, guests applaud the picture-perfect launch of space shuttle Discovery as it leaps from the clouds of smoke below on its STS-124 mission to the International Space Station. Launch was on time at 5:02 p.m. EDT. Discovery is making its 35th flight. The STS-124 mission is the 26th in the assembly of the space station. It is the second of three flights launching components to complete the Japan Aerospace Exploration Agency's Kibo laboratory. The shuttle crew will install Kibo's large Japanese Pressurized Module and its remote manipulator system, or RMS. The 14-day flight includes three spacewalks. Photo credit: NASA/Sam Fat

Space Shuttle Projects

NASA Image and Video Library

1992-05-14

STS-49, the first flight of the Space Shuttle Orbiter Endeavour, lifted off from launch pad 39B on May 7, 1992 at 6:40 pm CDT. The STS-49 mission was the first U.S. orbital flight to feature 4 extravehicular activities (EVAs), and the first flight to involve 3 crew members working simultaneously outside of the spacecraft. The primary objective was the capture and redeployment of the INTELSAT VI (F-3), a communication satellite for the International Telecommunication Satellite organization, which was stranded in an unusable orbit since its launch aboard the Titan rocket in March 1990. After securing the satellite with the Remote Manipulator System (RMS), the crew proceeded with preparing the satellite for its release into space.

The Spartan 207 free-flyer is held in a low-hover mode above its berth in the Space Shuttle

NASA Technical Reports Server (NTRS)

1996-01-01

STS-77 ESC VIEW --- The Spartan 207 free-flyer is held in a low-hover mode above its berth in the Space Shuttle Endeavour's cargo bay in the grasp of the Remote Manipulator System (RMS). The free-flyer was re-captured by the six crew members on May 21, 1996. The crew has spent a portion of the early stages of the mission in various activities involving the Spartan 207 and the related Inflatable Antenna Experiment (IAE). The Spartan project is managed by NASA's Goddard Space Flight Center (GSFC) for NASA's Office of Space Science, Washington, D.C. GMT: 09:51:29.

With a cloudy horizon scene as a backdrop, the Spartan 207 free-flyer is held in the grasp of the

NASA Technical Reports Server (NTRS)

1996-01-01

STS-77 ESC VIEW --- With a cloudy horizon scene as a backdrop, the Spartan 207 free-flyer is held in the grasp of the Space Shuttle Endeavour's Remote Manipulator System (RMS) following its re-capture on May 21, 1996. The view was captured with an onboard Electronic Still Camera (ESC). The six-member crew has spent a portion of the early stages of the mission in various activities involving the Spartan 207 and the related Inflatable Antenna Experiment (IAE). The Spartan project is managed by NASA's Goddard Space Flight Center (GSFC) for NASA's Office of Space Science, Washington, D.C. GMT: 09:39:35.

STS-125 MS3 Grunsfeld and MS5 Feustel during EVA5

NASA Image and Video Library

2009-05-18

S125-E-009990 (18 May 2009) --- Astronaut John Grunsfeld, STS-125 mission specialist, positioned on a foot restraint on the end of Atlantis? remote manipulator system (RMS), participates in the mission?s fifth and final session of extravehicular activity (EVA) as work continues to refurbish and upgrade the Hubble Space Telescope. During the seven-hour and two-minute spacewalk, Grunsfeld and astronaut Andrew Feustel (out of frame), mission specialist, installed a battery group replacement, removed and replaced a Fine Guidance Sensor and three thermal blankets (NOBL) protecting Hubble?s electronics. The blackness of space and the thin line of Earth?s atmosphere provide the backdrop for this scene.

SPARTAN-201-3 spacecraft prior to being re-captured

NASA Image and Video Library

1995-09-10

STS069-703-00H (10 September 1995) --- Prior to being re-captured by Space Shuttle Endeavour’s Remote Manipulator System (RMS), the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN-201) spacecraft was recorded on film, backdropped against the darkness of space over a heavily cloud-covered Earth. Endeavour, with a five-member crew, launched on September 7, 1995, from the Kennedy Space Center (KSC) and ended its mission there on September 18, 1995, with a successful landing on Runway 33. The multifaceted mission carried a crew of astronauts David M. Walker, mission commander; Kenneth D. Cockrell, pilot; and James S. Voss (payload commander), James H. Newman and Michael L. Gernhardt, all mission specialists.

STS-88 crew use simulators and virtual reality in preflight training

NASA Image and Video Library

1998-04-08

S98-05079 (8 Apr. 1998) --- Astronaut Jerry L. Ross, assigned as a mission specialist for the mission, uses specialized gear to train for his duties aboard the Space Shuttle Endeavour. This type virtual reality training allows each of the assigned Extravehicular Activity (EVA) astronauts -- Ross and James H. Newman -- to wear a helmet and special gloves to look at computer displays simulating actual movements around the various locations on the International Space Station (ISS) hardware with which they'll be working. One of those elements will be the Functional Cargo Block (FGB), which will have been launched a couple of weeks prior to STS-88. Once the FGB is captured using the Remote Manipulator System (RMS) of the Endeavour, astronaut Nancy J. Currie will maneuver the robot arm to dock the FGB to the conical mating adapter at the top of Node 1, to be carried in the Shuttle's cargo bay. In ensuing days, three EVA space walks by Ross and Newman will be performed to make power, data and utility connections between the two modules. Currie also uses this same lab to train for her RMS controlling duties.

STS-88 crew use simulators and virtual reality in preflight training

NASA Image and Video Library

1998-04-08

S98-05074 (8 Apr. 1998) --- Astronaut Jerry L. Ross, assigned as a mission specialist for the mission, uses special gear and software to train for his duties aboard the Space Shuttle Endeavour. This type virtual reality training supplements practice for each of the assigned space-walking astronauts -- Ross and James H. Newman -- during which they wear a helmet and special gloves to look at computer displays simulating actual movements around the various locations on the early International Space Station (ISS) hardware with which they'll be working. One of those elements will be the Functional Cargo Block (FGB), which will have been launched a couple of weeks prior to STS-88. Once the FGB is captured using the Remote Manipulator System (RMS) of the Endeavour, astronaut Nancy J. Currie will maneuver the robot arm to dock the FGB to the conical mating adapter at the top of Node 1, to be carried in the Shuttle's cargo bay. In ensuing days, three space walks by Ross and Newman will be performed to make power, data and utility connections between the two modules. Currie also uses this same lab to train for her RMS controlling duties.

STS-88 crew use simulators and virtual reality in preflight training

NASA Image and Video Library

1998-04-08

S98-05076 (8 Apr. 1998) --- Astronaut Jerry L. Ross, assigned as a mission specialist for the mission, uses special gear and software to train for his duties aboard the Space Shuttle Endeavour. This type virtual reality training supplements practice for each of the assigned space-walking astronauts -- Ross and James H. Newman -- during which they wear a helmet and special gloves to look at computer displays simulating actual movements around the various locations on the early International Space Station (ISS) hardware with which they'll be working. One of those elements will be the Functional Cargo Block (FGB), which will have been launched a couple of weeks prior to STS-88. Once the FGB is captured using the Remote Manipulator System (RMS) of the Endeavour, astronaut Nancy J. Currie will maneuver the robot arm to dock the FGB to the conical mating adapter at the top of Node 1, to be carried in the Shuttle's cargo bay. In ensuing days, three space walks by Ross and Newman will be performed to make power, data and utility connections between the two modules. Currie also uses this same lab to train for her RMS controlling duties.

STS-61 crew utilizing Virtual Reality in training for HST repair mission

NASA Image and Video Library

1993-06-11

Astronaut Jeffrey A. Hoffman, one of four crewmembers for STS-61 that will conduct scheduled spacewalks during the flight, wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm. Crewmembers are utilizing a new virtual reality training aid which assists in refining positioning patterns for Space Shuttle Endeavour's Remote Manipulator System (RMS) (36890); Astronaut Claude Nicollier looks at a computer display of the Shuttle's robot arm movements as Thomas D. Akers and Kathryn C. Thornton, mission specialists look on. Nicollier will be responsible for maneuvering the astronauts while they stand in a foot restraint on the end of the RMS arm (36891,36894); Hoffman wears a special helmet and gloves designed to assist in proper positioning near the telescope while on the end of the robot arm (35892); Nicollier looks at a computer display of the Shuttle's robot arm movements as Akers looks on (36893); While (l-r) Astronauts Kenneth Bowersox, Kathryn Thornton, Richard O. Covey and Thomas D. Akers watch, Nicollier moves the Robot arm to desired locations in the Shuttle's payload bay using the Virtual Reality program (36895); Bowersox takes his turn maneuvering the RMS while mission specialist Hoffman, wearing the Virtual Reality helmet, follows his own progress on the end of the robot arm. Crewmembers participating during the training session are (l-r) Astronauts Akers, Hoffman, Bowersox, Nicollier, Covey, and Thornton. In the background, David Homan, an engineer in the JSC Engineering Directorate's Automation and Robotics Division, looks on (36896).

STS-52 deployment of LAGEOS / IRIS spacecraft from OV-102's payload bay (PLB)

NASA Technical Reports Server (NTRS)

1992-01-01

During STS-52 deployment activities, the Italian Research Interim Stage (IRIS), a spinning solid fuel rocket, lifts the Laser Geodynamic Satellite II (LAGEOS II) out of its support cradle and above the thermal shield aboard Columbia, Orbiter Vehicle (OV) 102. The remote manipulator system (RMS) arm, with Material Exposure in Low Earth Orbit (MELEO), is positioned above the port side sill longeron. On the mission-peculiar equipment support structure (MPESS) carriers in the center foreground is the United States (U.S.) Microgravity Payload 1 (USMP-1) with Space Acceleration Measurement System (SAMS), MEPHISTO (its French abbreviation), Lambda Point Experiment (LPE) cryostat assembly (identified by JPL insignia), and LPE vacuum maintenance assembly. Other payload bay (PLB) experiments visible in this image include: (on the starboard wall (left)) the Canadian Experiments 2 (CANEX-2) Space Vision System (SVS) Canadian Target Assembly (CTA) (foreground) and the Attitude Sensor Package (ASP);

Measurements for certification of chlortetracycline reference materials within the European Union Standards, Measurements and Testing programme.

PubMed

Juhel-Gaugain, M; McEvoy, J D; VanGinkel, L A

2000-12-01

The experimental design of a material certification programme is described. The matrix reference materials (RMs) comprised chlortetracycline (CTC)-containing and CTC-free lyophilised porcine liver, kidney and muscle produced under the European Commission's Standards Measurements and Testing (SMT) programme. The aim of the certification programme was to determine accurately and precisely the concentration of CTC and 4-epi-chlortetracycline (epi-CTC) contained in the RMs. A multi-laboratory approach was used to certify analyte concentrations. Participants (n = 19) were instructed to strictly adhere to previously established guidelines. Following the examination of analytical performance criteria, statistical manipulation of results submitted by 13 laboratories, (6 withdrew) allowed an estimate to be made of the true value of the analyte content. The Nalimov test was used for detection of outlying results. The Cochran and Bartlett tests were employed for testing the homogeneity of variances. The normality of results distribution was tested according to the Kolmogorov-Smirnov-Lilliefors test. One-way analysis of variance (ANOVA) was employed to calculate the within and between-laboratory standard deviations, the overall mean and confidence interval for the CTC and epi-CTC content of each of the RMs. Certified values were within or very close to the target concentration ranges specified in the SMT contract. These studies have demonstrated the successful production and certification of CTC-containing and CTC-free porcine RMs.

Space Shuttle Projects

NASA Image and Video Library

2002-03-05

Astronaut James H. Newman, mission specialist, floats about in the Space Shuttle Columbia's cargo bay while working in tandem with astronaut Michael J. Massimino (out of frame),mission specialist, during the STS-109 mission's second day of extravehicular activity (EVA). Inside Columbia's cabin, astronaut Nancy J. Currie, mission specialist, controlled the Remote Manipulator System (RMS) to assist the two in their work on the Hubble Space Telescope (HST). The RMS was used to capture the telescope and secure it into Columbia's cargo bay.Part of the giant telescope's base, latched down in the payload bay, can be seen behind Newman. The Space Shuttle Columbia STS-109 mission lifted off March 1, 2002 with goals of repairing and upgrading the HST. The Marshall Space Flight Center in Huntsville, Alabama had responsibility for the design, development, and contruction of the HST, which is the most powerful and sophisticated telescope ever built. STS-109 upgrades to the HST included: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. Lasting 10 days, 22 hours, and 11 minutes, the STS-109 mission was the 108th flight overall in NASA's Space Shuttle Program.

KSC-08pd1572

NASA Image and Video Library

2008-05-31

CAPE CANAVERAL, Fla. -- At NASA's Kennedy Space Center, smoke and steam billow across Launch Pad 39A as space shuttle Discovery races toward space atop twin towers of flame. Launch was on time at 5:02 p.m. EDT. Just visible beneath Discovery's main engine nozzles are blue cones of light, the shock or mach diamonds that are a formation of shock waves in the exhaust plume of an aerospace propulsion system. Discovery is making its 35th flight. The STS-124 mission is the 26th in the assembly of the space station. It is the second of three flights launching components to complete the Japan Aerospace Exploration Agency's Kibo laboratory. The shuttle crew will install Kibo's large Japanese Pressurized Module and its remote manipulator system, or RMS. The 14-day flight includes three spacewalks. Photo courtesy of Scott Andrews

KSC-08pd1556

NASA Image and Video Library

2008-05-31

CAPE CANAVERAL, Fla. -- Space shuttle Discovery is silhouetted against the clear blue Florida sky as it hurtles toward space on its STS-124 mission to the International Space Station. Beneath the main engine nozzles can be seen the blue cones of light, the shock or mach diamonds that are a formation of shock waves in the exhaust plume of an aerospace propulsion system. Liftoff was on time at 5:02 p.m. EDT. Discovery is making its 35th flight. The STS-124 mission is the 26th in the assembly of the space station. It is the second of three flights launching components to complete the Japan Aerospace Exploration Agency's Kibo laboratory. The shuttle crew will install Kibo's large Japanese Pressurized Module and its remote manipulator system, or RMS. The 14-day flight includes three spacewalks. Photo credit: NASA/Jerry Cannon, George Roberts

STS-109 MS Linnehan and Grunsfeld in payload bay during first EVA

NASA Image and Video Library

2002-03-04

STS109-E-5253 (4 March 2002) --- Astronaut Richard M. Linnehan, mission specialist, is about to wrap up the first phase of a seven-hour space walk in the cargo bay of the Space Shuttle Columbia. Linnehan's feet are anchored to a restraint on the end of the Remote Manipulator System (RMS) robotic arm. The piece of hardware putting on a bright glow in left foreground is the furled old solar array that astronauts Linnehan and John M. Grunsfeld, payload commander, earlier removed from Hubble Space Telescope. The old array is now latched in Columbia's cargo bay for return to Earth. The two went on to install the replacement starboard array. The image was recorded with a digital still camera.

The Spartan 207 free-flyer is held in a low-hover mode above its berth in the Space Shuttle

NASA Technical Reports Server (NTRS)

1996-01-01

STS-77 ESC VIEW --- The Spartan 207 free-flyer is held in a low-hover mode above its berth in the Space Shuttle Endeavour's cargo bay in the grasp of the Remote Manipulator System (RMS). The Spacehab module can be seen in the foreground. The free-flyer was re-captured by the six crew members on May 21, 1996. The crew has spent a portion of the early stages of the mission in various activities involving the Spartan 207 and the related Inflatable Antenna Experiment (IAE). The Spartan project is managed by NASA's Goddard Space Flight Center (GSFC) for NASA's Office of Space Science, Washington, D.C. GMT: 09:51:50.

Around Marshall

NASA Image and Video Library

1983-04-01

In February 1980, a satellite called Solar Maximum Mission Spacecraft, or Solar Max, was launched into Earth's orbit. Its primary objective was to provide a detailed study of solar flares, active regions on the Sun's surface, sunspots, and other solar activities. Additionally, it was to measure the total output of radiation from the Sun. Not much was known about solar activity at that time except for a slight knowledge of solar flares. After its launch, Solar Max fulfilled everyone's expectations. However, after a year in orbit, Solar Max's Altitude Control System malfunctioned, preventing the precise pointing of instruments at the Sun. NASA scientists were disappointed at the lost data, but not altogether dismayed because Solar Max had been designed for Space Shuttle retrievability enabling the repair of the satellite. On April 6, 1984, Space Shuttle Challenger (STS-41C), Commanded by astronaut Robert L. Crippen and piloted by Francis R. Scobee, launched on a historic voyage. This voyage initiated a series of firsts for NASA; the first satellite retrieval, the first service use of a new space system called the Marned Maneuvering Unit (MMU), the first in-orbit repair, the first use of the Remote Manipulator System (RMS), and the Space Shuttle Challenger's first space flight. The mission was successful in retrieving Solar Max. Mission Specialist Dr. George D. Nelson, using the MMU, left the orbiter's cargo bay and rendezvoused with Solar Max. After attaching himself to the satellite, he awaited the orbiter to maneuver itself nearby. Using the RMS, Solar Max was captured and docked in the cargo bay while Dr. Nelson replaced the altitude control system and the coronagraph/polarimeter electronics box. After the repairs were completed, Solar Max was redeposited in orbit with the assistance of the RMS. Prior to the April 1984 launch, countless man-hours were spent preparing for this mission. The crew of Challenger spent months at Marshall Space Flight Center's (MSFC) Neutral Buoyancy Simulator (NBS) practicing retrieval maneuvers, piloting the MMU, and training on equipment so they could make the needed repairs to Solar Max. Pictured is Dr. Nelson performing a replacement task on the Solar Max mock-up in the NBS.

Around Marshall

NASA Image and Video Library

1983-01-07

In February 1980, a satellite called Solar Maximum Mission Spacecraft, or Solar Max, was launched into Earth's orbit. Its primary objective was to provide a detailed study of solar flares,active regions on the Sun's surface, sunspots, and other solar activities. Additionally, it was to measure the total output of radiation from the Sun. Not much was known about solar activity at that time except for a slight knowledge of solar flares. After its launch, Solar Max fulfilled everyone's expectations. However, after a year in orbit, Solar Max's Altitude Control System malfunctioned, preventing the precise pointing of instruments at the Sun. NASA scientists were disappointed at the lost data, but not altogether dismayed because Solar Max had been designed for Space Shuttle retrievability enabling the repair of the satellite. On April 6, 1984, Space Shuttle Challenger (STS-41C), Commanded by astronaut Robert L. Crippen and piloted by Francis R. Scobee, launched on a historic voyage. This voyage initiated a series of firsts for NASA; the first satellite retrieval, the first service use of a new space system called the Marned Maneuvering Unit (MMU), the first in-orbit repair, the first use of the Remote Manipulator System (RMS), and the Space Shuttle Challenger's first space flight. The mission was successful in retrieving Solar Max. Mission Specialist Dr. George D. Nelson, using the MMU, left the orbiter's cargo bay and rendezvoused with Solar Max. After attaching himself to the satellite, he awaited the orbiter to maneuver itself nearby. Using the RMS, Solar Max was captured and docked in the cargo bay while Dr. Nelson replaced the altitude control system and the coronagraph/polarimeter electronics box. After the repairs were completed, Solar Max was redeposited in orbit with the assistance of the RMS. Prior to the April 1984 launch, countless man-hours were spent preparing for this mission. The crew of Challenger spent months at Marshall Space Flight Center's (MSFC) Neutral Buoyancy Simulator (NBS) practicing retrieval maneuvers, piloting the MMU, and training on equipment so they could make the needed repairs to Solar Max. Pictured is Dr. Nelson performing a replacement task on the Solar Max mock-up in the NBS.

Around Marshall

NASA Image and Video Library

1983-01-07

In February 1980, a satellite called Solar Maximum Mission Spacecraft, or Solar Max, was launched into Earth's orbit. Its primary objective was to provide a detailed study of solar flares,active regions on the Sun's surface, sunspots, and other solar activities. Additionally, it was to measure the total output of radiation from the Sun. Not much was known about solar activity at that time except for a slight knowledge of solar flares. After its launch, Solar Max fulfilled everyone's expectations. However, after a year in orbit, Solar Max's Altitude Control System malfunctioned, preventing the precise pointing of instruments at the Sun. NASA scientists were disappointed at the lost data, but not altogether dismayed because Solar Max had been designed for Space Shuttle retrievability, enabling repair to the satellite. On April 6, 1984, Space Shuttle Challenger (STS-41C), Commanded by astronaut Robert L. Crippen and piloted by Francis R. Scobee, launched on a historic voyage. This voyage initiated a series of firsts for NASA; the first satellite retrieval, the first service use of a new space system called the Marned Maneuvering Unit (MMU), the first in-orbit repair, the first use of the Remote Manipulator System (RMS), and the Space Shuttle Challenger's first space flight. The mission was successful in retrieving Solar Max. Mission Specialist Dr. George D. Nelson, using the MMU, left the orbiter's cargo bay and rendezvoused with Solar Max. After attaching himself to the satellite, he awaited the orbiter to maneuver itself nearby. Using the RMS, Solar Max was captured and docked in the cargo bay while Dr. Nelson replaced the altitude control system and the coronagraph/polarimeter electronics box. After the repairs were completed, Solar Max was redeposited in orbit with the assistance of the RMS. Prior to the April 1984 launch, countless man-hours were spent preparing for this mission. The crew of Challenger spent months at Marshall Space Flight Center's (MSFC) Neutral Buoyancy Simulator (NBS) practicing retrieval maneuvers, piloting the MMU, and training on equipment so they could make the needed repairs to Solar Max. Pictured is Dr. Nelson performing a replacement task on the Solar Max mock-up in the NBS.

Around Marshall

NASA Image and Video Library

1983-01-07

In February 1980, a satellite called Solar Maximum Mission Spacecraft, or Solar Max, was launched into Earth's orbit. Its primary objective was to provide a detailed study of solar flares, active regions on the Sun's surface, sunspots, and other solar activities. Additionally, it was to measure the total output of radiation from the Sun. Not much was known about solar activity at that time except for a slight knowledge of solar flares. After its launch, Solar Max fulfilled everyone's expectations. However, after a year in orbit, Solar Max's Altitude Control System malfunctioned, preventing the precise pointing of instruments at the Sun. NASA scientists were disappointed at the lost data, but not altogether dismayed because Solar Max had been designed for Space Shuttle retrievability enabling repair of the satellite. On April 6, 1984, Space Shuttle Challenger (STS-41C), Commanded by astronaut Robert L. Crippen and piloted by Francis R. Scobee, launched on a historic voyage. This voyage initiated a series of firsts for NASA; the first satellite retrieval, the first service use of a new space system called the Marned Maneuvering Unit (MMU), the first in-orbit repair, the first use of the Remote Manipulator System (RMS), and the Space Shuttle Challenger's first space flight. The mission was successful in retrieving Solar Max. Mission Specialist Dr. George D. Nelson, using the MMU, left the orbiter's cargo bay and rendezvoused with Solar Max. After attaching himself to the satellite, he awaited the orbiter to maneuver itself nearby. Using the RMS, Solar Max was captured and docked in the cargo bay while Dr. Nelson replaced the altitude control system and the coronagraph/polarimeter electronics box. After the repairs were completed, Solar Max was redeposited in orbit with the assistance of the RMS. Prior to the April 1984 launch, countless man-hours were spent preparing for this mission. The crew of Challenger spent months at Marshall Space Flight Center's (MSFC) Neutral Buoyancy Simulator (NBS) practicing retrieval maneuvers, piloting the MMU, and training on equipment so they could make the needed repairs to Solar Max. Pictured is Dr. Nelson performing a replacement task on the Solar Max mock-up in the NBS.

Around Marshall

NASA Image and Video Library

1983-01-07

In February 1980, a satellite called Solar Maximum Mission Spacecraft, or Solar Max, was launched into Earth's orbit. Its primary objective was to provide a detailed study of solar flares, active regions on the Sun's surface, sunspots, and other solar activities. Additionally, it was to measure the total output of radiation from the Sun. Not much was known about solar activity at that time except for a slight knowledge of solar flares. After its launch, Solar Max fulfilled everyone's expectations. However, after a year in orbit, Solar Max's Altitude Control System malfunctioned, preventing the precise pointing of instruments at the Sun. NASA scientists were disappointed at the lost data, but not altogether dismayed because Solar Max had been designed for Space Shuttle retrievability enabling the repair of the satellite. On April 6, 1984, Space Shuttle Challenger (STS-41C), Commanded by astronaut Robert L. Crippen and piloted by Francis R. Scobee, launched on a historic voyage. This voyage initiated a series of firsts for NASA; the first satellite retrieval, the first service use of a new space system called the Marned Maneuvering Unit (MMU), the first in-orbit repair, the first use of the Remote Manipulator System (RMS), and the Space Shuttle Challenger's first space flight. The mission was successful in retrieving Solar Max. Mission Specialist Dr. George D. Nelson, using the MMU, left the orbiter's cargo bay and rendezvoused with Solar Max. After attaching himself to the satellite, he awaited the orbiter to maneuver itself nearby. Using the RMS, Solar Max was captured and docked in the cargo bay while Dr. Nelson replaced the altitude control system and the coronagraph/polarimeter electronics box. After the repairs were completed, Solar Max was redeposited in orbit with the assistance of the RMS. Prior to the April 1984 launch, countless man-hours were spent preparing for this mission. The crew of Challenger spent months at Marshall Space Flight Center's (MSFC) Neutral Buoyancy Simulator (NBS) practicing retrieval maneuvers, piloting the MMU, and training on equipment so they could make the needed repairs to Solar Max. Pictured are crew members training on repair tasks.

Around Marshall

NASA Image and Video Library

1983-04-01

In February 1980, a satellite called Solar Maximum Mission Spacecraft, or Solar Max, was launched into Earth's orbit. Its primary objective was to provide a detailed study of solar flares, active regions on the Sun's surface, sunspots, and other solar activities. Additionally, it was to measure the total output of radiation from the Sun. Not much was known about solar activity at that time except for a slight knowledge of solar flares. After its launch, Solar Max fulfilled everyone's expectations. However, after a year in orbit, Solar Max's Altitude Control System malfunctioned, preventing the precise pointing of instruments at the Sun. NASA scientists were disappointed at the lost data, but not altogether dismayed because Solar Max had been designed for Space Shuttle retrievability enabling the repair of the satellite. On April 6, 1984, Space Shuttle Challenger (STS-41C), Commanded by astronaut Robert L. Crippen and piloted by Francis R. Scobee, launched on a historic voyage. This voyage initiated a series of firsts for NASA; the first satellite retrieval, the first service use of a new space system called the Marned Maneuvering Unit (MMU), the first in-orbit repair, the first use of the Remote Manipulator System (RMS), and the Space Shuttle Challenger's first space flight. The mission was successful in retrieving Solar Max. Mission Specialist Dr. George D. Nelson, using the MMU, left the orbiter's cargo bay and rendezvoused with Solar Max. After attaching himself to the satellite, he awaited the orbiter to maneuver itself nearby. Using the RMS, Solar Max was captured and docked in the cargo bay while Dr. Nelson replaced the altitude control system and the coronagraph/polarimeter electronics box. After the repairs were completed, Solar Max was redeposited in orbit with the assistance of the RMS. Prior to the April 1984 launch, countless man-hours were spent preparing for this mission. The crew of Challenger spent months at Marshall Space Flight Center's (MSFC) Neutral Buoyancy Simulator (NBS) practicing retrieval maneuvers, piloting the MMU, and training on equipment so they could make the needed repairs to Solar Max. Pictured are crew members training for repair tasks.

Non-classic multiscale modeling of manipulation based on AFM, in aqueous and humid ambient

NASA Astrophysics Data System (ADS)

Korayem, M. H.; Homayooni, A.; Hefzabad, R. N.

2018-05-01

To achieve a precise manipulation, it is important that an accurate model consisting the size effect and environmental conditions be employed. In this paper, the non-classical multiscale modeling is developed to investigate the manipulation in a vacuum, aqueous and humid ambient. The manipulation structure is considered into two parts as a macro-field (MF) and a nano-field (NF). The governing equations of the AFM components (consist of the cantilever and tip) in the MF are derived based on the modified couple stress theory. The material length scale parameter is used to study the size effect. The fluid flow in the MF is assumed as the Couette and Creeping flows. Moreover, the NF is modeled using the molecular dynamics. The Electro-Based (ELBA) model is considered to model the ambient condition in the NF. The nanoparticle in the different conditions is taken into account to study the manipulation. The results of the manipulation indicate that the predicted deflection of the non-classical model is less than the classical one. Comparison of the nanoparticle travelled distance on substrate shows that the manipulation in the submerged condition is close to the ideal manipulation. The results of humid condition illustrate that by increasing the relative humidity (RH) the manipulation force decreases. Furthermore, Root Mean Square (RMS) as a criterion of damage demonstrates that the submerged nanoparticle has the minimum damage, however, the minimum manipulation force occurs in superlative humid ambient.

Network-based real-time radiation monitoring system in Synchrotron Radiation Research Center.

PubMed

Sheu, R J; Wang, J P; Chen, C R; Liu, J; Chang, F D; Jiang, S H

2003-10-01

The real-time radiation monitoring system (RMS) in the Synchrotron Radiation Research Center (SRRC) has been upgraded significantly during the past years. The new framework of the RMS is built on the popular network technology, including Ethernet hardware connections and Web-based software interfaces. It features virtually no distance limitations, flexible and scalable equipment connections, faster response time, remote diagnosis, easy maintenance, as well as many graphic user interface software tools. This paper briefly describes the radiation environment in SRRC and presents the system configuration, basic functions, and some operational results of this real-time RMS. Besides the control of radiation exposures, it has been demonstrated that a variety of valuable information or correlations could be extracted from the measured radiation levels delivered by the RMS, including the changes of operating conditions, beam loss pattern, radiation skyshine, and so on. The real-time RMS can be conveniently accessed either using the dedicated client program or World Wide Web interface. The address of the Web site is http:// www-rms.srrc.gov.tw.

Model reference adaptive control for the azimuth-pointing system of a balloon-borne stabilized platform

NASA Technical Reports Server (NTRS)

Lubin, Philip M.; Tomizuka, Masayoshi; Chingcuanco, Alfredo O.; Meinhold, Peter R.

1991-01-01

A balloon-born stabilized platform has been developed for the remotely operated altitude-azimuth pointing of a millimeter wave telescope system. This paper presents a development and implementation of model reference adaptive control (MRAC) for the azimuth-pointing system of the stabilized platform. The primary goal of the controller is to achieve pointing rms better than 0.1 deg. Simulation results indicate that MRAC can achieve pointing rms better than 0.1 deg. Ground test results show pointing rms better than 0.03 deg. Data from the first flight at the National Scientific Balloon Facility (NSBF) Palestine, Texas show pointing rms better than 0.02 deg.

International Space Station (ISS)

NASA Image and Video Library

2000-12-05

Astronaut Joseph R. Tanner, STS-97 mission specialist, is seen during a session of Extravehicular Activity (EVA), performing work on the International Space Station (ISS). Part of the Remote Manipulator System (RMS) arm and a section of the newly deployed solar array panel are in the background. The primary objective of the STS-97 mission was the delivery, assembly, and activation of the U.S. electrical power system on board the ISS. The electrical power system, which is built into a 73-meter (240-foot) long solar array structure consists of solar arrays, radiators, batteries, and electronics. The entire 15.4-metric ton (17-ton) package is called the P6 Integrated Truss Segment and is the heaviest and largest element yet delivered to the station aboard a space shuttle. The electrical system will eventually provide the power necessary for the first ISS crews to live and work in the U.S. segment. The STS-97 crew of five launched aboard the Space Shuttle Orbiter Endeavor on November 30, 2000 for an 11 day mission.

Measurements by the plasma diagnostics package on STS-3

NASA Technical Reports Server (NTRS)

Shawhan, S. D.; Murphy, G. B.

1982-01-01

A comprehensive set of measurements about the orbiter environment are provided by the plasma diagnostics package (PDP). Ion and electron particle densities, energies, and spatial distribution functions; ion mass for identification of particular molecular ion species; and magnetic fields, electric fields and electromagnetic waves over a broad frequency range are studied. Shuttle environmental measurements will be made both on the pallet and, by use of the remote manipulator system (RMS), the PDP will be maneuvered in and external to the bay area to continue environmental measurements and to carry on a joint plasma experiment with the Utah State University fast-pulsed electron generator. Results of orbiter environment EMI measurements and S-band field strengths as well as preliminary results from wake search operations indicating wake boundary identifiers are reported.

STARSHINE Released From Discovery Cargo Bay

NASA Technical Reports Server (NTRS)

1999-01-01

In this photo, the Student Tracked Atmospheric Research Satellite for Heuristic International Networking Experiment (STARSHINE) leaves the cargo bay of the Space Shuttle Discovery near the completion of the almost 10 day STS-96 mission. STARSHINE is a satellite that resembles a high-tech disco ball covered by hundreds of quarter-sized mirrors that reflect sunlight to observers on the ground to help students study the effects of solar activity on the Earth's atmosphere. Students, worldwide, helped grind and polish up to 1,500 mirrors for the STARSHINE satellite as a part of the STARSHINE project. The mirrors improve the sunlight flash rate and make the satellite more visible at twilight as it orbits the Earth. The SPACEHAB, stowed Canadian built Remote Manipulator System (RMS) arm, and the shuttle's docking mechanism are all visible in the foreground.

STS-82 Post Flight Presentation

NASA Technical Reports Server (NTRS)

1997-01-01

The STS-82 crew, Commander Kenneth D. Bowersox, Pilot Scott J. Horowitz, Payload Commander Mark C. Lee, and Mission Specialists Gregory J. Harbaugh, Steven L. Smith, Joseph R. Tanner, and Steven A. Hawley present a video and still picture overview of their mission. Included in the presentation are the following: the pre-launch activities such as eating the traditional breakfast, being suited up, and riding out to the launch pad, various panoramic views of the shuttle on the pad, the countdown, engine ignition, launch, shuttle roll maneuver, separation of the Solid Rocket Boosters (SRB) from the shuttle, survey of the payload bay with the Shuttle's 50-foot remote manipulator system (RMS), the successful retrieve of the Hubble Space Telescope (HST), EVAs to repair HST, release of HST, and the shuttle's landing.

Space missions for automation and robotics technologies (SMART) program

NASA Technical Reports Server (NTRS)

Ciffone, D. L.; Lum, H., Jr.

1985-01-01

The motivations, features and expected benefits and applications of the NASA SMART program are summarized. SMART is intended to push the state of the art in automation and robotics, a goal that Public Law 98-371 mandated be an inherent part of the Space Station program. The effort would first require tests of sensors, manipulators, computers and other subsystems as seeds for the evolution of flight-qualified subsystems. Consideration is currently being given to robotics systems as add-ons to the RMS, MMU and OMV and a self-contained automation and robotics module which would be tended by astronaut visits. Probable experimentation and development paths that would be pursued with the equipment are discussed, along with the management structure and procedures for the program. The first hardware flight is projected for 1989.

Astronauts Thornton & Akers on HST photographed by Electronic Still Camera

NASA Image and Video Library

1993-12-05

S61-E-012 (5 Dec 1993) --- This view of astronauts Kathryn C. Thornton (top) and Thomas D. Akers working on the Hubble Space Telescope (HST) was photographed with an Electronic Still Camera (ESC), and down linked to ground controllers soon afterward. Thornton, anchored to the end of the Remote Manipulator System (RMS) arm, is teaming with Akers to install the +V2 Solar Array Panel as a replacement for the original one removed earlier. Akers uses tethers and a foot restraint to remain in position for the task. Electronic still photography is a relatively new technology which provides the means for a handheld camera to electronically capture and digitize an image with resolution approaching film quality. The electronic still camera has flown as an experiment on several other shuttle missions.

Astronauts Thornton & Akers on HST photographed by Electronic Still Camera

NASA Image and Video Library

1993-12-05

S61-E-014 (5 Dec 1993) --- This view of astronauts Kathryn C. Thornton (bottom) and Thomas D. Akers working on the Hubble Space Telescope (HST) was photographed with an Electronic Still Camera (ESC), and down linked to ground controllers soon afterward. Thornton, anchored to the end of the Remote Manipulator System (RMS) arm, is teaming with Akers to install the +V2 Solar Array Panel as a replacement for the original one removed earlier. Akers uses tethers and a foot restraint to remain in position for the task. Electronic still photography is a relatively new technology which provides the means for a handheld camera to electronically capture and digitize an image with resolution approaching film quality. The electronic still camera has flown as an experiment on several other shuttle missions.

Beam tuning and bunch length measurement in the bunch compression operation at the cERL

NASA Astrophysics Data System (ADS)

Honda, Y.; Shimada, M.; Miyajima, T.; Hotei, T.; Nakamura, N.; Kato, R.; Obina, T.; Takai, R.; Harada, K.; Ueda, A.

2017-12-01

Realization of a short bunch beam by manipulating the longitudinal phase space distribution with a finite longitudinal dispersion following an off-crest acceleration is a widely used technique. The technique was applied in a compact test accelerator of an energy-recovery linac scheme for compressing the bunch length at the return loop. A diagnostic system utilizing coherent transition radiation was developed for the beam tuning and for estimating the bunch length. By scanning the beam parameters, we experimentally found the best condition for the bunch compression. The RMS bunch length of 250 ±50 fs was obtained at a bunch charge of 2 pC. This result confirmed the design and the tuning procedure of the bunch compression operation for the future energy-recovery linac (ERL).

Reconfigurable Mobile System - Ground, sea and air applications

NASA Astrophysics Data System (ADS)

Lamonica, Gary L.; Sturges, James W.

1990-11-01

The Reconfigurable Mobile System (RMS) is a highly mobile data-processing unit for military users requiring real-time access to data gathered by airborne (and other) reconnaissance data. RMS combines high-performance computation and image processing workstations with resources for command/control/communications in a single, lightweight shelter. RMS is composed of off-the-shelf components, and is easily reconfigurable to land-vehicle or shipboard versions. Mission planning, which involves an airborne sensor platform's sensor coverage, considered aircraft/sensor capabilities in conjunction with weather, terrain, and threat scenarios. RMS's man-machine interface concept facilitates user familiarization and features iron-based function selection and windowing.

Reconfigurable manufacturing systems: Principles, design, and future trends

NASA Astrophysics Data System (ADS)

Koren, Yoram; Gu, Xi; Guo, Weihong

2018-06-01

Reconfigurable manufacturing systems (RMSs), which possess the advantages of both dedicated serial lines and flexible manufacturing systems, were introduced in the mid-1990s to address the challenges initiated by globalization. The principal goal of an RMS is to enhance the responsiveness of manufacturing systems to unforeseen changes in product demand. RMSs are costeffective because they boost productivity, and increase the lifetime of the manufacturing system. Because of the many streams in which a product may be produced on an RMS, maintaining product precision in an RMS is a challenge. But the experience with RMS in the last 20 years indicates that product quality can be definitely maintained by inserting in-line inspection stations. In this paper, we formulate the design and operational principles for RMSs, and provide a state-of-the-art review of the design and operations methodologies of RMSs according to these principles. Finally, we propose future research directions, and deliberate on how recent intelligent manufacturing technologies may advance the design and operations of RMSs.

Pilot Fullerton reviews checklist on Aft Flight Deck Onorbit Station

NASA Image and Video Library

1982-03-31

S82-28906 (27 March 1982) --- Astronaut C. Gordon Fullerton, STS-3 pilot, mans the right hand aft station of the flight deck on the Earth-orbiting Columbia. The photograph was taken with a 35mm camera by astronaut Jack R. Lousma, crew commander. The "Go Blue" sticker is a University of Michigan memento of Lousma, and the Air Force sign was put up by Fullerton, a USAF colonel. Lousma, a USMC colonel, received his BS degree in aeronautical engineering in 1959 from UM. One of two aft windows for cargo bay viewing and one of two ceiling windows are visible in the photo. Fullerton and Lousma watched the activity of the remote manipulator system (RMS) arm out the lower window and they took a number of photos of Earth from the upper window. Photo credit: NASA

Microwave Photonic Architecture for Direction Finding of LPI Emitters: Post-Processing for Angle of Arrival Estimation

DTIC Science & Technology

2016-09-01

mean- square (RMS) error of 0.29° at ə° resolution. For a P4 coded signal, the RMS error in estimating the AOA is 0.32° at 1° resolution. 14...FMCW signal, it was demonstrated that the system is capable of estimating the AOA with a root-mean- square (RMS) error of 0.29° at ə° resolution. For a...Modulator PCB printed circuit board PD photodetector RF radio frequency RMS root-mean- square xvi THIS PAGE INTENTIONALLY LEFT BLANK xvii

Examining Older Adults’ Perceptions of Usability and Acceptability of Remote Monitoring Systems to Manage Chronic Heart Failure

PubMed Central

Evangelista, Lorraine S.; Moser, Debra K.; Lee, Jung-Ah; Moore, Alison A.; Ghasemzadeh, Hassan; Sarrafzadeh, Majid; Mangione, Carol M.

2015-01-01

Objective: This study was conducted to evaluate the feasibility, usability, and acceptability of using remote monitoring systems (RMS) in monitoring health status (e.g., vital signs, symptom distress) in older adults (≥55) with chronic heart failure (HF). Method: Twenty-one patients (52.4% women, mean age 73.1 ± 9.3) were trained to measure and transmit health data with an RMS. Data transmissions were tracked for 12 weeks. Results: All participants initiated use of RMS within 1 week; 71%, 14%, and 14% of patients transmitted daily health data 100%, ≥75%, and <75% of the time, respectively, for 12 weeks. Overall usability and acceptability of the RMS were 4.08 ± 0.634 and 4.10 ± 0.563, respectively (when scored on a range of 1-5, where 1 = strongly disagree and 5 = strongly agree). Discussion: Findings show that an RMS-based intervention can be successfully implemented in a group of older patients with chronic HF. PMID:28138479

Risk Monitoring for Space Systems

NASA Astrophysics Data System (ADS)

Kafka, Peter

2005-12-01

The paper shows the idea, the drivers and some basics within the wide spread field of Risk Monitoring Systems (RMS) for nuclear power plants. Pros and cons are summarised and the status of last developments is touched. Based on these insights the adoption of RMS for space systems and installations is discussed with the aim to contribute to the advancement of space systems safety.

Space Shuttle Projects

NASA Image and Video Library

1984-04-01

This is a photograph of the free-flying Solar Maximum Mission Satellite (SMMS), or Solar Max, as seen by the approaching Space Shuttle Orbiter Challenger STS-41C mission. Launched April 6, 1984, one of the goals of the STS-41C mission was to repair the damaged Solar Max. The original plan was to make an excursion out to the SMMS for capture to make necessary repairs, however, this attempted feat was unsuccessful. It was necessary to capture the satellite via the orbiter's Remote Manipulator System (RMS) and secure it into the cargo bay in order to perform the repairs, which included replacing the altitude control system and the coronograph/polarimeter electronics box. The SMMS was originally launched into space via the Delta Rocket in February 1980, with the purpose to provide a means of studying solar flares during the most active part of the current sunspot cycle. Dr. Einar Tandberg-Hanssen of Marshall Space Flight Center's Space Sciences Lab was principal investigator for the Ultraviolet Spectrometer and Polarimeter, one of the seven experiments on the Solar Max.

Space Shuttle Projects

NASA Image and Video Library

1984-04-01

Launched April 6, 1984, one of the goals of the STS-41C mission was to repair the damaged free-flying Solar Maximum Mission Satellite (SMMS), or Solar Max. The original plan was to make an excursion out to the SMMS and capture it for necessary repairs. Pictured is Mission Specialist George Nelson approaching the damaged satellite in a capture attempt. This attempted feat was unsuccessful. It was necessary to capture the satellite via the orbiter's Remote Manipulator System (RMS) and secure it into the cargo bay in order to perform the repairs, which included replacing the altitude control system and the coronograph/polarimeter electronics box. The SMMS was originally launched into space via the Delta Rocket in February 1980, with the purpose to provide a means of studying solar flares during the most active part of the current sunspot cycle. Dr. Einar Tandberg-Hanssen of Marshall Space Flight Center's Space Sciences Lab was principal investigator for the Ultraviolet Spectrometer and Polarimeter, one of the seven experiments of the Solar Max.

Development of Test Article Building Block (TABB) for deployable platform systems

NASA Technical Reports Server (NTRS)

Greenberg, H. S.; Barbour, R. T.

1984-01-01

The concept of a Test Article Building Block (TABB) is described. The TABB is a ground test article that is representative of a future building block that can be used to construct LEO and GEO deployable space platforms for communications and scientific payloads. This building block contains a main housing within which the entire structure, utilities, and deployment/retraction mechanism are stowed during launch. The end adapter secures the foregoing components to the housing during launch. The main housing and adapter provide the necessary building-block-to-building-block attachments for automatically deployable platforms. Removal from the shuttle cargo bay can be accomplished with the remote manipulator system (RMS) and/or the handling and positioning aid (HAPA). In this concept, all the electrical connections are in place prior to launch with automatic latches for payload attachment provided on either the end adapters or housings. The housings also can contain orbiter docking ports for payload installation and maintenance.

Development, deployment, and evaluation of a remote monitoring system and a virtual weigh station : final report.

DOT National Transportation Integrated Search

2005-11-01

In order to extend commercial vehicle enforcement coverage to routes that are not monitored by fixed weigh stations, Kentucky has developed and implemented a Remote Monitoring System (RMS) and a Virtual Weight Station (VWS). The RMS captures images o...

STS-56 view of freeflying SPARTAN-201 backdropped against heavy cloud cover

NASA Image and Video Library

1993-04-17

STS056-90-034 (8-17 April 1993) --- Backdropped against heavy cloud cover over the Mediterranean Sea, the SPARTAN-201 satellite was captured on 70mm by crewmembers aboard the Space Shuttle Discovery. SPARTAN is a free-flying payload designed to study the solar wind and part of the sun's corona. The project was conceived in the late 1970s to take advantage of the opportunity offered by the Space Shuttle to provide more observation time for the increasingly more sophisticated experiments than the five to ten minutes provided by sounding rocket flights. On the mission's third day, Astronaut Ellen Ochoa, Mission Specialist, used the remote manipulator system (RMS) to lift the satellite from its support structure on Discovery and release it in space. The reusable craft was later recaptured and returned to Earth with the crew. Note the tip of Discovery's vertical stabilizer at frame's edge.

Space Shuttle Projects

NASA Image and Video Library

1995-05-27

The crew patch of STS-72 depicts the Space Shuttle Endeavour and some of the payloads on the flight. The Japanese satellite, Space Flyer Unit (SFU) is shown in a free-flying configuration with the solar array panels deployed. The inner gold border of the patch represents the SFU's distinct octagonal shape. Endeavour’s rendezvous with and retrieval of SFU at an altitude of approximately 250 nautical miles. The Office of Aeronautics and Space Technology's (OAST) flyer satellite is shown just after release from the Remote Manipulator System (RMS). The OAST satellite was deployed at an altitude of 165 nautical miles. The payload bay contains equipment for the secondary payloads - the Shuttle Laser Altimeter (SLA) and the Shuttle Solar Backscatter Ultraviolet Instrument (SSBUV). There were two space walks planned to test hardware for assembly of the International Space Station. The stars represent the hometowns of the crew members in the United States and Japan.

Technology transfer: Imaging tracker to robotic controller

NASA Technical Reports Server (NTRS)

Otaguro, M. S.; Kesler, L. O.; Land, Ken; Erwin, Harry; Rhoades, Don

1988-01-01

The transformation of an imaging tracker to a robotic controller is described. A multimode tracker was developed for fire and forget missile systems. The tracker locks on to target images within an acquisition window using multiple image tracking algorithms to provide guidance commands to missile control systems. This basic tracker technology is used with the addition of a ranging algorithm based on sizing a cooperative target to perform autonomous guidance and control of a platform for an Advanced Development Project on automation and robotics. A ranging tracker is required to provide the positioning necessary for robotic control. A simple functional demonstration of the feasibility of this approach was performed and described. More realistic demonstrations are under way at NASA-JSC. In particular, this modified tracker, or robotic controller, will be used to autonomously guide the Man Maneuvering Unit (MMU) to targets such as disabled astronauts or tools as part of the EVA Retriever efforts. It will also be used to control the orbiter's Remote Manipulator Systems (RMS) in autonomous approach and positioning demonstrations. These efforts will also be discussed.

Medical Gas Analyzer

NASA Technical Reports Server (NTRS)

1983-01-01

The Remote Monitoring System (RMS) is manufactured by Perkin Elmer Corporation. The principal component of the RMS was originally developed for spacecraft use to monitor astronaut's respiratory gases in NASA's Gemini and Apollo program. At Wishard Memorial Hospital in Indianapolis, IN, the RMS is used in operating rooms for analysis of anesthetic gases and measurement of oxygen, carbon dioxide and nitrogen concentrations. It assures that the patient undergoing surgery has the proper breathing environment.

Statistics of the radiated field of a space-to-earth microwave power transfer system

NASA Technical Reports Server (NTRS)

Stevens, G. H.; Leininger, G.

1976-01-01

Statistics such as average power density pattern, variance of the power density pattern and variance of the beam pointing error are related to hardware parameters such as transmitter rms phase error and rms amplitude error. Also a limitation on spectral width of the phase reference for phase control was established. A 1 km diameter transmitter appears feasible provided the total rms insertion phase errors of the phase control modules does not exceed 10 deg, amplitude errors do not exceed 10% rms, and the phase reference spectral width does not exceed approximately 3 kHz. With these conditions the expected radiation pattern is virtually the same as the error free pattern, and the rms beam pointing error would be insignificant (approximately 10 meters).

A microelectromechanical systems (MEMS) force-displacement transducer for sub-5 nm nanoindentation and adhesion measurements

NASA Astrophysics Data System (ADS)

Zhang, Youfeng; Oh, Yunje; Stauffer, Douglas; Polycarpou, Andreas A.

2018-04-01

We present a highly sensitive force-displacement transducer capable of performing ultra-shallow nanoindentation and adhesion measurements. The transducer utilizes electrostatic actuation and capacitive sensing combined with microelectromechanical fabrication technologies. Air indentation experiments report a root-mean-square (RMS) force resolution of 1.8 nN and an RMS displacement resolution of 0.019 nm. Nanoindentation experiments on a standard fused quartz sample report a practical RMS force resolution of 5 nN and an RMS displacement resolution of 0.05 nm at sub-10 nm indentation depths, indicating that the system has a very low system noise for indentation experiments. The high sensitivity and low noise enables the transducer to obtain high-resolution nanoindentation data at sub-5 nm contact depths. The sensitive force transducer is used to successfully perform nanoindentation measurements on a 14 nm thin film. Adhesion measurements were also performed, clearly capturing the pull-on and pull-off forces during approach and separation of two contacting surfaces.

Secreted Frizzled-Related Protein 3 (SFRP3) Is Required for Tumorigenesis of PAX3-FOXO1-Positive Alveolar Rhabdomyosarcoma.

PubMed

Kephart, Julie J G; Tiller, Rosanne G J; Crose, Lisa E S; Slemmons, Katherine K; Chen, Po-Han; Hinson, Ashley R; Bentley, Rex C; Chi, Jen-Tsan Ashley; Linardic, Corinne M

2015-11-01

Rhabdomyosarcoma (RMS) is a soft tissue sarcoma associated with the skeletal muscle lineage. Of the two predominant subtypes, known as embryonal (eRMS) and alveolar (aRMS), aRMS has the poorer prognosis, with a five-year survival rate of <50%. The majority of aRMS tumors express the fusion protein PAX3-FOXO1. As PAX3-FOXO1 has proven chemically intractable, this study aims to identify targetable proteins that are downstream from or cooperate with PAX3-FOXO1 to support tumorigenesis. Microarray analysis of the transcriptomes of human skeletal muscle myoblasts expressing PAX3-FOXO1 revealed alteration of several Wnt pathway gene members, including secreted frizzled related protein 3 (SFRP3), a secreted Wnt pathway inhibitor. Loss-of-function using shRNAs against SFRP3 was used to interrogate the role of SFRP3 in human aRMS cell lines in vitro and conditional murine xenograft systems in vivo. The combination of SFRP3 genetic suppression and the chemotherapeutic agent vincristine was also examined. In vitro, suppression of SFRP3 inhibited aRMS cell growth, reduced proliferation accompanied by a G1 arrest and induction of p21, and induced apoptosis. In vivo, doxycycline-inducible suppression of SFRP3 reduced aRMS tumor growth and weight by more than three-fold, in addition to increasing myogenic differentiation and β-catenin signaling. The combination of SFRP3 suppression and vincristine was more effective at reducing aRMS cell growth in vitro than either treatment alone, and ablated tumorigenesis in vivo. SFRP3 is necessary for the growth of human aRMS cells both in vitro and in vivo and is a promising new target for investigation in aRMS. ©2015 American Association for Cancer Research.

The Troll HSE Risk Management System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wiig, E.; Berthelsen, I.; Donovan, K.

1996-12-31

The Petroleum Act and Internal Control regulations in Norway lay down requirements for how HSE shall be Managed and documented. To comply with the Norwegian legislation the Troll Project has developed an HSE Risk Management System (RMS) structured around Hazards and Effects Management. The resulting quality, technical and operating integrity, and HSE performance are an endorsement of the power of RMS.

Novel dielectric reduces corona breakdown in ac capacitors

NASA Technical Reports Server (NTRS)

Loehner, J. L.

1972-01-01

Dielectric system was developed which consists of two layers of 25-gage paper separated by one layer of 50-gage polypropylene to reduce corona breakdown in ac capacitors. System can be used in any alternating current application where constant voltage does not exceed 400 V rms. With a little research it could probably be increased to 700 to 800 V rms.

Eye-pupil displacement and prediction: effects on residual wavefront in adaptive optics retinal imaging

PubMed Central

Kulcsár, Caroline; Raynaud, Henri-François; Garcia-Rissmann, Aurea

2016-01-01

This paper studies the effect of pupil displacements on the best achievable performance of retinal imaging adaptive optics (AO) systems, using 52 trajectories of horizontal and vertical displacements sampled at 80 Hz by a pupil tracker (PT) device on 13 different subjects. This effect is quantified in the form of minimal root mean square (rms) of the residual phase affecting image formation, as a function of the delay between PT measurement and wavefront correction. It is shown that simple dynamic models identified from data can be used to predict horizontal and vertical pupil displacements with greater accuracy (in terms of average rms) over short-term time horizons. The potential impact of these improvements on residual wavefront rms is investigated. These results allow to quantify the part of disturbances corrected by retinal imaging systems that are caused by relative displacements of an otherwise fixed or slowy-varying subject-dependent aberration. They also suggest that prediction has a limited impact on wavefront rms and that taking into account PT measurements in real time improves the performance of AO retinal imaging systems. PMID:27231607

Secreted frizzled related protein 3 (SFRP3) is required for tumorigenesis of PAX3-FOXO1-positive alveolar rhabdomyosarcoma

PubMed Central

Kephart, Julie J.G.; Tiller, Rosanne G.J.; Crose, Lisa E.S.; Slemmons, Katherine K.; Chen, Po-Han; Hinson, Ashley R.; Bentley, Rex C.; Chi, Jen-Tsan Ashley; Linardic, Corinne M.

2015-01-01

Purpose Rhabdomyosarcoma is a soft tissue sarcoma associated with the skeletal muscle lineage. Of the two predominant subtypes, known as embryonal (eRMS) and alveolar (aRMS), aRMS has the poorer prognosis, with a 5-year survival rate of <50%. The majority of aRMS tumors express the fusion protein PAX3-FOXO1. As PAX3-FOXO1 has proven chemically intractable, the current study aims to identify targetable proteins that are downstream from or cooperate with PAX3-FOXO1 to support tumorigenesis. Experimental Design Microarray analysis of the transcriptomes of human skeletal muscle myoblasts expressing PAX3-FOXO1 revealed alteration of several Wnt pathway gene members, including secreted frizzled related protein 3 (SFRP3), a secreted Wnt pathway inhibitor. Loss-of-function using shRNAs against SFRP3 were used to interrogate the role of SFRP3 in human aRMS cell lines in vitro and conditional murine xenograft systems in vivo. The combination of SFRP3 genetic suppression and the chemotherapeutic agent vincristine was also examined. Results In vitro, suppression of SFRP3 inhibited aRMS cell growth, reduced proliferation accompanied by a G1 arrest and induction of p21, and induced apoptosis. In vivo, doxycycline-inducible suppression of SFRP3 reduced aRMS tumor growth and weight by more than three-fold, in addition to increasing myogenic differentiation and β-catenin signaling. The combination of SFRP3 suppression and vincristine was more effective at reducing aRMS cell growth in vitro than either treatment alone, and ablated tumorigenesis in vivo. Conclusions SFRP3 is necessary for the growth of human aRMS cells both in vitro and in vivo and is a promising new target for investigation in aRMS. PMID:26071485

Observations of geographically correlated orbit errors for TOPEX/Poseidon using the global positioning system

NASA Technical Reports Server (NTRS)

Christensen, E. J.; Haines, B. J.; Mccoll, K. C.; Nerem, R. S.

1994-01-01

We have compared Global Positioning System (GPS)-based dynamic and reduced-dynamic TOPEX/Poseidon orbits over three 10-day repeat cycles of the ground-track. The results suggest that the prelaunch joint gravity model (JGM-1) introduces geographically correlated errors (GCEs) which have a strong meridional dependence. The global distribution and magnitude of these GCEs are consistent with a prelaunch covariance analysis, with estimated and predicted global rms error statistics of 2.3 and 2.4 cm rms, respectively. Repeating the analysis with the post-launch joint gravity model (JGM-2) suggests that a portion of the meridional dependence observed in JGM-1 still remains, with global rms error of 1.2 cm.

Predicting Adherence to Use of Remote Health Monitoring Systems in a Cohort of Patients with Chronic Heart Failure

PubMed Central

Evangelista, Lorraine S.; Ghasemzadeh, Hassan; Lee, Jung-Ah; Fallahzadeh, Ramin; Sarrafzadeh, Majid; Moser, Debra K.

2017-01-01

Background It is unclear whether subgroups of patients may benefit from remote monitoring systems (RMS) and what user characteristics and contextual factors determine effective use of RMS in patients with heart failure (HF). Objective The study was conducted to determine whether certain user characteristics (i.e. personal and clinical variables) predict use of RMS using advanced machine learning software algorithms in patients with HF. Methods This pilot study was a single-arm experimental study with a pre- (baseline) and post- (3 months) design; data from the baseline measures were used for the current data analyses. Sixteen patients provided consent; only 7 patients (mean age 65.8±6.1, range 58–83) accessed the RMS and transmitted daily data (e.g. weight, blood pressure) as instructed during the 12 week study duration. Results Baseline demographic and clinical characteristics of users and non-users were comparable for a majority of factors. However, users were more likely to have no HF specialty based care or an automatic internal cardioverter defibrillator. The precision accuracy of decision tree, multilayer perceptron (MLP) and k-Nearest Neighbor (k-NN) classifiers for predicting access to RMS was 87.5%, 90.3%, and 94.5% respectively. Conclusion Our preliminary data show that a small set of baseline attributes is sufficient to predict subgroups of patients who had a higher likelihood of using RMS. While our findings shed light on potential end-users more likely to benefit from RMS-based interventions, additional research in a larger sample is warranted to explicate the impact of user characteristics on actual use of these technologies. PMID:27886024

RMS: a platform for managing cross-disciplinary and multi-institutional research project collaboration.

PubMed

Luo, Jake; Apperson-Hansen, Carolyn; Pelfrey, Clara M; Zhang, Guo-Qiang

2014-11-30

Cross-institutional cross-disciplinary collaboration has become a trend as researchers move toward building more productive and innovative teams for scientific research. Research collaboration is significantly changing the organizational structure and strategies used in the clinical and translational science domain. However, due to the obstacles of diverse administrative structures, differences in area of expertise, and communication barriers, establishing and managing a cross-institutional research project is still a challenging task. We address these challenges by creating an integrated informatics platform to reduce the barriers to biomedical research collaboration. The Request Management System (RMS) is an informatics infrastructure designed to transform a patchwork of expertise and resources into an integrated support network. The RMS facilitates investigators' initiation of new collaborative projects and supports the management of the collaboration process. In RMS, experts and their knowledge areas are categorized and managed structurally to provide consistent service. A role-based collaborative workflow is tightly integrated with domain experts and services to streamline and monitor the life-cycle of a research project. The RMS has so far tracked over 1,500 investigators with over 4,800 tasks. The research network based on the data collected in RMS illustrated that the investigators' collaborative projects increased close to 3 times from 2009 to 2012. Our experience with RMS indicates that the platform reduces barriers for cross-institutional collaboration of biomedical research projects. Building a new generation of infrastructure to enhance cross-disciplinary and multi-institutional collaboration has become an important yet challenging task. In this paper, we share the experience of developing and utilizing a collaborative project management system. The results of this study demonstrate that a web-based integrated informatics platform can facilitate and increase research interactions among investigators.

Minimizing the RMS surface distortions from gravity loadings of the 34-m HA-DEC antenna for deep space missions

NASA Technical Reports Server (NTRS)

Katow, S. M.

1979-01-01

The computer analysis of the 34-m HA-DEC antenna by the IDEAS program provided the rms distortions of the surface panels support points for full gravity loadings in the three directions of the basic coordinate system of the computer model. The rms distortions for the gravity vector not in line with any of the three basic directions were solved and contour plotted starting from three surface panels setting declination angle. By inspections of the plots, it was concluded that the setting or rigging angle of -15 degrees declination minimized the rms distortions for sky coverage of plus or minus 22 declination angles to 10 degrees of ground mask.

STS-64 Crew insignia

NASA Image and Video Library

1993-07-01

STS064-S-001 (July 1994) --- The patch depicts the space shuttle Discovery in a payload-bay-to-Earth attitude with its primary payload, Lidar In-Space Technology Experiment (LITE-1) operating in support of Mission to Planet Earth. LITE-1 is a lidar (light detection and ranging) system that uses a three-wavelength laser, symbolized by the three gold rays emanating from the star in the payload bay that form part of the astronaut symbol. The major objective of this first flight of LITE-1 is to validate its design and operating characteristics by gathering data about the Earth's troposphere and stratosphere, represented by the clouds and dual-colored Earth limb. A secondary payload on STS-64 is the free-flier SPARTAN-201 satellite shown on the Remote Manipulator System (RMS) arm post-retrieval. The objective of SPARTAN-201 is to investigate the physics of the solar wind and complement data being obtained from the ULYSSES satellite launched on STS-41. The RMS will also operate another secondary payload, Shuttle Plume Impingement Flight Experiment (SPIFEX), which will assess the plume effects from the Orbiter's Reaction Control System thrusters. Additionally, STS-64 will test a new extravehicular activity (EVA) maneuvering device, Simplified Aid for EVA Rescue (SAFER), represented symbolically by the two small nozzles on the backpacks of the two untethered EVA crew men. The names of the crew members encircle the patch: astronauts Richard N. Richards, commander; L. Blaine Hammond Jr., pilot; Jerry M. Linenger; Susan J. Helms, Carl J. Meade and Mark C. Lee, all mission specialists. The gold or silver stars by each name represent that person's parent service. The NASA insignia design for space shuttle flights is reserved for use by the astronauts and for other official use as the NASA Administrator may authorize. Public availability has been approved only in the forms of illustrations by the various news media. When and if there is any change in this policy, which is not anticipated, the change will be publicly announced. Photo credit: NASA

Risk management of liquefied natural gas installations

NASA Technical Reports Server (NTRS)

Fedor, O. H.; Parsons, W. N.; Coutinho, J. De C.

1976-01-01

In connection with the construction of four major liquefied natural gas (LNG) facilities in New York City, the New York City Fire Commissioner has asked NASA for assistance. It was decided that the Kennedy Space Center should develop a risk management system (RMS) for the use of the New York Fire Department (NYFD). The RMS provides for a published set of safety regulations by the NYFD. A description of the RMS is presented as an example of an application of aerospace technology to a civilian sector, namely LNG facilities.

A Novel Notch-YAP Circuit Drives Stemness and Tumorigenesis in Embryonal Rhabdomyosarcoma.

PubMed

Slemmons, Katherine K; Crose, Lisa E S; Riedel, Stefan; Sushnitha, Manuela; Belyea, Brian; Linardic, Corinne M

2017-12-01

Rhabdomyosarcoma (RMS), a cancer characterized by skeletal muscle features, is the most common soft-tissue sarcoma of childhood. While low- and intermediate-risk groups have seen improved outcomes, high-risk patients still face a 5-year survival rate of <30%, a statistic that has not changed in over 40 years. Understanding the biologic underpinnings of RMS is critical. The developmental pathways of Notch and YAP have been identified as potent but independent oncogenic signals that support the embryonal variant of RMS (eRMS). Here, the cross-talk between these pathways and the impact on eRMS tumorigenesis is reported. Using human eRMS cells grown as three-dimensional (3D) rhabdospheres, which enriches in stem cells, it was found that Notch signaling transcriptionally upregulates YAP1 gene expression and YAP activity. Reciprocally, YAP transcriptionally upregulates the Notch ligand genes JAG1 and DLL1 and the core Notch transcription factor RBPJ This bidirectional circuit boosts expression of key stem cell genes, including SOX2 , which is functionally required for eRMS spheres. Silencing this circuit for therapeutic purposes may be challenging, because the inhibition of one node (e.g., pharmacologic Notch blockade) can be rescued by upregulation of another (constitutive YAP expression). Instead, dual inhibition of Notch and YAP is necessary. Finally, supporting the existence of this circuit beyond a model system, nuclear Notch and YAP protein expression are correlated in human eRMS tumors, and YAP suppression in vivo decreases Notch signaling and SOX2 expression. Implications: This study identifies a novel oncogenic signaling circuit driving eRMS stemness and tumorigenesis, and provides evidence and rationale for combination therapies co-targeting Notch and YAP. Mol Cancer Res; 15(12); 1777-91. ©2017 AACR . ©2017 American Association for Cancer Research.

Detecting the Elusive P-Wave: A New ECG Lead to Improve the Recording of Atrial Activity.

PubMed

Kennedy, Alan; Finlay, Dewar D; Guldenring, Daniel; Bond, Raymond R; McLaughlin, James

2016-02-01

In this study, we report on a lead selection method that was developed to detect the optimal bipolar electrode placement for recording of the P-wave. The study population consisted of 117 lead body surface potential maps recorded from 229 healthy subjects. The optimal bipolar lead was developed using the training set (172 subjects) then extracted from the testing dataset (57 subjects) and compared to other lead systems previously reported for improved recording of atrial activity. All leads were assessed in terms of P-wave, QRS, and STT root mean square (RMS). The P/QRST RMS ratio was also investigated to determine the atrioventricular RMS ratio. Finally, the effect of minor electrode misplacements on the P-lead was investigated. The P-lead discovered in this study outperformed all other investigated leads in terms of P-wave RMS. The P-lead showed a significant improvement in median P-wave RMS (93 versus 72 μV, p < 0.001) over the next best lead, Lead II. An improvement in QRS and STT RMS was also observed from the P-lead in comparison to lead II (668 versus 573 μV, p < 0.001) and (327 versus 196 μV, p < 0.001). Although P-wave RMS was reduced by incorrect electrode placement, significant improvement over Lead II was still evident. The P-lead improves P-wave RMS signal strength over all other investigated leads. Also the P-lead does not reduce QRS and STT RMS making it an appropriate choice for atrial arrhythmia monitoring. Given the improvement in signal-to-noise ratio, an improvement in algorithms that rely on P-wave analysis may be achieved.

A Submarine Electric Propulsion System with Large Hub Propeller

DTIC Science & Technology

1983-05-01

16- U spacing between stator conductors, in. UMAT [U] matrix Vi line-to-neutral voltage, rms volts V2 airgap voltage, rms volts V0 maximum line...and is made impervious to seawater damage by a special insulation system. Protection of the motor from accidental seawater grounding or seawater...to repair and/or isolate damaged sections. Consider the following winding arrangement: --- PRESSURE HULL INTERFACE ’ -. CONNECTIONS MADE INSIDE SI

Plasma diagnostics package. Volume 2: Spacelab 2 section, part A

NASA Technical Reports Server (NTRS)

Pickett, Jolene S. (Compiler); Frank, L. A. (Compiler); Kurth, W. S. (Compiler)

1988-01-01

This volume (2), which consists of two parts (A and B), of the Plasma Diagnostics Package (PDP) Final Science Report contains a summary of all of the data reduction and scientific analyses which were performed using PDP data obtained on STS-51F as a part of the Spacelab 2 (SL-2) payload. This work was performed during the period of launch, July 29, l985, through June 30, l988. During this period the primary data reduction effort consisted of processing summary plots of the data received by 12 of the 14 instruments located on the PDP and submitting these data to the National Space Science Data Center (NSSDC). The scientific analyses during the performance period consisted of follow-up studies of shuttle orbiter environment and orbiter/ionosphere interactions and various plasma particle and wave studies which dealt with data taken when the PDP was on the Remote Manipulator System (RMS) arm and when the PDP was in free flight. Of particular interest during the RMS operations and free flight were the orbiter wake studies and joint studies of beam/plasma interactions with the SL-2 Fast Pulse Electron Generator (FPEG) of the Vehicle Charging and Potential Investigation (VCAP). Internal reports, published papers and presentations which involve PDP/SL-2 data are listed in Sections 3 and 4. A PDP/SL-2 scientific results meeting was held at the University of Iowa on June 10, l986. This meeting was attended by most of the PDP and VCAP investigators and provided a forum for discussing and comparing the various results, particularly with regard to the PDP free flight.

The rhesus measurement system: A new instrument for space research

NASA Technical Reports Server (NTRS)

Schonfeld, Julie E.; Hines, John W.

1993-01-01

The Rhesus Research Facility (RRF) is a research environment designed to study the effects of microgravity using rhesus primates as human surrogates. This experimental model allows investigators to study numerous aspects of microgravity exposure without compromising crew member activities. Currently, the RRF is slated for two missions to collect its data, the first mission is SLS-3, due to fly in late 1995. The RRF is a joint effort between the United States and France. The science and hardware portions of the project are being shared between the National Aeronautics and Space Administration (NASA) and France's Centre National D'Etudes Spatiales (CNES). The RRF is composed of many different subsystems in order to acquire data, provide life support, environmental enrichment, computer facilities and measurement capabilities for two rhesus primates aboard a nominal sixteen day mission. One of these subsystems is the Rhesus Measurement System (RMS). The RMS is designed to obtain in-flight physiological measurements from sensors interfaced with the subject. The RMS will acquire, preprocess, and transfer the physiologic data to the Flight Data System (FDS) for relay to the ground during flight. The measurements which will be taken by the RMS during the first flight will be respiration, measured at two different sites; electromyogram (EMG) at three different sites; electroencephalogram (EEG); electrocardiogram (ECG); and body temperature. These measurements taken by the RMS will assist the research team in meeting the science objectives of the RRF project.

Space Shuttle Projects

NASA Image and Video Library

2002-03-03

The Hubble Space Telescope (HST), with its normal routine temporarily interrupted, is about to be captured by the Space Shuttle Columbia prior to a week of servicing and upgrading by the STS-109 crew. The telescope was captured by the shuttle's Remote Manipulator System (RMS) robotic arm and secured on a work stand in Columbia's payload bay where 4 of the 7-member crew performed 5 space walks completing system upgrades to the HST. Included in those upgrades were: The replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. The Marshall Space Flight Center had the responsibility for the design, development, and construction of the the HST, which is the most complex and sensitive optical telescope ever made, to study the cosmos from a low-Earth orbit. Launched March 1, 2002, the STS-109 HST servicing mission lasted 10 days, 22 hours, and 11 minutes. It was the 108th flight overall in NASA's Space Shuttle Program.

Impact of Shutting Down En Route Primary Radars within CONUS Interior

DTIC Science & Technology

1993-06-01

Remote Control Interface Unit ( RCIU ) RMS software for the primary radar will be deleted. Any dependency of the secondary radar on the primary radar data...Generators RCIU Remote Control and Interface Unit RMM Remote Monitoring and Maintenance RMMS Remote Maintenance Monitoring System RMS Remote Maintenance

An Assessment of How Facial Mimicry Can Change Facial Morphology: Implications for Identification.

PubMed

Gibelli, Daniele; De Angelis, Danilo; Poppa, Pasquale; Sforza, Chiarella; Cattaneo, Cristina

2017-03-01

The assessment of facial mimicry is important in forensic anthropology; in addition, the application of modern 3D image acquisition systems may help for the analysis of facial surfaces. This study aimed at exposing a novel method for comparing 3D profiles in different facial expressions. Ten male adults, aged between 30 and 40 years, underwent acquisitions by stereophotogrammetry (VECTRA-3D ® ) with different expressions (neutral, happy, sad, angry, surprised). The acquisition of each individual was then superimposed on the neutral one according to nine landmarks, and the root mean square (RMS) value between the two expressions was calculated. The highest difference in comparison with the neutral standard was shown by the happy expression (RMS 4.11 mm), followed by the surprised (RMS 2.74 mm), sad (RMS 1.3 mm), and angry ones (RMS 1.21 mm). This pilot study shows that the 3D-3D superimposition may provide reliable results concerning facial alteration due to mimicry. © 2016 American Academy of Forensic Sciences.

Beam based alignment and its relevance in Indus-2.

PubMed

Jena, Saroj Kumar; Husain, Riyasat; Gandhi, M L; Agrawal, R K; Yadav, S; Ghodke, A D

2015-09-01

Initially in the Indus-2 storage ring, the closed orbit distortion (COD) could be best corrected to 1.3 mm rms in the horizontal and 0.43 mm rms in the vertical plane. The strength of the corrector magnets required high values for COD correction. This revealed that offsets in COD readout by the beam position monitors (BPMs) played a role in not achieving a rms COD lower than the above value. Thus, the offset between the electrical center of BPMs and the magnetic center of the nearest quadrupole magnet could be estimated using the beam based alignment (BBA) method. It prefers that the quadrupole magnet is able to be controlled individually and active shunt power supply (ASPS) system was designed for this purpose that works efficiently. This paper describes the methodology of BBA, topology of ASPS and its performance, and COD minimization using the measured BPM offsets. After BBA, the COD could be reduced to 0.45 mm rms and 0.2 mm rms in horizontal and vertical planes, respectively.

Beam based alignment and its relevance in Indus-2

NASA Astrophysics Data System (ADS)

Jena, Saroj Kumar; Husain, Riyasat; Gandhi, M. L.; Agrawal, R. K.; Yadav, S.; Ghodke, A. D.

2015-09-01

Initially in the Indus-2 storage ring, the closed orbit distortion (COD) could be best corrected to 1.3 mm rms in the horizontal and 0.43 mm rms in the vertical plane. The strength of the corrector magnets required high values for COD correction. This revealed that offsets in COD readout by the beam position monitors (BPMs) played a role in not achieving a rms COD lower than the above value. Thus, the offset between the electrical center of BPMs and the magnetic center of the nearest quadrupole magnet could be estimated using the beam based alignment (BBA) method. It prefers that the quadrupole magnet is able to be controlled individually and active shunt power supply (ASPS) system was designed for this purpose that works efficiently. This paper describes the methodology of BBA, topology of ASPS and its performance, and COD minimization using the measured BPM offsets. After BBA, the COD could be reduced to 0.45 mm rms and 0.2 mm rms in horizontal and vertical planes, respectively.

A decade of the World Register of Marine Species – General insights and experiences from the Data Management Team: Where are we, what have we learned and how can we continue?

PubMed Central

Vanhoorne, Bart; Decock, Wim; Vranken, Sofie; Lanssens, Thomas; Dekeyzer, Stefanie; Verfaille, Kevin; Horton, Tammy; Kroh, Andreas; Hernandez, Francisco; Mees, Jan

2018-01-01

The World Register of Marine Species (WoRMS) celebrated its 10th anniversary in 2017. WoRMS is a unique database: there is no comparable global database for marine species, which is driven by a large, global expert community, is supported by a Data Management Team and can rely on a permanent host institute, dedicated to keeping WoRMS online. Over the past ten years, the content of WoRMS has grown steadily, and the system currently contains more than 242,000 accepted marine species. WoRMS has not yet reached completeness: approximately 2,000 newly described species per year are added, and editors also enter the remaining missing older names–both accepted and unaccepted–an effort amounting to approximately 20,000 taxon name additions per year. WoRMS is used extensively, through different channels, indicating that it is recognized as a high-quality database on marine species information. It is updated on a daily basis by its Editorial Board, which currently consists of 490 taxonomic and thematic experts located around the world. Owing to its unique qualities, WoRMS has become a partner in many large-scale initiatives including OBIS, LifeWatch and the Catalogue of Life, where it is recognized as a high-quality and reliable source of information for marine taxonomy. PMID:29624577

STS-37 Pilot Cameron and MS Godwin work on OV-104's aft flight deck

NASA Image and Video Library

1991-04-11

STS037-33-031 (5-11 April 1991) --- Astronauts Kenneth D. Cameron, STS-37 pilot, and Linda M. Godwin, mission specialist, take advantage of a well-lighted crew cabin to pose for an in-space portrait on the Space Shuttle Atlantis' aft flight deck. The two shared duties controlling the Remote Manipulator System (RMS) during operations involving the release of the Gamma Ray Observatory (GRO) and the Extravehicular Activity (EVA) of astronauts Jerry L. Ross and Jerome (Jay) Apt. The overhead window seen here and nearby eye-level windows (out of frame at left) are in a busy location on Shuttle missions, as they are used for payload surveys, Earth observation operations, astronomical studies and other purposes. Note the temporarily stowed large format still photo camera at lower right corner. This photo was made with a 35mm camera. This was one of the visuals used by the crew members during their April 19 Post Flight Press Conference (PFPC) at the Johnson Space Center (JSC).

STS-52 Columbia, Orbiter Vehicle (OV) 102, crew insignia

NASA Technical Reports Server (NTRS)

1992-01-01

STS-52 Columbia, Orbiter Vehicle (OV) 102, crew insignia (logo), the Official insignia of the NASA STS-52 mission, features a large gold star to symbolize the crew's mission on the frontiers of space. A gold star is often used to symbolize the frontier period of the American West. The red star in the shape of the Greek letter lambda represents both the laser measurements to be taken from the Laser Geodynamic Satellite (LAGEOS II) and the Lambda Point Experiment, which is part of the United States Microgravity Payload (USMP-1). The LAGEOS II is a joint Italian United States (U.S.) satellite project intended to further our understanding of global plate tectonics. The USMP-1 is a microgravity facility which has French and U.S. experiments designed to test the theory of cooperative phase transitions and to study the solidliquid interface of a metallic alloy in the low gravity environment. The remote manipulator system (RMS) arm and maple leaf are emblematic of the Canadian payload speci

Rhabdomyosarcoma Arising in a Previously Irradiated Field: An Analysis of 43 Patients

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dang, Nguyen D.; Teh, Bin S.; Paulino, Arnold C., E-mail: apaulino@tmhs.org

2013-03-01

Patients with soft tissue sarcomas that arise from previously irradiated fields have traditionally been reported to have a poor prognosis. In this report, we examined the characteristics and outcomes of patients who developed a rhabdomyosarcoma in a previously irradiated field (RMS-RIF); we hypothesize that these patients should have a better outcome compared to other postradiation soft tissue sarcomas as these tumors are chemosensitive and radiosensitive. A PubMed search of the literature from 1961-2010 yielded 33 studies with data for patients with RMS-RIF. The study included 43 patients with a median age of 6.5 years at the time of radiation therapymore » (RT) for the initial tumor. The median RT dose was 48 Gy. The median latency period, the time from RT to development of RMS-RIF, was 8 years. The 3-year overall survival for RMS-RIF was 42%. The 3-year overall survival was 66% for patients receiving chemotherapy and local treatment (surgery and/or RT) compared to 29% for those who had systemic treatment only or local treatment only (P=.049). Other factors associated with increased 3-year overall survival included retinoblastoma initial diagnosis (P<.001), age ≤18 years at diagnosis of RMS-RIF (P=.003), favorable site (P=.008), and stage 1 disease (P=.002). Age at time of RMS-RIF, retinoblastoma initial tumor, favorable site, stage 1 disease, and use of both systemic and local treatment were found to be favorable prognostic factors for 3-year overall survival.« less

Coal-seismic, desktop computer programs in BASIC; Part 6, Develop rms velocity functions and apply mute and normal movement

USGS Publications Warehouse

Hasbrouck, W.P.

1983-01-01

Processing of data taken with the U.S. Geological Survey's coal-seismic system is done with a desktop, stand-alone computer. Programs for this computer are written in the extended BASIC language utilized by the Tektronix 4051 Graphic System. This report presents computer programs used to develop rms velocity functions and apply mute and normal moveout to a 12-trace seismogram.

Advances in the Metrology of Absolute Value Assignments to Isotopic Reference Materials: Consequences from the Avogadro Project

NASA Astrophysics Data System (ADS)

Vocke, Robert; Rabb, Savelas

2015-04-01

All isotope amount ratios (hereafter referred to as isotope ratios) produced and measured on any mass spectrometer are biased. This unfortunate situation results mainly from the physical processes in the source area where ions are produced. Because the ionized atoms in poly-isotopic elements have different masses, such processes are typically mass dependent and lead to what is commonly referred to as mass fractionation (for thermal ionization and electron impact sources) and mass bias (for inductively coupled plasma sources.) This biasing process produces a measured isotope ratio that is either larger or smaller than the "true" ratio in the sample. This has led to the development of numerous fractionation "laws" that seek to correct for these effects, many of which are not based on the physical processes giving rise to the biases. The search for tighter and reproducible precisions has led to two isotope ratio measurement systems that exist side-by-side. One still seeks to measure "absolute" isotope ratios while the other utilizes an artifact based measurement system called a delta-scale. The common element between these two measurement systems is the utilization of isotope reference materials (iRMs). These iRMs are used to validate a fractionation "law" in the former case and function as a scale anchor in the latter. Many value assignments of iRMs are based on "best measurements" by the original groups producing the reference material, a not entirely satisfactory approach. Other iRMs, with absolute isotope ratio values, have been produced by calibrated measurements following the Atomic Weight approach (AW) pioneered by NBS nearly 50 years ago. Unfortunately, the AW is not capable of calibrating the new generation of iRMs to sufficient precision. So how do we get iRMs with isotope ratios of sufficient precision and without bias? Such a focus is not to denigrate the extremely precise delta-scale measurements presently being made on non-traditional and tradition stable isotope systems. But even absolute isotope ratio measurements have an important role to play in delta-scale schemes. Highly precise and unbiased measurements of the artifact anchor for any scale facilitates the replacement of that scale's anchor once the initial supply of the iRM is exhausted. Absolute isotope ratio measurements of artifacts at the positive and negative extremes of a delta-scale will allow the appropriate assignment of delta-values to these normalizing iRMs, thereby minimizing any scale contractions or expansions to either side of the anchor artifact. And finally, absolute values for critical iRMs with also allow delta-scale results to be used in other scientific disciplines that employ other units of measure. Precise absolute isotope ratios of Si has been one of the consequences of the Avogadro Project (an international effort to replace the original kilogram artifact with a natural constant, the Planck constant.) We will present the results of applying such measurements to the principal iRMs for the Si isotope system (SRM 990, Big Batch and Diatomite) and its consequences for their delta-Si29 and delta-Si30 values.

Multiple Product Qualities in Monopoly: Sailing the RMS "Titanic" into the Economics Classroom

ERIC Educational Resources Information Center

Asarta, Carlos J.; Mixon, Franklin G.; Upadhyaya, Kamal P.

2018-01-01

In this pedagogical contribution the authors extend the traditional three-class tariff employed in the French passenger railway system with the more resonant story of the service quality variations associated with the three passenger classes of the ill-fated RMS "Titanic." In doing so, they provide economics instructors with an…

Field experience with remote monitoring

DOE Office of Scientific and Technical Information (OSTI.GOV)

Desrosiers, A.E.

1995-03-01

The Remote Monitoring System (RMS) is a combination of Merlin Gerin detection hardware, digital data communications hardware, and computer software from Bartlett Services, Inc. (BSI) that can improve the conduct of reactor plant operations in several areas. Using the RMS can reduce radiation exposures to radiation protection technicians (RPTs), reduce radiation exposures to plant maintenance and operations personnel, and reduce the time required to complete maintenance and inspections during outages. The number of temporary RPTs required during refueling outages can also be reduced. Data from use of the RMS at a two power plants are presented to illustrate these points.

The International Remote Monitoring Project: Results of the Swedish Nuclear Power Facility field trial

DOE Office of Scientific and Technical Information (OSTI.GOV)

Johnson, C.S.; af Ekenstam, G.; Sallstrom, M.

1995-07-01

The Swedish Nuclear Power Inspectorate (SKI) and the US Department of Energy (DOE) sponsored work on a Remote Monitoring System (RMS) that was installed in August 1994 at the Barseback Works north of Malmo, Sweden. The RMS was designed to test the front end detection concept that would be used for unattended remote monitoring activities. Front end detection reduces the number of video images recorded and provides additional sensor verification of facility operations. The function of any safeguards Containment and Surveillance (C/S) system is to collect information which primarily is images that verify the operations at a nuclear facility. Barsebackmore » is ideal to test the concept of front end detection since most activities of safeguards interest is movement of spent fuel which occurs once a year. The RMS at Barseback uses a network of nodes to collect data from microwave motion detectors placed to detect the entrance and exit of spent fuel casks through a hatch. A video system using digital compression collects digital images and stores them on a hard drive and a digital optical disk. Data and images from the storage area are remotely monitored via telephone from Stockholm, Sweden and Albuquerque, NM, USA. These remote monitoring stations operated by SKI and SNL respectively, can retrieve data and images from the RMS computer at the Barseback Facility. The data and images are encrypted before transmission. This paper presents details of the RMS and test results of this approach to front end detection of safeguard activities.« less

Floating-point system quantization errors in digital control systems

NASA Technical Reports Server (NTRS)

Phillips, C. L.

1973-01-01

The results are reported of research into the effects on system operation of signal quantization in a digital control system. The investigation considered digital controllers (filters) operating in floating-point arithmetic in either open-loop or closed-loop systems. An error analysis technique is developed, and is implemented by a digital computer program that is based on a digital simulation of the system. As an output the program gives the programing form required for minimum system quantization errors (either maximum of rms errors), and the maximum and rms errors that appear in the system output for a given bit configuration. The program can be integrated into existing digital simulations of a system.

Rhabdomyosarcoma: Current Challenges and Their Implications for Developing Therapies

PubMed Central

Hettmer, Simone; Li, Zhizhong; Billin, Andrew N.; Barr, Frederic G.; Cornelison, D.D.W.; Ehrlich, Alan R.; Guttridge, Denis C.; Hayes-Jordan, Andrea; Helman, Lee J.; Houghton, Peter J.; Khan, Javed; Langenau, David M.; Linardic, Corinne M.; Pal, Ranadip; Partridge, Terence A.; Pavlath, Grace K.; Rota, Rossella; Schäfer, Beat W.; Shipley, Janet; Stillman, Bruce; Wexler, Leonard H.; Wagers, Amy J.; Keller, Charles

2014-01-01

Rhabdomyosarcoma (RMS) represents a rare, heterogeneous group of mesodermal malignancies with skeletal muscle differentiation. One major subgroup of RMS tumors (so-called “fusion-positive” tumors) carries exclusive chromosomal translocations that join the DNA-binding domain of the PAX3 or PAX7 gene to the transactivation domain of the FOXO1 (previously known as FKHR) gene. Fusion-negative RMS represents a heterogeneous spectrum of tumors with frequent RAS pathway activation. Overtly metastatic disease at diagnosis is more frequently found in individuals with fusion-positive than in those with fusion-negative tumors. RMS is the most common pediatric soft-tissue sarcoma, and approximately 60% of all children and adolescents diagnosed with RMS are cured by currently available multimodal therapies. However, a curative outcome is achieved in <30% of high-risk individuals with RMS, including all those diagnosed as adults, those diagnosed with fusion-positive tumors during childhood (including metastatic and nonmetastatic tumors), and those diagnosed with metastatic disease during childhood (including fusion-positive and fusion-negative tumors). This white paper outlines current challenges in RMS research and their implications for developing more effective therapies. Urgent clinical problems include local control, systemic disease, need for improved risk stratification, and characterization of differences in disease course in children and adults. Biological challenges include definition of the cellular functions of PAX-FOXO1 fusion proteins, clarification of disease heterogeneity, elucidation of the cellular origins of RMS, delineation of the tumor microenvironment, and identification of means for rational selection and testing of new combination therapies. To streamline future therapeutic developments, it will be critical to improve access to fresh tumor tissue for research purposes, consider alternative trial designs to optimize early clinical testing of candidate drugs, coalesce advocacy efforts to garner public and industry support, and facilitate collaborative efforts between academia and industry. PMID:25368019

Beam based alignment and its relevance in Indus-2

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jena, Saroj Kumar; Husain, Riyasat; Gandhi, M. L.

2015-09-15

Initially in the Indus-2 storage ring, the closed orbit distortion (COD) could be best corrected to 1.3 mm rms in the horizontal and 0.43 mm rms in the vertical plane. The strength of the corrector magnets required high values for COD correction. This revealed that offsets in COD readout by the beam position monitors (BPMs) played a role in not achieving a rms COD lower than the above value. Thus, the offset between the electrical center of BPMs and the magnetic center of the nearest quadrupole magnet could be estimated using the beam based alignment (BBA) method. It prefers thatmore » the quadrupole magnet is able to be controlled individually and active shunt power supply (ASPS) system was designed for this purpose that works efficiently. This paper describes the methodology of BBA, topology of ASPS and its performance, and COD minimization using the measured BPM offsets. After BBA, the COD could be reduced to 0.45 mm rms and 0.2 mm rms in horizontal and vertical planes, respectively.« less

Accuracy assessment of high-rate GPS measurements for seismology

NASA Astrophysics Data System (ADS)

Elosegui, P.; Davis, J. L.; Ekström, G.

2007-12-01

Analysis of GPS measurements with a controlled laboratory system, built to simulate the ground motions caused by tectonic earthquakes and other transient geophysical signals such as glacial earthquakes, enables us to assess the technique of high-rate GPS. The root-mean-square (rms) position error of this system when undergoing realistic simulated seismic motions is 0.05~mm, with maximum position errors of 0.1~mm, thus providing "ground truth" GPS displacements. We have acquired an extensive set of high-rate GPS measurements while inducing seismic motions on a GPS antenna mounted on this system with a temporal spectrum similar to real seismic events. We found that, for a particular 15-min-long test event, the rms error of the 1-Hz GPS position estimates was 2.5~mm, with maximum position errors of 10~mm, and the error spectrum of the GPS estimates was approximately flicker noise. These results may however represent a best-case scenario since they were obtained over a short (~10~m) baseline, thereby greatly mitigating baseline-dependent errors, and when the number and distribution of satellites on the sky was good. For example, we have determined that the rms error can increase by a factor of 2--3 as the GPS constellation changes throughout the day, with an average value of 3.5~mm for eight identical, hourly-spaced, consecutive test events. The rms error also increases with increasing baseline, as one would expect, with an average rms error for a ~1400~km baseline of 9~mm. We will present an assessment of the accuracy of high-rate GPS based on these measurements, discuss the implications of this study for seismology, and describe new applications in glaciology.

STS-88 crew use simulators and virtual reality in preflight training

NASA Image and Video Library

1998-04-08

S98-05078 (8 Apr. 1998) --- With crew mates looking on, astronaut Nancy J. Currie, mission specialist, uses hardware in the virtual reality lab at the Johnson Space Center (JSC) to train for her duties aboard the Space Shuttle Endeavour. She is flanked by astronaut Robert Cabana (left), commander; and Frederick W. Sturckow (right), pilot. This type computer interface paired with virtual reality training hardware for the assigned space-walking astronauts -- Jerry L. Ross and James H. Newman -- helps to prepare the entire team for dealing with International Space Station (ISS) elements. One of those elements will be the Functional Cargo Block (FGB), which will have been launched a couple of weeks prior to STS-88. Once the FGB is captured using the Remote Manipulator System (RMS) of the Endeavour, Currie will maneuver the robot arm to dock the FGB to the conical mating adapter at the top of Node 1, to be carried in the Endeavour's cargo bay. In ensuing days, three Extravehicular Activity?s (EVA) by Ross and Newman will be performed to make power, data and utility connections between the two modules. Looking on is Scott A. Bleisath (behind Currie), with the EVA Systems Group at JSC.

STS-88 crew use simulators and virtual reality in preflight training

NASA Image and Video Library

1998-04-08

S98-05077 (8 Apr. 1998) --- With crew mates looking on, astronaut Nancy J. Currie, mission specialist, uses hardware in the virtual reality lab at the Johnson Space Center (JSC) to train for her duties aboard the Space Shuttle Endeavour. She is flanked by astronaut Robert Cabana (left), commander; and Frederick W. Sturckow (right), pilot. This type computer interface paired with virtual reality training hardware for the assigned space-walking astronauts -- Jerry L. Ross and James H. Newman -- helps to prepare the entire team for dealing with International Space Station (ISS) elements. One of those elements will be the Functional Cargo Block (FGB), which will have been launched a couple of weeks prior to STS-88. Once the FGB is captured using the Remote Manipulator System (RMS) of the Endeavour, Currie will maneuver the robot arm to dock the FGB to the conical mating adapter at the top of Node 1, to be carried in the Endeavour's cargo bay. In ensuing days, three Extravehicular Activity?s (EVA) by Ross and Newman will be performed to make power, data and utility connections between the two modules. Looking on is Scott A. Bleisath (behind Currie), with the EVA Systems Group at JSC.

Method and system employing finite state machine modeling to identify one of a plurality of different electric load types

DOE Office of Scientific and Technical Information (OSTI.GOV)

Du, Liang; Yang, Yi; Harley, Ronald Gordon

A system is for a plurality of different electric load types. The system includes a plurality of sensors structured to sense a voltage signal and a current signal for each of the different electric loads; and a processor. The processor acquires a voltage and current waveform from the sensors for a corresponding one of the different electric load types; calculates a power or current RMS profile of the waveform; quantizes the power or current RMS profile into a set of quantized state-values; evaluates a state-duration for each of the quantized state-values; evaluates a plurality of state-types based on the powermore » or current RMS profile and the quantized state-values; generates a state-sequence that describes a corresponding finite state machine model of a generalized load start-up or transient profile for the corresponding electric load type; and identifies the corresponding electric load type.« less

Probabilistic reasoning over seismic RMS time series: volcano monitoring through HMMs and SAX technique

NASA Astrophysics Data System (ADS)

Aliotta, M. A.; Cassisi, C.; Prestifilippo, M.; Cannata, A.; Montalto, P.; Patanè, D.

2014-12-01

During the last years, volcanic activity at Mt. Etna was often characterized by cyclic occurrences of fountains. In the period between January 2011 and June 2013, 38 episodes of lava fountains has been observed. Automatic recognition of the volcano's states related to lava fountain episodes (Quiet, Pre-Fountaining, Fountaining, Post-Fountaining) is very useful for monitoring purposes. We discovered that such states are strongly related to the trend of RMS (Root Mean Square) of the seismic signal recorded in the summit area. In the framework of the project PON SIGMA (Integrated Cloud-Sensor System for Advanced Multirisk Management) work, we tried to model the system generating its sampled values (assuming to be a Markov process and assuming that RMS time series is a stochastic process), by using Hidden Markov models (HMMs), that are a powerful tool for modeling any time-varying series. HMMs analysis seeks to discover the sequence of hidden states from the observed emissions. In our framework, observed emissions are characters generated by SAX (Symbolic Aggregate approXimation) technique. SAX is able to map RMS time series values with discrete literal emissions. Our experiments showed how to predict volcano states by means of SAX and HMMs.

A 20fs synchronization system for lasers and cavities in accelerators and FELs

NASA Astrophysics Data System (ADS)

Wilcox, R. B.; Byrd, J. M.; Doolittle, L. R.; Huang, G.; Staples, J. W.

2010-02-01

A fiber-optic RF distribution system has been developed for synchronizing lasers and RF plants in short pulse FELs. Typical requirements are 50-100fs rms over time periods from 1ms to several hours. Our system amplitude modulates a CW laser signal, senses fiber length using an interferometer, and feed-forward corrects the RF phase digitally at the receiver. We demonstrate less than 15fs rms error over 12 hours, between two independent channels with a fiber path length difference of 200m and transmitting S-band RF. The system is constructed using standard telecommunications components, and uses regular telecom fiber.

Local Heating of Discrete Droplets Using Magnetic Porous Silicon-Based Photonic Crystals

PubMed Central

Park, Ji-Ho; Derfus, Austin M.; Segal, Ester; Vecchio, Kenneth S.; Bhatia, Sangeeta N.; Sailor, Michael J.

2012-01-01

This paper describes a method for local heating of discrete micro-liter scale liquid droplets. The droplets are covered with magnetic porous Si microparticles, and heating is achieved by application of an external alternating electromagnetic field. The magnetic porous Si microparticles consist of two layers: the top layer contains a photonic code and it is hydrophobic, with surface-grafted dodecyl moieties. The bottom layer consists of a hydrophilic Si oxide host layer that is infused with Fe3O4 nanoparticles. The amphiphilic microparticles spontaneously align at the interface of a water droplet immersed in mineral oil, allowing manipulation of the droplets by application of a magnetic field. Application of an oscillating magnetic field (338 kHz, 18A RMS current in a coil surrounding the experiment) generates heat in the superparamagnetic particles that can raise the temperature of the enclosed water droplet to >80 °C within 5 min. A simple microfluidics application is demonstrated: combining complementary DNA strands contained in separate droplets and then thermally inducing dehybridization of the conjugate. The complementary oligonucleotides were conjugated with the cyanine dye fluorophores Cy3 and Cy5 to quantify the melting/re-binding reaction by fluorescence resonance energy transfer (FRET). The magnetic porous Si microparticles were prepared as photonic crystals, containing spectral codes that allowed the identification of the droplets by reflectivity spectroscopy. The technique demonstrates the feasibility of tagging, manipulating, and heating small volumes of liquids without the use of conventional microfluidic channel and heating systems. PMID:16771508

The Impact of Surgical Patent Ductus Arteriosus Closure on Autonomic Function in Premature Infants.

PubMed

Andescavage, Nickie N; Metzler, Marina; Govindan, Vedavalli; Al-Shargabi, Tareq; Nath, Dilip S; Krishnan, Anita; Massaro, An; Wang, Yunfei; duPlessis, Adre J; Govindan, R B

2017-07-01

Background  Patent ductus arteriosus (PDA) is a common complication of prematurity and a risk factor for poor outcome. Infants undergoing surgical PDA ligation are at highest risk for neurodevelopmental injury. Autonomic dysfunction has been described in premature infants with PDA. Aim  To interrogate the autonomic nervous system by analysis of advanced heart rate variability (HRV) metrics before and after surgical closure of the PDA. Study Design  Prospective, observational study. Subjects  Twenty-seven infants born before 28 weeks' gestation were included in this study. Methods  Continuous electrocardiogram data were sampled at a rate of 125 Hz for a total of 6 hours before and 6 hours after 30 hours of surgical closure. HRV was determined by detrended fluctuation analysis to calculate the short and long root mean square (RMS L and RMS S ) and α components at two time scales (long and short). Results  Gestational age (GA) was positively associated with RMS L , RMS S , and α S and was negatively associated with α L . There was no difference between RMS s , RMS L , α S , or α L before and after surgery; however, median heart rate was lower after surgery ( p  < 0.01). Conclusion  Advancing GA is highly associated with increasing HRV; however, surgical ligation does not affect HRV in the postoperative period. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

Silicon Detector System for High Rate EXAFS Applications.

PubMed

Pullia, A; Kraner, H W; Siddons, D P; Furenlid, L R; Bertuccio, G

1995-08-01

A multichannel silicon pad detector for EXAFS (Extended X-ray Absorption Fine Structure) applications has been designed and built. The X-ray spectroscopic measurements demonstrate that an adequate energy resolution of 230 eV FWHM (corresponding to 27 rms electrons in silicon) can be achieved reliably at -35 °C. A resolution of 190 eV FWHM (corresponding to 22 rms electrons) has been obtained from individual pads at -35 °C. At room temperature (25 °C) an average energy resolution of 380 eV FWHM is achieved and a resolution of 350 eV FWHM (41 rms electrons) is the best performance. A simple cooling system constituted of Peltier cells is sufficient to reduce the reverse currents of the pads and their related shot noise contribution, in order to achieve resolutions better than 300 eV FWHM which is adequate for the EXAFS applications.

Silicon Detector System for High Rate EXAFS Applications

PubMed Central

Pullia, A.; Kraner, H. W.; Siddons, D. P.; Furenlid, L. R.; Bertuccio, G.

2015-01-01

A multichannel silicon pad detector for EXAFS (Extended X-ray Absorption Fine Structure) applications has been designed and built. The X-ray spectroscopic measurements demonstrate that an adequate energy resolution of 230 eV FWHM (corresponding to 27 rms electrons in silicon) can be achieved reliably at −35 °C. A resolution of 190 eV FWHM (corresponding to 22 rms electrons) has been obtained from individual pads at −35 °C. At room temperature (25 °C) an average energy resolution of 380 eV FWHM is achieved and a resolution of 350 eV FWHM (41 rms electrons) is the best performance. A simple cooling system constituted of Peltier cells is sufficient to reduce the reverse currents of the pads and their related shot noise contribution, in order to achieve resolutions better than 300 eV FWHM which is adequate for the EXAFS applications. PMID:26538683

The effects of instructional sets on reactions to and performance on an intelligent tutoring system

NASA Technical Reports Server (NTRS)

Johnson, Debra Steele

1993-01-01

The effects of a contextual factor, i.e., task instructions, on performance on and reactions to an Intellegent Tutoring System (ITS) training Remote Manipulator System (RMS) tasks were examined. The results supported the first prediction that task instructions could be used to successfully induce a mastery versus an achievement orientation. Previous research suggests that a mastery orientation can result in beneficial effects on learning and performance of complex tasks. Furthermore, the results supported the second prediction that a mastery orientation would have beneficial effects on learning and performance as well as affective and cognitive reactions to the ITS tasks. Moreover, the results indicated that a mastery orientation was especially beneficial for the more complex ITS tasks and later in task practice, i.e., when a task was performed for the second time. A mastery orientation is posited to have its beneficial effects by focusing more effort and attention on task performance. Conclusions are drawn with some caution due to the small number of subjects, although the results for these subjects were consistent across multiple trials and multiple measures of performance. ITS designers are urged to consider contextual factors such as task instructions and feedback in terms of their potential to induce a mastery versus an achievement orientation.

Shearographic Non-destructive Evaluation of Space Shuttle Thermal Protection Systems

NASA Technical Reports Server (NTRS)

Davis, Christopher K.; Hooker, Jeffery A.; Simmons, Stephen A.; Tenbusch, Kenneth E.

1995-01-01

Preliminary results of shearographic inspections of the shuttle external tank (ET) spray-on foam insulation (SOFI) and solid rocket booster (SRB) Marshall sprayable ablative (MSA-2) epoxy-cork thermal protection systems (TPS) are presented. Debonding SOFI or MSA-2 damage the orbiter 'belly' tile and exposes the ET/SRB to thermal loading. Previous work with the ET/SRB showed promising results with shearography. The first area investigated was the jack pad close-out, one of many areas on the ET where foam is applied at KSC. Voids 0.375 inch were detected in 1.75 inch thick foam using a pressure reduction of less than 0.4 psi. Of primary interest are areas of the ET that directly face the orbiter tile TPS. It is estimated that 90% of tile TPS damage on the orbiter 'belly' results from debonding SOFI during ascent. Test panels modeling these areas were manufactured with programmed debonds to determine the sensitivity of shearography as a function of debond size, SOFI thickness and vacuum. Results show repeatable detection of debonds with a diameter approximately half the SOFI thickness at less than 0.4 psi pressure reduction. Preliminary results are also presented on inspections of MSA-2 and the remote manipulator system (RMS) honeycomb material.

Shearographic non-destructive evaluation of space shuttle thermal protection systems

NASA Technical Reports Server (NTRS)

Hooker, Jeffrey A.; Simmons, Stephen M.; Davis, Christopher K.; Tenbusch, Kenneth E.

1995-01-01

Preliminary results of shearographic inspections of the shuttle external tank (ET) spray-on foam insulation (SOFI) and solid rocket booster (SRB) Marshall sprayable ablative (MSA-2) epoxy-cork thermal protection systems (TPS) are presented. Debonding SOFI or MSA-2 damage the orbiter 'belly' tile and exposes the ET/SRB to thermal loading. Previous work with the ET/SRB showed promising results with shearography. The first area investigated was the jack pad close-out, one of many areas on the ET where foam is applied at KSC. Voids 0.375 inch were detected in 1.75 inch thick foam using a pressure reduction of less than 0.4 psi. Of primary interest are areas of the ET that directly face the orbiter tile TPS. It is estimated that 90% of tile TPS damage on the orbiter 'belly' results from debonding SOFI during ascent. Test panels modeling these areas were manufactured with programmed debonds to determine the sensitivity of shearography as a function of debond size, SOFI thickness and vacuum. Results show repeatable detection of debonds with a diameter approximately half the SOFI thickness at less than 0.4 psi pressure reduction. Preliminary results are also presented on inspections of MSA-2 and the remote manipulator system (RMS) honeycomb material

Unicompartmental knee arthroplasty: is robotic technology more accurate than conventional technique?

PubMed

Citak, Mustafa; Suero, Eduardo M; Citak, Musa; Dunbar, Nicholas J; Branch, Sharon H; Conditt, Michael A; Banks, Scott A; Pearle, Andrew D

2013-08-01

Robotic-assisted unicompartmental knee arthroplasty (UKA) with rigid bone fixation "can significantly improve implant placement and leg alignment. The aim of this cadaveric study was to determine whether the use of robotic systems with dynamic bone tracking would provide more accurate UKA implant positioning compared to the conventional manual technique. Three-dimensional CT-based preoperative plans were created to determine the desired position and orientation for the tibial and femoral components. For each pair of cadaver knees, UKA was performed using traditional instrumentation on the left side and using a haptic robotic system on the right side. Postoperative CT scans were obtained and 3D-to-3D iterative closest point registration was performed. Implant position and orientation were compared to the preoperative plan. Surgical RMS errors for femoral component placement were within 1.9 mm and 3.7° in all directions of the planned implant position for the robotic group, while RMS errors for the manual group were within 5.4mm and 10.2°. Average RMS errors for tibial component placement were within 1.4mm and 5.0° in all directions for the robotic group; while, for the manual group, RMS errors were within 5.7 mm and 19.2°. UKA was more precise using a semiactive robotic system with dynamic bone tracking technology compared to the manual technique. Copyright © 2012 Elsevier B.V. All rights reserved.

Branching in Pea (Action of Genes Rms3 and Rms4).

PubMed Central

Beveridge, C. A.; Ross, J. J.; Murfet, I. C.

1996-01-01

The nonallelic ramosus mutations rms3-2 and rms4 of pea (Pisum sativum L.) cause extensive release of vegetative axillary buds and lateral growth in comparison with wild-type (cv Torsdag) plants, in which axillary buds are not normally released under the conditions utilized. Grafting studies showed that the expression of the rms4 mutation in the shoot is independent of the genotype of the root-stock. In contrast, the length of the branches at certain nodes of rms3-2 plants was reduced by grafting to wild-type stocks, indicating that the wild-type Rms3 gene may control the level of a mobile substance produced in the root. This substance also appears to be produced in the shoot because Rms3 shoots did not branch when grafted to mutant rms3-2 rootstocks. However, the end product of the Rms3 gene appears to differ from that of the Rms2 gene (C.A. Beveridge, J.J. Ross, and I.C. Murfet [1994] Plant Physiol 104: 953-959) because reciprocal grafts between rms3-2 and rms2 seedlings produced mature shoots with apical dominance similar to that of rms3-2 and rms2 shoots grafted to wild-type stocks. Indole-3-acetic acid levels were not reduced in apical or nodal portions of rms4 plants and were actually elevated (up to 2-fold) in rms3-2 plants. It is suggested that further studies with these branching mutants may enable significant progress in understanding the normal control of apical dominance and the related communication between the root and shoot. PMID:12226224

Approaching sub-50 nanoradian measurements by reducing the saw-tooth deviation of the autocollimator in the Nano-Optic-Measuring Machine

NASA Astrophysics Data System (ADS)

Qian, Shinan; Geckeler, Ralf D.; Just, Andreas; Idir, Mourad; Wu, Xuehui

2015-06-01

Since the development of the Nano-Optic-Measuring Machine (NOM), the accuracy of measuring the profile of an optical surface has been enhanced to the 100-nrad rms level or better. However, to update the accuracy of the NOM system to sub-50 nrad rms, the large saw-tooth deviation (269 nrad rms) of an existing electronic autocollimator, the Elcomat 3000/8, must be resolved. We carried out simulations to assess the saw-tooth-like deviation. We developed a method for setting readings to reduce the deviation to sub-50 nrad rms, suitable for testing plane mirrors. With this method, we found that all the tests conducted in a slowly rising section of the saw-tooth show a small deviation of 28.8 to <40 nrad rms. We also developed a dense-measurement method and an integer-period method to lower the saw-tooth deviation during tests of sphere mirrors. Further research is necessary for formulating a precise test for a spherical mirror. We present a series of test results from our experiments that verify the value of the improvements we made.

Optical communications and a comparison of optical technologies for a high data rate return link from Mars

NASA Technical Reports Server (NTRS)

Spence, Rodney L.

1993-01-01

The important principles of direct- and heterodyne-detection optical free-space communications are reviewed. Signal-to-noise-ratio (SNR) and bit-error-rate (BER) expressions are derived for both the direct-detection and heterodyne-detection optical receivers. For the heterodyne system, performance degradation resulting from received-signal and local oscillator-beam misalignment and laser phase noise is analyzed. Determination of interfering background power from local and extended background sources is discussed. The BER performance of direct- and heterodyne-detection optical links in the presence of Rayleigh-distributed random pointing and tracking errors is described. Finally, several optical systems employing Nd:YAG, GaAs, and CO2 laser sources are evaluated and compared to assess their feasibility in providing high-data-rate (10- to 1000-Mbps) Mars-to-Earth communications. It is shown that the root mean square (rms) pointing and tracking accuracy is a critical factor in defining the system transmitting laser-power requirements and telescope size and that, for a given rms error, there is an optimum telescope aperture size that minimizes the required power. The results of the analysis conducted indicate that, barring the achievement of extremely small rms pointing and tracking errors (less than 0.2 microrad), the two most promising types of optical systems are those that use an Nd:YAG laser (lambda = 1.064 microns) and high-order pulse position modulator (PPM) and direct detection, and those that use a CO2 laser (lambda = 10.6 microns) and phase shifting keying homodyne modulation and coherent detection. For example, for a PPM order of M = 64 and an rms pointing accuracy of 0.4 microrad, an Nd:YAG system can be used to implement a 100-Mbps Mars link with a 40-cm transmitting telescope, a 20-W laser, and a 10-m receiving photon bucket. Under the same conditions, a CO2 system would require 3-m transmitting and receiving telescopes and a 32-W laser to implement such a link. Other types of optical systems, such as a semiconductor laser systems, are impractical in the presence of large rms pointing errors because of the high power requirements of the 100-Mbps Mars link, even when optimal-size telescopes are used.

Allergies, atopy, immune-related factors and childhood rhabdomyosarcoma: a report from the Children's Oncology Group.

PubMed

Lupo, Philip J; Zhou, Renke; Skapek, Stephen X; Hawkins, Douglas S; Spector, Logan G; Scheurer, Michael E; Fatih Okcu, M; Melin, Beatrice; Papworth, Karin; Erhardt, Erik B; Grufferman, Seymour

2014-01-15

Rhabdomyosarcoma (RMS) is a highly malignant tumor of developing muscle that can occur anywhere in the body. Due to its rarity, relatively little is known about the epidemiology of RMS. Atopic disease is hypothesized to be protective against several malignancies; however, to our knowledge, there have been no assessments of atopy and childhood RMS. Therefore, we explored this association in a case-control study of 322 childhood RMS cases and 322 pair-matched controls. Cases were enrolled in a trial run by the Intergroup Rhabdomyosarcoma Study Group. Controls were matched to cases on race, sex and age. The following atopic conditions were assessed: allergies, asthma, eczema and hives; in addition, we examined other immune-related factors: birth order, day-care attendance and breastfeeding. Conditional logistic-regression models were used to calculate an odds ratio (OR) and 95% confidence interval (CI) for each exposure, adjusted for age, race, sex, household income and parental education. As the two most common histologic types of RMS are embryonal (n=215) and alveolar (n=66), we evaluated effect heterogeneity of these exposures. Allergies (OR=0.60, 95% CI: 0.41-0.87), hives (OR = 0.61, 95% CI: 0.38-0.97), day-care attendance (OR=0.48, 95% CI: 0.32-0.71) and breastfeeding for ≥ 12 months (OR=0.36, 95% CI: 0.18-0.70) were inversely associated with childhood RMS. These exposures did not display significant effect heterogeneity between histologic types (p>0.52 for all exposures). This is the first study indicating that atopic exposures may be protective against childhood RMS, suggesting additional studies are needed to evaluate the immune system's role in the development of this tumor. © 2013 UICC.

MDplot: Visualise Molecular Dynamics.

PubMed

Margreitter, Christian; Oostenbrink, Chris

2017-05-10

The MDplot package provides plotting functions to allow for automated visualisation of molecular dynamics simulation output. It is especially useful in cases where the plot generation is rather tedious due to complex file formats or when a large number of plots are generated. The graphs that are supported range from those which are standard, such as RMsD/RMsF (root-mean-square deviation and root-mean-square fluctuation, respectively) to less standard, such as thermodynamic integration analysis and hydrogen bond monitoring over time. All told, they address many commonly used analyses. In this article, we set out the MDplot package's functions, give examples of the function calls, and show the associated plots. Plotting and data parsing is separated in all cases, i.e. the respective functions can be used independently. Thus, data manipulation and the integration of additional file formats is fairly easy. Currently, the loading functions support GROMOS, GROMACS, and AMBER file formats. Moreover, we also provide a Bash interface that allows simple embedding of MDplot into Bash scripts as the final analysis step. The package can be obtained in the latest major version from CRAN (https://cran.r-project.org/package=MDplot) or in the most recent version from the project's GitHub page at https://github.com/MDplot/MDplot, where feedback is also most welcome. MDplot is published under the GPL-3 license.

High-Frequency ac Power-Distribution System

NASA Technical Reports Server (NTRS)

Hansen, Irving G.; Mildice, James

1987-01-01

Loads managed automatically under cycle-by-cycle control. 440-V rms, 20-kHz ac power system developed. System flexible, versatile, and "transparent" to user equipment, while maintaining high efficiency and low weight. Electrical source, from dc to 2,200-Hz ac converted to 440-V rms, 20-kHz, single-phase ac. Power distributed through low-inductance cables. Output power either dc or variable ac. Energy transferred per cycle reduced by factor of 50. Number of parts reduced by factor of about 5 and power loss reduced by two-thirds. Factors result in increased reliability and reduced costs. Used in any power-distribution system requiring high efficiency, high reliability, low weight, and flexibility to handle variety of sources and loads.

Development of the Wuhan lidar system

NASA Astrophysics Data System (ADS)

Hu, Zhilin; Liu, Yiping; Hu, Xiong; Zeng, Xizhi

1998-08-01

This paper reports new progress of the Wuhan lidar system. At the present time, our lidar works both at nighttime, to measure the sodium layer in menopause region, and at daytime to measure the aerosol in lower atmosphere region. The daytime working lidar system is equipped with a Faraday Anomalous Dispersion Optical Filter (FADOF), working at the Na resonance line (589 nm) and having an ultra-narrow bandwidth of 2 GHz. The daytime system uses this FADOF to obtain the lidar signal from an altitude of 20 km in our primary experiment. We will also report a comparison of the rms velocity measured by MF radar and Na lidar. A 90% confidence in rms velocity has been achieved.

SPACE SHUTTLE MISSION 41C - OFFICIAL CREW INSIGNIA

NASA Image and Video Library

1984-01-01

S84-25522 (15 Jan. 1984) --- The patch to be worn by the five members of NASA's STS-41C space mission tells the story of that flight. It features a helmet visor of an astronaut performing an extravehicular activity (EVA). In the visor are reflected the sun's rays, the space shuttle Challenger and its Remote Manipulator System (RMS) deploying the Long Duration Exposure Facility (LDEF), Earth and blue sky, and another astronaut working at the damaged Solar Maximum Satellite (SMS). The scene is encircled by the surnames of the crew members. They are astronauts Robert L. Crippen, commander; Francis R. (Dick) Scobee, pilot; and Terry J. Hart, James D. van Hoften and George D. Nelson, all mission specialists. The NASA insignia design for space shuttle flights is reserved for use by the astronauts and for other official use as the NASA Administrator may authorize. Public availability has been approved only in the forms of illustrations by the various news media. When and if there is any change in this policy, which is not anticipated, the change will be publicly announced. Photo credit: NASA

STS-88 crew use simulators and virtual reality in preflight training

NASA Image and Video Library

1998-04-08

S98-05075 (8 Apr. 1998) --- Astronaut Nancy J. Currie, assigned as a mission specialist for the mission, uses hardware in the virtual reality lab at the Johnson Space Center (JSC) to train for her duties aboard the Space Shuttle Endeavour. This type computer interface paired with virtual reality training hardware for the assigned space-walking astronauts -- in this case, Jerry L. Ross and James H. Newman -- helps to prepare the entire team for dealing with International Space Station (ISS) elements. One of those elements will be the Functional Cargo Block (FGB), which will have been launched a couple of weeks prior to STS-88. Once the FGB is captured using the Remote Manipulator System (RMS) of the Endeavour, Currie will maneuver the robot arm to dock the FGB to the conical mating adapter at the top of Node 1, to be carried in the Endeavour?s cargo bay. In ensuing days, three Extravehicular Activity?s (EVA) by Ross and Newman will be performed to make power, data and utility connections between the two modules.

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

NASA Astrophysics Data System (ADS)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

Endeavour's payload bay with the Raphaello module and Canadarm 2

NASA Image and Video Library

2001-04-20

S100-E-5015 (20 April 2001) --- One of the crew members of STS-100 aimed a digital still camera through Endeavour's aft flight deck windows to record this image of the cargo bay, backdropped against a scene of black space and Earth's horizon. Housed in the bay, beyond the docking mechanism in the foreground, is the Italian Space Agency-provided Raffaello cargo module, which is carrying several tons of equipment for the Expedition Two crew and racks of hardware for installation in Destiny which will be used for scientific research in the future. Raffaello, which is the second of three such logistics modules, will be berthed to the ISS on April 23 so its contents can be transferred to the station throughout the course of docked operations. Also in the bay is the 57-foot-long Canadarm2, which will be mounted on the Destiny Laboratory for future station assembly work. Endeavour's Canadian-built Remote Manipulator System (RMS) arm can be seen in its berthed position on the port side of the payload bay.

Endeavour's payload bay with the Raphaello module and Canadarm 2

NASA Image and Video Library

2001-04-20

S100-E-5018 (20 April 2001) --- One of the crew members of STS-100 aimed a digital still camera through Endeavour's aft flight deck windows to record this image of the cargo bay, backdropped against a scene of black space and Earth's horizon. Housed in the bay, beyond the docking mechanism in the foreground, is the Italian Space Agency-provided Raffaello cargo module, which is carrying several tons of equipment for the Expedition Two crew and racks of hardware for installation in Destiny which will be used for scientific research in the future. Raffaello, which is the second of three such logistics modules, will be berthed to the ISS on April 23 so its contents can be transferred to the station throughout the course of docked operations. Also in the bay is the 57-foot-long Canadarm2, which will be mounted on the Destiny Laboratory for future station assembly work. Endeavour's Canadian-built Remote Manipulator System (RMS) arm can be seen in its berthed position on the port side of the payload bay.

Endeavour's payload bay with the Raphaello module and Canadarm 2

NASA Image and Video Library

2001-04-20

S100-E-5002 (20 April 2001) --- One of the crew members of STS-100 aimed a digital still camera through Endeavour's aft flight deck windows to record this image of the cargo bay, backdropped against a scene of black space and Earth's horizon. Housed in the bay, beyond the docking mechanism in the foreground, is the Italian Space Agency-provided Raffaello cargo module, which is carrying several tons of equipment for the Expedition Two crew and racks of hardware for installation in Destiny which will be used for scientific research in the future. Raffaello, which is the second of three such logistics modules, will be berthed to the ISS on April 23 so its contents can be transferred to the station throughout the course of docked operations. Also in the bay is the 57-foot-long Canadarm2, which will be mounted on the Destiny Laboratory for future station assembly work. Endeavour's Canadian-built Remote Manipulator System (RMS) arm can be seen in its berthed position on the port side of the payload bay.

Endeavour's payload bay with the Raphaello module and Canadarm 2

NASA Image and Video Library

2001-04-20

S100-E-5017 (20 April 2001) --- One of the crew members of STS-100 aimed a digital still camera through Endeavour's aft flight deck windows to record this image of the cargo bay, backdropped against a scene of black space and Earth's horizon. Housed in the bay, beyond the docking mechanism in the foreground, is the Italian Space Agency-provided Raffaello cargo module, which is carrying several tons of equipment for the Expedition Two crew and racks of hardware for installation in Destiny which will be used for scientific research in the future. Raffaello, which is the second of three such logistics modules, will be berthed to the ISS on April 23 so its contents can be transferred to the station throughout the course of docked operations. Also in the bay is the 57-foot-long Canadarm2, which will be mounted on the Destiny Laboratory for future station assembly work. Endeavour's Canadian-built Remote Manipulator System (RMS) arm can be seen in its berthed position on the port side of the payload bay.

Inflammatory cytokine response and reduced heart rate variability in newborns with hypoxic-ischemic encephalopathy.

PubMed

Al-Shargabi, T; Govindan, R B; Dave, R; Metzler, M; Wang, Y; du Plessis, A; Massaro, A N

2017-06-01

To determine whether systemic inflammation-modulating cytokine expression is related to heart rate variability (HRV) in newborns with hypoxic-ischemic encephalopathy (HIE). The data from 30 newborns with HIE were analyzed. Cytokine levels (IL-2, IL-4, IL-6, IL-8, IL-10, IL-13, IL-1β, TNF-α, IFN-λ) were measured either at 24 h of cooling (n=5), 72 h of cooling (n=4) or at both timepoints (n=21). The following HRV metrics were quantified in the time domain: alpha_S, alpha_L, root mean square (RMS) at short time scales (RMS_S), RMS at long time scales (RMS_L), while low-frequency power (LF) and high-frequency power (HF) were quantified in the frequency domain. The relationships between HRV metrics and cytokines were evaluated using mixed-models. IL-6, IL-8, IL-10, and IL-13 levels were inversely related to selected HRV metrics. Inflammation-modulating cytokines may be important mediators in the autonomic dysfunction observed in newborns with HIE.

The sequence of disease-modifying therapies in relapsing multiple sclerosis: safety and immunologic considerations.

PubMed

Pardo, Gabriel; Jones, David E

2017-12-01

The treatment landscape for relapsing forms of multiple sclerosis (RMS) has expanded considerably over the last 10 years with the approval of multiple new disease-modifying therapies (DMTs), and others in late-stage clinical development. All DMTs for RMS are believed to reduce central nervous system immune-mediated inflammatory processes, which translate into demonstrable improvement in clinical and radiologic outcomes. However, some DMTs are associated with long-lasting effects on the immune system and/or serious adverse events, both of which may complicate the use of subsequent therapies. When customizing a treatment program, a benefit-risk assessment must consider multiple factors, including the efficacy of the DMT to reduce disease activity, the short- and long-term safety and immunologic profiles of each DMT, the criteria used to define switching treatment, and the risk tolerance of each patient. A comprehensive benefit-risk assessment can only be achieved by evaluating the immunologic, safety, and efficacy data for DMTs in the controlled clinical trial environment and the postmarketing clinical practice setting. This review is intended to help neurologists make informed decisions when treating RMS by summarizing the known data for each DMT and raising awareness of the multiple considerations involved in treating people with RMS throughout the entire course of their disease.

Investing in a robotic milking system: a Monte Carlo simulation analysis.

PubMed

Hyde, J; Engel, P

2002-09-01

This paper uses Monte Carlo simulation methods to estimate the breakeven value for a robotic milking system (RMS) on a dairy farm in the United States. The breakeven value indicates the maximum amount that could be paid for the robots given the costs of alternative milking equipment and other important factors (e.g., milk yields, prices, length of useful life of technologies). The analysis simulates several scenarios under three herd sizes, 60, 120, and 180 cows. The base-case results indicate that the mean breakeven values are $192,056, $374,538, and $553,671 for each of the three progressively larger herd sizes. These must be compared to the per-unit RMS cost (about $125,000 to $150,000) and the cost of any construction or installation of other equipment that accompanies the RMS. Sensitivity analysis shows that each additional dollar spent on milking labor in the parlor increases the breakeven value by $4.10 to $4.30. Each dollar increase in parlor costs increases the breakeven value by $0.45 to $0.56. Also, each additional kilogram of initial milk production (under a 2x system in the parlor) decreases the breakeven by $9.91 to $10.64. Finally, each additional year of useful life for the RMS increases the per-unit breakeven by about $16,000 while increasing the life of the parlor by 1 yr decreases the breakeven value by between $5,000 and $6,000.

Vaccine-induced, simian immunodeficiency virus-specific CD8+ T cells reduce virus replication but do not protect from simian immunodeficiency virus disease progression.

PubMed

Engram, Jessica C; Dunham, Richard M; Makedonas, George; Vanderford, Thomas H; Sumpter, Beth; Klatt, Nichole R; Ratcliffe, Sarah J; Garg, Seema; Paiardini, Mirko; McQuoid, Monica; Altman, John D; Staprans, Silvija I; Betts, Michael R; Garber, David A; Feinberg, Mark B; Silvestri, Guido

2009-07-01

Our limited understanding of the interaction between primate lentiviruses and the host immune system complicates the design of an effective HIV/AIDS vaccine. To identify immunological correlates of protection from SIV disease progression, we immunized two groups of five rhesus macaques (RMs) with either modified vaccinia Ankara (MVA) or MVADeltaudg vectors that expressed SIVmac239 Gag and Tat. Both vectors raised a SIV-specific CD8(+) T cell response, with a magnitude that was greater in mucosal tissues than in peripheral blood. After challenge with SIVmac239, all vaccinated RMs showed mucosal and systemic CD8(+) T cell recall responses that appeared faster and were of greater magnitude than those in five unvaccinated control animals. All vaccinated RMs showed a approximately 1-log lower peak and early set-point SIV viral load than the unvaccinated animals, and then, by 8 wk postchallenge, exhibited levels of viremia similar to the controls. We observed a significant direct correlation between the magnitude of postchallenge SIV-specific CD8(+) T cell responses and SIV viral load. However, vaccinated RMs showed no protection from either systemic or mucosal CD4(+) T cell depletion and no improved survival. The observation that vaccine-induced, SIV-specific CD8(+) T cells that partially control SIVmac239 virus replication fail to protect from immunological or clinical progression of SIV infection underscores both the complexity of AIDS pathogenesis and the challenges of properly assessing the efficacy of candidate AIDS vaccines.

Development of a requirements management system for technical decision - making processes in the geological disposal project

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hiroyoshi Ueda; Katsuhiko Ishiguro; Kazumi Kitayama

2007-07-01

NUMO (Nuclear Waste Management Organization of Japan) has a responsibility for implementing geological disposal of vitrified HLW (High-Level radioactive Waste) in the Japanese nuclear waste management programme. Its staged siting procedure was initiated in 2002 by an open call for volunteer sites. Careful management strategy and methodology for the technical decision-making at every milestone are required to prepare for the volunteer site application and the site investigation stages after that. The formal Requirement Management System (RMS) is planned to support the computerized implementation of the specific management methodology, termed the NUMO Structured Approach (NSA). This planned RMS will help formore » comprehensive management of the decision-making processes in the geological disposal project, change management towards the anticipated project deviations, efficient project driving such as well programmed R and D etc. and structured record-keeping regarding the past decisions, which leads to soundness of the project in terms of the long-term continuity. The system should have handling/management functions for the database including the decisions/requirements in the project in consideration, their associated information and the structures composed of them in every decision-making process. The information relating to the premises, boundary conditions and time plan of the project should also be prepared in the system. Effective user interface and efficient operation on the in-house network are necessary. As a living system for the long-term formal use, flexibility to updating is indispensable. In advance of the formal system development, two-year activity to develop the preliminary RMS was already started. The purpose of this preliminary system is to template the decision/requirement structure, prototype the decision making management and thus show the feasibility of the innovative RMS. The paper describes the current status of the development, focusing on the initial stage including work analysis/modeling and the system conceptualization. (authors)« less

Very low noise AC/DC power supply systems for large detector arrays.

PubMed

Arnaboldi, C; Baù, A; Carniti, P; Cassina, L; Giachero, A; Gotti, C; Maino, M; Passerini, A; Pessina, G

2015-12-01

In this work, we present the first part of the power supply system for the CUORE and LUCIFER arrays of bolometric detectors. For CUORE, it consists of AC/DC commercial power supplies (0-60 V output) followed by custom DC/DC modules (48 V input, ±5 V to ±13.5 V outputs). Each module has 3 floating and independently configurable output voltages. In LUCIFER, the AC/DC + DC/DC stages are combined into a commercial medium-power AC/DC source. At the outputs of both setups, we introduced filters with the aim of lowering the noise and to protect the following stages from high voltage spikes that can be generated by the energy stored in the cables after the release of accidental short circuits. Output noise is very low, as required: in the 100 MHz bandwidth the RMS level is about 37 μV(RMS) (CUORE setup) and 90 μV(RMS) (LUCIFER setup) at a load of 7 A, with a negligible dependence on the load current. Even more importantly, high frequency switching disturbances are almost completely suppressed. The efficiency of both systems is above 85%. Both systems are completely programmable and monitored via CAN bus (optically coupled).

Simultaneous targeting of insulin-like growth factor-1 receptor and anaplastic lymphoma kinase in embryonal and alveolar rhabdomyosarcoma: a rational choice.

PubMed

van Gaal, J Carlijn; Roeffen, Melissa H S; Flucke, Uta E; van der Laak, Jeroen A W M; van der Heijden, Gwen; de Bont, Eveline S J M; Suurmeijer, Albert J H; Versleijen-Jonkers, Yvonne M H; van der Graaf, Winette T A

2013-11-01

Rhabdomyosarcoma (RMS) is an aggressive soft tissue tumour mainly affecting children and adolescents. Since survival of high-risk patients remains poor, new treatment options are awaited. The aim of this study is to investigate anaplastic lymphoma kinase (ALK) and insulin-like growth factor-1 receptor (IGF-1R) as potential therapeutic targets in RMS. One-hundred-and-twelve primary tumours (embryonal RMS (eRMS)86; alveolar RMS (aRMS)26) were collected. Expression of IGF-1R, ALK and downstream pathway proteins was evaluated by immunohistochemistry. The effect of ALK inhibitor NVP-TAE684 (Novartis), IGF-1R antibody R1507 (Roche) and combined treatment was investigated by 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT) assays in cell lines (aRMS Rh30, Rh41; eRMS Rh18, RD). IGF-1R and ALK expression was observed in 72% and 92% of aRMS and 61% and 39% of eRMS, respectively. Co-expression was observed in 68% of aRMS and 32% of eRMS. Nuclear IGF-1R expression was an adverse prognostic factor in eRMS (5-year survival 46.9 ± 18.7% versus 84.4 ± 5.9%, p=0.006). In vitro, R1507 showed diminished viability predominantly in Rh41. NVP-TAE684 showed diminished viability in Rh41 and Rh30, and to a lesser extent in Rh18 and RD. Simultaneous treatment revealed synergistic activity against Rh41 and Rh30. Co-expression of IGF-1R and ALK is detected in eRMS and particularly in aRMS. As combined inhibition reveals synergistic cytotoxic effects, this combination seems promising and needs further investigation. Copyright © 2013 Elsevier Ltd. All rights reserved.

RMS Spectral Modelling - a powerful tool to probe the origin of variability in Active Galactic Nuclei

NASA Astrophysics Data System (ADS)

Mallick, Labani; Dewangan, Gulab chand; Misra, Ranjeev

2016-07-01

The broadband energy spectra of Active Galactic Nuclei (AGN) are very complex in nature with the contribution from many ingredients: accretion disk, corona, jets, broad-line region (BLR), narrow-line region (NLR) and Compton-thick absorbing cloud or TORUS. The complexity of the broadband AGN spectra gives rise to mean spectral model degeneracy, e.g, there are competing models for the broad feature near 5-7 keV in terms of blurred reflection and complex absorption. In order to overcome the energy spectral model degeneracy, the most reliable approach is to study the RMS variability spectrum which connects the energy spectrum with temporal variability. The origin of variability could be pivoting of the primary continuum, reflection and/or absorption. The study of RMS (Root Mean Square) spectra would help us to connect the energy spectra with the variability. In this work, we study the energy dependent variability of AGN by developing theoretical RMS spectral model in ISIS (Interactive Spectral Interpretation System) for different input energy spectra. In this talk, I would like to present results of RMS spectral modelling for few radio-loud and radio-quiet AGN observed by XMM-Newton, Suzaku, NuSTAR and ASTROSAT and will probe the dichotomy between these two classes of AGN.

Reactive metabolites and antioxidant gene polymorphisms in type 2 diabetes mellitus

PubMed Central

Banerjee, Monisha; Vats, Pushpank

2014-01-01

Type 2 diabetes mellitus (T2DM), by definition is a heterogeneous, multifactorial, polygenic syndrome which results from insulin receptor (IR) dysfunction. It is an outcome of oxidative stress caused by interactions of reactive metabolites (RMs) with lipids, proteins and other molecules of the human body. Production of RMs mainly superoxides (•O2−) has been found in a variety of predominating cellular enzyme systems including nicotinamide adenine dinucleotide phosphate oxidase, xanthine oxidase, cyclooxygenase, endothelial nitric oxide synthase (eNOS) and myeloperoxidase. The four main RM related molecular mechanisms are: increased polyol pathway flux; increased advanced glycation end-product formation; activation of protein kinase C isoforms and increased hexosamine pathway flux which have been implicated in glucose-mediated vascular damage. Superoxide dismutase, catalase, glutathione peroxidase, glutathione-S-transferase and NOS are antioxidant enzymes involved in scavenging RMs in normal individuals. Functional polymorphisms of these antioxidant enzymes have been reported to be involved in the pathogenesis of T2DM. The low levels of antioxidant enzymes or their non-functionality results in excessive RMs which initiates stress related pathways thereby leading to IR and T2DM. An attempt has been made to review the role of RMs and antioxidant enzymes in oxidative stress resulting in T2DM. PMID:24959009

The Transcriptional Coactivator TAZ Is a Potent Mediator of Alveolar Rhabdomyosarcoma Tumorigenesis.

PubMed

Deel, Michael D; Slemmons, Katherine K; Hinson, Ashley R; Genadry, Katia C; Burgess, Breanne A; Crose, Lisa E S; Kuprasertkul, Nina; Oristian, Kristianne M; Bentley, Rex C; Linardic, Corinne M

2018-03-07

Purpose: Alveolar rhabdomyosarcoma (aRMS) is a childhood soft tissue sarcoma driven by the signature PAX3-FOXO1 (P3F) fusion gene. Five-year survival for aRMS is <50%, with no improvement in over 4 decades. Although the transcriptional coactivator TAZ is oncogenic in carcinomas, the role of TAZ in sarcomas is poorly understood. The aim of this study was to investigate the role of TAZ in P3F-aRMS tumorigenesis. Experimental Design: After determining from publicly available datasets that TAZ is upregulated in human aRMS transcriptomes, we evaluated whether TAZ is also upregulated in our myoblast-based model of P3F-initiated tumorigenesis, and performed IHC staining of 63 human aRMS samples from tissue microarrays. Using constitutive and inducible RNAi, we examined the impact of TAZ loss of function on aRMS oncogenic phenotypes in vitro and tumorigenesis in vivo Finally, we performed pharmacologic studies in aRMS cell lines using porphyrin compounds, which interfere with TAZ-TEAD transcriptional activity. Results: TAZ is upregulated in our P3F-initiated aRMS model, and aRMS cells and tumors have high nuclear TAZ expression. In vitro , TAZ suppression inhibits aRMS cell proliferation, induces apoptosis, supports myogenic differentiation, and reduces aRMS cell stemness. TAZ-deficient aRMS cells are enriched in G 2 -M phase of the cell cycle. In vivo , TAZ suppression attenuates aRMS xenograft tumor growth. Preclinical studies show decreased aRMS xenograft tumor growth with porphyrin compounds alone and in combination with vincristine. Conclusions: TAZ is oncogenic in aRMS sarcomagenesis. While P3F is currently not therapeutically tractable, targeting TAZ could be a promising novel approach in aRMS. Clin Cancer Res; 1-15. ©2018 AACR. ©2018 American Association for Cancer Research.

Remote Minehunting System (RMS)

DTIC Science & Technology

2015-12-01

1449.4 1449.4 744.6 Confidence Level Confidence Level of cost estimate for current APB: 50% The Independent Cost Estimate to support the RMS Nunn...which the Derpartment has been successful. It is difficult to calculate mathematically the precise confidence levels associated with life-cycle cost...Baseline (TY $M) Initial PAUC Production Estimate Changes PAUC Development Estimate Econ Qty Sch Eng Est Oth Spt Total 12.957 -0.752 3.262 2.950 0.454

Computer enhancement of radiographs

NASA Technical Reports Server (NTRS)

Dekaney, A.; Keane, J.; Desautels, J.

1973-01-01

Examination of three relevant noise processes and the image degradation associated with Marshall Space Flight Center's (MSFC) X-ray/scanning system was conducted for application to computer enhancement of radiographs using MSFC's digital filtering techniques. Graininess of type M, R single coat and R double coat X-ray films was quantified as a function of density level using root-mean-square (RMS) granularity. Quantum mottle (including film grain) was quantified as a function of the above film types, exposure level, specimen material and thickness, and film density using RMS granularity and power spectral density (PSD). For various neutral-density levels the scanning device used in digital conversion of radiographs was examined for noise characteristics which were quantified by RMS granularity and PSD. Image degradation of the entire pre-enhancement system (MG-150 X-ray device; film; and optronics scanner) was measured using edge targets to generate modulation transfer functions (MTF). The four parameters were examined as a function of scanning aperture sizes of approximately 12.5 25 and 50 microns.

Design and qualification of an UHV system for operation on sounding rockets

DOE Office of Scientific and Technical Information (OSTI.GOV)

Grosse, Jens, E-mail: jens.grosse@dlr.de; Braxmaier, Claus; Seidel, Stephan Tobias

The sounding rocket mission MAIUS-1 has the objective to create the first Bose–Einstein condensate in space; therefore, its scientific payload is a complete cold atom experiment built to be launched on a VSB-30 sounding rocket. An essential part of the setup is an ultrahigh vacuum system needed in order to sufficiently suppress interactions of the cooled atoms with the residual background gas. Contrary to vacuum systems on missions aboard satellites or the international space station, the required vacuum environment has to be reached within 47 s after motor burn-out. This paper contains a detailed description of the MAIUS-1 vacuum system, asmore » well as a description of its qualification process for the operation under vibrational loads of up to 8.1 g{sub RMS} (where RMS is root mean square). Even though a pressure rise dependent on the level of vibration was observed, the design presented herein is capable of regaining a pressure of below 5 × 10{sup −10} mbar in less than 40 s when tested at 5.4 g{sub RMS}. To the authors' best knowledge, it is the first UHV system qualified for operation on a sounding rocket.« less

Unveiling the Mode of Interaction of Berberine Alkaloid in Different Supramolecular Confined Environments: Interplay of Surface Charge between Nano-Confined Charged Layer and DNA.

PubMed

Kundu, Niloy; Roy, Arpita; Banik, Debasis; Sarkar, Nilmoni

2016-02-18

In this Article, we demonstrate a detailed characterization of binding interaction of berberine chloride (BBCl) with calf-thymus DNA (CT-DNA) in buffer solution as well as in two differently charged reverse micelles (RMs). The photophyscial properties of this alkaloid have been modulated within these microheterogeneous bioassemblies. The mode of binding of this alkaloid with DNA is of debate to date. However, fluorescence spectroscopic measurements, circular dichroism (CD) measurement, and temperature-dependent study unambiguously establish that BBCl partially intercalates into the DNA base pairs. The nonplanarity imposed by partial saturation in their structure causes the nonclassical types of intercalation into DNA. Besides the intercalation, electrostatic interactions also play a significant role in the binding between BBCl and DNA. DNA structure turns into a condensed form after encapsulation into RMs, which is followed by the CD spectra and microscopy study. The probe location and dynamics in the nanopool of the RMs depended on the electrostatic interaction between the charged surfactants and cationic berberine. The structural alteration of CT-DNA from B form to condensed form and the interplay of surface charge between RMs and DNA determine the interaction between the alkaloid and DNA in RMs. Time-resolved study and fluorescence anisotropy measurements successfully provide the binding interaction of BBCl in the nanopool of the RMs in the absence and in the presence of DNA. This study motivates us to judge further the potential applicability of this alkaloid in other biological systems or other biomimicking organized assemblies.

The pea branching RMS2 gene encodes the PsAFB4/5 auxin receptor and is involved in an auxin-strigolactone regulation loop

PubMed Central

Ligerot, Yasmine; de Saint Germain, Alexandre; Troadec, Christelle; Citerne, Sylvie; Pillot, Jean-Paul; Prigge, Michael; Aubert, Grégoire; Bendahmane, Abdelhafid; Estelle, Mark; Debellé, Frédéric

2017-01-01

Strigolactones (SLs) are well known for their role in repressing shoot branching. In pea, increased transcript levels of SL biosynthesis genes are observed in stems of highly branched SL deficient (ramosus1 (rms1) and rms5) and SL response (rms3 and rms4) mutants indicative of negative feedback control. In contrast, the highly branched rms2 mutant has reduced transcript levels of SL biosynthesis genes. Grafting studies and hormone quantification led to a model where RMS2 mediates a shoot-to-root feedback signal that regulates both SL biosynthesis gene transcript levels and xylem sap levels of cytokinin exported from roots. Here we cloned RMS2 using synteny with Medicago truncatula and demonstrated that it encodes a putative auxin receptor of the AFB4/5 clade. Phenotypes similar to rms2 were found in Arabidopsis afb4/5 mutants, including increased shoot branching, low expression of SL biosynthesis genes and high auxin levels in stems. Moreover, afb4/5 and rms2 display a specific resistance to the herbicide picloram. Yeast-two-hybrid experiments supported the hypothesis that the RMS2 protein functions as an auxin receptor. SL root feeding using hydroponics repressed auxin levels in stems and down-regulated transcript levels of auxin biosynthesis genes within one hour. This auxin down-regulation was also observed in plants treated with the polar auxin transport inhibitor NPA. Together these data suggest a homeostatic feedback loop in which auxin up-regulates SL synthesis in an RMS2-dependent manner and SL down-regulates auxin synthesis in an RMS3 and RMS4-dependent manner. PMID:29220348

The pea branching RMS2 gene encodes the PsAFB4/5 auxin receptor and is involved in an auxin-strigolactone regulation loop.

PubMed

Ligerot, Yasmine; de Saint Germain, Alexandre; Waldie, Tanya; Troadec, Christelle; Citerne, Sylvie; Kadakia, Nikita; Pillot, Jean-Paul; Prigge, Michael; Aubert, Grégoire; Bendahmane, Abdelhafid; Leyser, Ottoline; Estelle, Mark; Debellé, Frédéric; Rameau, Catherine

2017-12-01

Strigolactones (SLs) are well known for their role in repressing shoot branching. In pea, increased transcript levels of SL biosynthesis genes are observed in stems of highly branched SL deficient (ramosus1 (rms1) and rms5) and SL response (rms3 and rms4) mutants indicative of negative feedback control. In contrast, the highly branched rms2 mutant has reduced transcript levels of SL biosynthesis genes. Grafting studies and hormone quantification led to a model where RMS2 mediates a shoot-to-root feedback signal that regulates both SL biosynthesis gene transcript levels and xylem sap levels of cytokinin exported from roots. Here we cloned RMS2 using synteny with Medicago truncatula and demonstrated that it encodes a putative auxin receptor of the AFB4/5 clade. Phenotypes similar to rms2 were found in Arabidopsis afb4/5 mutants, including increased shoot branching, low expression of SL biosynthesis genes and high auxin levels in stems. Moreover, afb4/5 and rms2 display a specific resistance to the herbicide picloram. Yeast-two-hybrid experiments supported the hypothesis that the RMS2 protein functions as an auxin receptor. SL root feeding using hydroponics repressed auxin levels in stems and down-regulated transcript levels of auxin biosynthesis genes within one hour. This auxin down-regulation was also observed in plants treated with the polar auxin transport inhibitor NPA. Together these data suggest a homeostatic feedback loop in which auxin up-regulates SL synthesis in an RMS2-dependent manner and SL down-regulates auxin synthesis in an RMS3 and RMS4-dependent manner.

Birth characteristics and the risk of childhood rhabdomyosarcoma based on histological subtype.

PubMed

Ognjanovic, S; Carozza, S E; Chow, E J; Fox, E E; Horel, S; McLaughlin, C C; Mueller, B A; Puumala, S; Reynolds, P; Von Behren, J; Spector, L

2010-01-05

Little is known about risk factors for childhood rhabdomyosarcoma (RMS) and the histology-specific details are rare. Case-control studies formed by linking cancer and birth registries of California, Minnesota, New York, Texas and Washington, which included 583 RMS cases (363 embryonal and 85 alveolar RMS) and 57 966 randomly selected control subjects, were analysed using logistic regression. The associations of RMS (overall, and based on embryonal or alveolar histology) with birth weight across five 500 g categories (from 2000 to 4500 g) were examined using normal birth weight (2500-3999 g) as a reference. Large (>90th percentile) and small (<10th percentile) size for gestational age were calculated based on birth weight distributions in controls and were similarly examined. High birth weight increased the risk of embryonal RMS and RMS overall. Each 500 g increase in birth weight increased the risk of embryonal RMS (odds ratio (OR)=1.27, 95% confidence interval (CI)=1.14-1.42) and RMS overall (OR=1.18, 95% CI=1.09-1.29). Large size for gestational age also significantly increased the risk of embryonal RMS (OR=1.42, 95% CI=1.03-1.96). These data suggest a positive association between accelerated in utero growth and embryonal RMS, but not alveolar RMS. These results warrant cautious interpretation owing to the small number of alveolar RMS cases.

Identification of genetic loci that modulate cell proliferation in the adult rostral migratory stream using the expanded panel of BXD mice.

PubMed

Poon, Anna; Goldowitz, Daniel

2014-03-19

Adult neurogenesis, which is the continual production of new neurons in the mature brain, demonstrates the strikingly plastic nature of the nervous system. Adult neural stem cells and their neural precursors, collectively referred to as neural progenitor cells (NPCs), are present in the subgranular zone (SGZ) of the dentate gyrus, the subventricular zone (SVZ), and rostral migratory stream (RMS). In order to harness the potential of NPCs to treat neurodegenerative diseases and brain injuries, it will be important to understand the molecules that regulate NPCs in the adult brain. The genetic basis underlying NPC proliferation is still not fully understood. From our previous quantitative trait locus (QTL) analysis, we had success in using a relatively small reference population of recombinant inbred strains of mice (AXBXA) to identify a genetic region that is significantly correlated with NPC proliferation in the RMS. In this study, we expanded our initial QTL mapping of RMS proliferation to a far richer genetic resource, the BXD RI mouse strains. A 3-fold difference in the number of proliferative, bromodeoxyuridine (BrdU)-labeled cells was quantified in the adult RMS of 61 BXD RI strains. RMS cell proliferation is highly dependent on the genetic background of the mice with an estimated heritability of 0.58. Genome-wide mapping revealed a significant QTL on chromosome (Chr) 6 and a suggestive QTL on Chr 11 regulating the number of NPCs in the RMS. Composite interval analysis further revealed secondary QTLs on Chr 14 and Chr 18. The loci regulating RMS cell proliferation did not overlap with the suggestive loci modulating cell proliferation in the SGZ. These mapped loci serve as starting points to identify genes important for this process. A subset of candidate genes in this region is associated with cell proliferation and neurogenesis. Interconnectivity of these candidate genes was demonstrated using pathway and transcriptional covariance analyses. Differences in RMS cell proliferation across the BXD RI strains identifies genetic loci that serve to provide insights into the interplay of underlying genes that may be important for regulating NPC proliferation in the adult mouse brain.

Balanced optical-microwave phase detector for sub-femtosecond optical-RF synchronization

DOE PAGES

Peng, Michael Y.; Kalaydzhyan, Aram; Kärtner, Franz X.

2014-10-23

We demonstrate that balanced optical-microwave phase detectors (BOMPD) are capable of optical-RF synchronization with sub-femtosecond residual timing jitter for large-scale timing distribution systems. RF-to-optical synchronization is achieved with a long-term stability of < 1 fs RMS and < 7 fs pk-pk drift for over 10 hours and short-term stability of < 2 fs RMS jitter integrated from 1 Hz to 200 kHz as well as optical-to-RF synchronization with 0.5 fs RMS jitter integrated from 1 Hz to 20 kHz. Moreover, we achieve a –161 dBc/Hz noise floor that integrates well into the sub-fs regime and measure a nominal 50-dB AM-PMmore » suppression ratio with potential improvement via DC offset adjustment.« less

Official STS-3 Crew Insignia

NASA Image and Video Library

1981-04-07

S82-26315 (4 Feb. 1982) --- This is the insignia for NASA's third flight (STS-3) of the Space Transportation System's (STS) Columbia, depicted in the middle of the blue sphere against the background of the sun. The Columbia's tail, nose, and top will each be pointed at the sun for long periods to test its thermal response to extremes of temperatures. The three prominent rays represent the third STS flight. The surnames of astronauts Jack R. Lousma, commander, and C. Gordon Fullerton, pilot, flank the vehicle, and the name Columbia appears at the bottom. The spacecraft's payload bay doors are open, and the Remote Manipulator System (RMS) arm with an experimental payload is extended as it will be on several occasions during the actual flight, scheduled for spring of this year. The artwork was accomplished by space artist Robert C. McCall of Paradise Valley, Arizona. The NASA insignia design for space shuttle flights is reserved for use by the astronauts and for other official use as the NASA Administrator may authorize. Public availability has been approved only in the forms of illustrations by the various news media. When and if there is any change in this policy, which is not anticipated, the change will be publicly announced. Photo credit: NASA

Employing lighting techniques during on-orbit operations

NASA Technical Reports Server (NTRS)

Wheelwright, Charles D.; Toole, Jennifer R.

1991-01-01

As a result of past space missions and evaluations, many procedures have been established and shown to be prudent applications for use in present and future space environment scenarios. However, recent procedures to employ the use of robotics to assist crewmembers in performing tasks which require viewing remote and obstructed locations have led to a need to pursue alternative methods to assist in these operations. One of those techniques which is under development entails incorporating the use of suitable lighting aids/techniques with a closed circuit television (CCTV) camera/monitor system to supervise the robotics operations. The capability to provide adequate lighting during grappling, deploying, docking and berthing operations under all on-orbit illumination conditions is essential to a successful mission. Using automated devices such as the Remote Manipulator System (RMS) to dock and berth a vehicle during payload retrieval, under nighttime, earthshine, solar, or artificial illumination conditions can become a cumbersome task without first incorporating lighting techniques that provide the proper target illumination, orientation, and alignment cues. Studies indicate that the use of visual aids such as the CCTV with a pretested and properly oriented lighting system can decrease the time necessary to accomplish grappling tasks. Evaluations have been and continue to be performed to assess the various on-orbit conditions in order to predict and determine the appropriate lighting techniques and viewing angles necessary to assist crewmembers in payload operations.

Employing lighting techniques during on-orbit operations

NASA Astrophysics Data System (ADS)

Wheelwright, Charles D.; Toole, Jennifer R.

As a result of past space missions and evaluations, many procedures have been established and shown to be prudent applications for use in present and future space environment scenarios. However, recent procedures to employ the use of robotics to assist crewmembers in performing tasks which require viewing remote and obstructed locations have led to a need to pursue alternative methods to assist in these operations. One of those techniques which is under development entails incorporating the use of suitable lighting aids/techniques with a closed circuit television (CCTV) camera/monitor system to supervise the robotics operations. The capability to provide adequate lighting during grappling, deploying, docking and berthing operations under all on-orbit illumination conditions is essential to a successful mission. Using automated devices such as the Remote Manipulator System (RMS) to dock and berth a vehicle during payload retrieval, under nighttime, earthshine, solar, or artificial illumination conditions can become a cumbersome task without first incorporating lighting techniques that provide the proper target illumination, orientation, and alignment cues. Studies indicate that the use of visual aids such as the CCTV with a pretested and properly oriented lighting system can decrease the time necessary to accomplish grappling tasks. Evaluations have been and continue to be performed to assess the various on-orbit conditions in order to predict and determine the appropriate lighting techniques and viewing angles necessary to assist crewmembers in payload operations.

Reactive metabolites and antioxidant gene polymorphisms in Type 2 diabetes mellitus☆

PubMed Central

Banerjee, Monisha; Vats, Pushpank

2013-01-01

Type 2 diabetes mellitus (T2DM), by definition is a heterogeneous, multifactorial, polygenic syndrome which results from insulin receptor dysfunction. It is an outcome of oxidative stress caused by interactions of reactive metabolites (RMs) interactions with lipids, proteins and other mechanisms of human body. Production of RMs mainly superoxide (O2−) has been found in a variety of predominating cellular enzyme systems including NAD(P)H oxidase, xanthine oxidase (XO), cyclooxygenase (COX), uncoupled endothelial nitric oxide synthase (eNOS) and myeloperoxidase (MPO). The four main RM related molecular mechanisms are: increased polyol pathway flux; increased advanced glycation end-product (AGE) formation; activation of protein kinase C (PKC) isoforms and increased hexosamine pathway flux which have been implicated in glucose-mediated vascular damage. Superoxide dismutase (SOD), catalase (CAT), glutathione peroxidase (GPx), glutathione-S-transferase (GST), nitric oxide synthase (NOS) are antioxidant enzymes involved in scavenging RMs in normal individuals. Functional polymorphisms of these antioxidant enzymes have been reported to be involved in pathogenesis of T2DM individuals. The low levels of antioxidant enzymes or their non-functionality results in excessive RMs which initiate stress related pathways thereby leading to insulin resistance and T2DM. An attempt has been made to review the role of RMs and antioxidant enzymes in oxidative stress resulting in T2DM. PMID:25460725

Reconfigurability of behavioural specifications for manufacturing systems

NASA Astrophysics Data System (ADS)

Schmidt, Klaus Werner

2017-12-01

Reconfigurable manufacturing systems (RMS) support flexibility in the product variety and the configuration of the manufacturing system itself in order to enable quick adjustments to new products and production requirements. As a consequence, an essential feature of RMS is their ability to rapidly modify the control strategy during run-time. In this paper, the particular problem of changing the specified operation of a RMS, whose logical behaviour is modelled as a finite state automaton, is addressed. The notion of reconfigurability of specifications (RoS) is introduced and it is shown that the stated reconfiguration problem can be formulated as a controlled language convergence problem. In addition, algorithms for the verification of RoS and the construction of a reconfiguration supervisor are proposed. The supervisor is realised in a modular way which facilitates the extension by new configurations. Finally, it is shown that a supremal nonblocking and controllable strict subautomaton of the plant automaton that fulfils RoS exists in case RoS is violated for the plant automaton itself and an algorithm for the computation of this strict subautomaton is presented. The developed concepts and results are illustrated by a manufacturing cell example.

Alignment of the Korsch type off-axis 3 mirror optical system using sensitivity table method

NASA Astrophysics Data System (ADS)

Lee, Kyoungmuk; Kim, Youngsoo; Hong, Jinsuk; Kim, Sug-Whan; Lee, Haeng-Bok; Choi, Se-Chol

2018-05-01

The optical system of the entire mechanical and optical components consist of all silicon carbide (SiC) is designed, manufactured and aligned. The Korsch type Cassegrain optical system has 3-mirrors, the primary mirror (M1), the secondary mirror (M2), the folding mirror (FM) and the tertiary mirror (M3). To assemble the M3 and the FM to the rear side of the M1 bench, the optical axis of the M3 is 65.56 mm off from the physical center. Due to the limitation of the mass budget, the M3 is truncated excluding its optical axis. The M2 was assigned to the coma compensator and the M3 the astigmatism respectively as per the result of the sensitivity analysis. Despite of the difficulty of placing these optical components in their initial position within the mechanical tolerance, the initial wave front error (WFE) performance is as large as 171.4 nm RMS. After the initial alignment, the sensitivity table method is used to reach the goal of WFE 63.3 nm RMS in all fields. We finished the alignment with the final WFE performance in all fields are as large as 55.18 nm RMS.

Control of active reflector system for radio telescope

NASA Astrophysics Data System (ADS)

Zhou, Guo-hua; Li, Guo-ping; Zhang, Yong; Zhang, Zhen-chao

2016-10-01

According to the control requirements of the active reflector surface in the 110 m radio telescope at QiTai(QTT) Xinjiang, a new displacement actuator and a new displacement control system were designed and manufactured and then their characteristics were tested by a dual-frequency laser interferometer in the micro-displacement laboratory. The displacement actuator was designed by a scheme of high precision worm and roller screw structures, and the displacement control system was based on a ARM micro-processor. Finally, the S curve acceleration control methods were used to design the hardware platform and software algorithm for the active reflection surface of the control system. The test experiments were performed based on the laser metrology system on an active reflector close-loop antenna prototype for large radio telescope. Experimental results indicate that it achieves a 30 mm working stroke and 5 μm RMS motion resolution. The accuracy (standard deviation) is 3.67 mm, and the error between the determined and theoretical values is 0.04% when the rated load is 300 kg, the step is 2 mm and the stroke is 30mm. Furthermore, the active reflector integrated system was tested by the laser sensors with the accuracy of 0.25 μm RMS on 4-panel radio telescope prototype, the measurement results show that the integrated precision of the active reflector closed-loop control system is less than 5 μm RMS, and well satisfies the technical requirements of active reflector control system of the QTT radio telescope in 3 mm wavelength.

MDplot: Visualise Molecular Dynamics

PubMed Central

Margreitter, Christian; Oostenbrink, Chris

2017-01-01

The MDplot package provides plotting functions to allow for automated visualisation of molecular dynamics simulation output. It is especially useful in cases where the plot generation is rather tedious due to complex file formats or when a large number of plots are generated. The graphs that are supported range from those which are standard, such as RMsD/RMsF (root-mean-square deviation and root-mean-square fluctuation, respectively) to less standard, such as thermodynamic integration analysis and hydrogen bond monitoring over time. All told, they address many commonly used analyses. In this article, we set out the MDplot package′s functions, give examples of the function calls, and show the associated plots. Plotting and data parsing is separated in all cases, i.e. the respective functions can be used independently. Thus, data manipulation and the integration of additional file formats is fairly easy. Currently, the loading functions support GROMOS, GROMACS, and AMBER file formats. Moreover, we also provide a Bash interface that allows simple embedding of MDplot into Bash scripts as the final analysis step. Availability The package can be obtained in the latest major version from CRAN (https://cran.r-project.org/package=MDplot) or in the most recent version from the project′s GitHub page at https://github.com/MDplot/MDplot, where feedback is also most welcome. MDplot is published under the GPL-3 license. PMID:28845302

Frequency Response Evaluation of Multiple Accelerometers Using a Modal Data Acquisition System

DTIC Science & Technology

1988-01-01

Computedi PCB @80 HZ 49mv/g 1@500 HZ 9.3mv/g lImp-sine Ifrom Imp-sine SN (2)V/g figureIV/g figure jV/g l(V/ gpk )xl.414(2)1 857 1 1.17 42 1 1.17 3 1.20 1.20...per g rms, V/ gpk = volts rms per g peak. 15 II Laboratory Transfer Function Procedures - 1. Setup and Power up equipment. a. Setup equipment per

Rapamycin targeting mTOR and hedgehog signaling pathways blocks human rhabdomyosarcoma growth in xenograft murine model

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kaylani, Samer Z.; Xu, Jianmin; Srivastava, Ritesh K.

Graphical abstract: Intervention of poorly differentiated RMS by rapamycin: In poorly differentiated RMS, rapamycin blocks mTOR and Hh signaling pathways concomitantly. This leads to dampening in cell cycle regulation and induction of apoptosis. This study provides a rationale for the therapeutic intervention of poorly differentiated RMS by treating patients with rapamycin alone or in combination with other chemotherapeutic agents. -- Highlights: •Rapamycin abrogates RMS tumor growth by modulating proliferation and apoptosis. •Co-targeting mTOR/Hh pathways underlie the molecular basis of effectiveness. •Reduction in mTOR/Hh pathways diminish EMT leading to reduced invasiveness. -- Abstract: Rhabdomyosarcomas (RMS) represent the most common childhood soft-tissuemore » sarcoma. Over the past few decades outcomes for low and intermediate risk RMS patients have slowly improved while patients with metastatic or relapsed RMS still face a grim prognosis. New chemotherapeutic agents or combinations of chemotherapies have largely failed to improve the outcome. Based on the identification of novel molecular targets, potential therapeutic approaches in RMS may offer a decreased reliance on conventional chemotherapy. Thus, identification of effective therapeutic agents that specifically target relevant pathways may be particularly beneficial for patients with metastatic and refractory RMS. The PI3K/AKT/mTOR pathway has been found to be a potentially attractive target in RMS therapy. In this study, we provide evidence that rapamycin (sirolimus) abrogates growth of RMS development in a RMS xenograft mouse model. As compared to a vehicle-treated control group, more than 95% inhibition in tumor growth was observed in mice receiving parenteral administration of rapamycin. The residual tumors in rapamycin-treated group showed significant reduction in the expression of biomarkers indicative of proliferation and tumor invasiveness. These tumors also showed enhanced apoptosis. Interestingly, the mechanism by which rapamycin diminished RMS tumor growth involved simultaneous inhibition of mTOR and hedgehog (Hh) pathways. Diminution in these pathways in this model of RMS also inhibited epithelial mesenchymal transition (EMT) which then dampened the invasiveness of these tumors. Our data provide bases for using rapamycin either alone or in combination with traditional chemotherapeutic drugs to block the pathogenesis of high risk RMS.« less

All fiber-coupled, long-term stable timing distribution for free-electron lasers with few-femtosecond jitter

PubMed Central

Şafak, K.; Xin, M.; Callahan, P. T.; Peng, M. Y.; Kärtner, F. X.

2015-01-01

We report recent progress made in a complete fiber-optic, high-precision, long-term stable timing distribution system for synchronization of next generation X-ray free-electron lasers. Timing jitter characterization of the master laser shows less than 170-as RMS integrated jitter for frequencies above 10 kHz, limited by the detection noise floor. Timing stabilization of a 3.5-km polarization-maintaining fiber link is successfully achieved with an RMS drift of 3.3 fs over 200 h of operation using all fiber-coupled elements. This all fiber-optic implementation will greatly reduce the complexity of optical alignment in timing distribution systems and improve the overall mechanical and timing stability of the system. PMID:26798814

Performance evaluation of coherent free space optical communications with a double-stage fast-steering-mirror adaptive optics system depending on the Greenwood frequency.

PubMed

Liu, Wei; Yao, Kainan; Huang, Danian; Lin, Xudong; Wang, Liang; Lv, Yaowen

2016-06-13

The Greenwood frequency (GF) is influential in performance improvement for the coherent free space optical communications (CFSOC) system with a closed-loop adaptive optics (AO) unit. We analyze the impact of tilt and high-order aberrations on the mixing efficiency (ME) and bit-error-rate (BER) under different GF. The root-mean-square value (RMS) of the ME related to the RMS of the tilt aberrations, and the GF is derived to estimate the volatility of the ME. Furthermore, a numerical simulation is applied to verify the theoretical analysis, and an experimental correction system is designed with a double-stage fast-steering-mirror and a 97-element continuous surface deformable mirror. The conclusions of this paper provide a reference for designing the AO system for the CFSOC system.

Micropolarity and Hydrogen-Bond Donor Ability of Environmentally Friendly Anionic Reverse Micelles Explored by UV/Vis Absorption of a Molecular Probe and FTIR Spectroscopy.

PubMed

Girardi, Valeria R; Silber, Juana J; Falcone, Ruben Darío; Correa, N Mariano

2018-03-19

In the present work we show how two biocompatible solvents, methyl laurate (ML) and isopropyl myristate (IPM), can be used as a less toxic alternative to replace the nonpolar component in a sodium 1,4-bis-2-ethylhexylsulfosuccinate (AOT) reverse micelles (RMs) formulation. In this sense, the micropolarity and the hydrogen-bond ability of the interface were monitored through the use of the solvatochromism of a molecular probe (1-methyl-8-oxyquinolinium betaine, QB) and Fourier transform infrared spectroscopy (FTIR). Our results demonstrate that the micropolarity sensed by QB in ML RMs is lower than in IPM RMs. Additionally, the water molecules form stronger H-bond interactions with the polar head of AOT in ML than in IPM. By FTIR was revealed that more water molecules interact with the interface in ML/AOT RMs. On the other hand, for AOT RMs generated in IPM, the weaker water-surfactant interaction allows the water molecules to establish hydrogen bonds with each other trending to bulk water more easily than in ML RMs, a consequence of the dissimilar penetration of nonpolar solvents into the interfacial region. The penetration process is strongly controlled by the polarity and viscosity of the external solvents. All of these results allow us to characterize these biocompatible systems, providing information about interfacial properties and how they can be altered by changing the external solvent. The ability of the nontoxic solvent to penetrate or not into the AOT interface produces a new interface with attractive properties. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhang, R; Jee, K; Sharp, G

Purpose: Proton radiography, which images the patients with the same type of particles that they are to be treated with, is a promising approach for image guidance and range uncertainties reduction. This study aimed to realize quality proton radiography by measuring dose rate functions (DRF) in time domain using a single flat panel and retrieve water equivalent path length (WEPL) from them. Methods: An amorphous silicon flat panel (PaxScan™ 4030CB, Varian Medical Systems, Inc., Palo Alto, CA) was placed behind phantoms to measure DRFs from a proton beam modulated by the modulator wheel. To retrieve WEPL and RSP, calibration modelsmore » based on the intensity of DRFs only, root mean square (RMS) of DRFs only and the intensity weighted RMS were tested. The quality of obtained WEPL images (in terms of spatial resolution and level of details) and the accuracy of WEPL were compared. Results: RSPs for most of the Gammex phantom inserts were retrieved within ± 1% errors by calibration models based on the RMS and intensity weighted RMS. The mean percentage error for all inserts was reduced from 1.08% to 0.75% by matching intensity in the calibration model. In specific cases such as the insert with a titanium rod, the calibration model based on RMS only fails while the that based on intensity weighted RMS is still valid. The quality of retrieved WEPL images were significantly improved for calibration models including intensity matching. Conclusion: For the first time, a flat panel, which is readily available in the beamline for image guidance, was tested to acquire quality proton radiography with WEPL accurately retrieved from it. This technique is promising to be applied for image-guided proton therapy as well as patient specific RSP determination to reduce uncertainties of beam ranges.« less

Reference materials for molecular diagnostics: Current achievements and future strategies.

PubMed

Jing, Rongrong; Wang, Huimin; Ju, Shaoqing; Cui, Ming

2018-06-01

Molecular diagnoses have become more widespread in many areas of laboratory medicine where qualitative or quantitative approaches are used to detect nucleic acids. The increasing number of assay methods and the targets for molecular diagnostics contribute to variability in the test results among clinical laboratories. Thus, reference materials (RMs) are required to enhance the comparability of results. This review focuses on the definition of RMs as well as the production and characteristics of higher order RMs from different organizations and their future strategies. We describe the recent progress in RMs, including the definition of RMs by the Joint Committee for Guides in Metrology, as well as the production and characteristics of higher order RMs by international official bodies. There is an urgent need for RMs in nucleic acid testing, especially higher order RMs. To advance the harmonization and standardization of clinical nucleic acid detection, cooperation between the above organizations is proposed and different approaches to higher order RMs development are also needed. Copyright © 2018 The Canadian Society of Clinical Chemists. Published by Elsevier Inc. All rights reserved.

Correcting highly aberrated eyes using large-stroke adaptive optics.

PubMed

Sabesan, Ramkumar; Ahmad, Kamran; Yoon, Geunyoung

2007-11-01

To investigate the optical performance of a large-stroke deformable mirror in correcting large aberrations in highly aberrated eyes. A large-stroke deformable mirror (Mirao 52D; Imagine Eyes) and a Shack-Hartmann wavefront sensor were used in an adaptive optics system. Closed-loop correction of the static aberrations of a phase plate designed for an advanced keratoconic eye was performed for a 6-mm pupil. The same adaptive optics system was also used to correct the aberrations in one eye each of two moderate keratoconic and three normal human eyes for a 6-mm pupil. With closed-loop correction of the phase plate, the total root-mean-square (RMS) over a 6-mm pupil was reduced from 3.54 to 0.04 microm in 30 to 40 iterations, corresponding to 3 to 4 seconds. Adaptive optics closed-loop correction reduced an average total RMS of 1.73+/-0.998 to 0.10+/-0.017 microm (higher order RMS of 0.39+/-0.124 to 0.06+/-0.004 microm) in the three normal eyes and 2.73+/-1.754 to 0.10+/-0.001 microm (higher order RMS of 1.82+/-1.058 to 0.05+/-0.017 microm) in the two keratoconic eyes. Aberrations in both normal and highly aberrated eyes were successfully corrected using the large-stroke deformable mirror to provide almost perfect optical quality. This mirror can be a powerful tool to assess the limit of visual performance achievable after correcting the aberrations, especially in eyes with abnormal corneal profiles.

STS-98 Onboard Photograph-U.S. Laboratory, Destiny

NASA Technical Reports Server (NTRS)

2001-01-01

In the grasp of the Shuttle's Remote Manipulator System (RMS) robot arm, the U.S. Laboratory, Destiny, is moved from its stowage position in the cargo bay of the Space Shuttle Atlantis. This photograph was taken by astronaut Thomas D. Jones during his Extravehicular Activity (EVA). The American-made Destiny module is the cornerstone for space-based research aboard the orbiting platform and the centerpiece of the International Space Station (ISS), where unprecedented science experiments will be performed in the near-zero gravity of space. Destiny will also serve as the command and control center for the ISS. The aluminum module is 8.5- meters (28-feet) long and 4.3-meters (14-feet) in diameter. The laboratory consists of three cylindrical sections and two endcones with hatches that will be mated to other station components. A 50.9-centimeter- (20-inch-) diameter window is located on one side of the center module segment. This pressurized module is designed to accommodate pressurized payloads. It has a capacity of 24 rack locations. Payload racks will occupy 15 locations especially designed to support experiments. The Destiny module was built by the Boeing Company under the direction of the Marshall Space Flight Center.

STS-98 Onboard Photograph-U.S. Laboratory, Destiny

NASA Technical Reports Server (NTRS)

2001-01-01

In the grasp of the Shuttle's Remote Manipulator System (RMS) robot arm, the U.S. Laboratory, Destiny, is moved from its stowage position in the cargo bay of the Space Shuttle Atlantis. This photograph was taken by astronaut Thomas D. Jones during his Extravehicular Activity (EVA). The American-made Destiny module is the cornerstone for space-based research aboard the orbiting platform and the centerpiece of the International Space Station (ISS), where unprecedented science experiments will be performed in the near-zero gravity of space. Destiny will also serve as the command and control center for the ISS. The aluminum module is 8.5- meters (28-feet) long and 4.3-meters (14-feet) in diameter. The laboratory consists of three cylindrical sections and two endcones with hatches that will be mated to other station components. A 50.9-centimeter (20-inch-) diameter window is located on one side of the center module segment. This pressurized module is designed to accommodate pressurized payloads. It has a capacity of 24 rack locations. Payload racks will occupy 15 locations especially designed to support experiments. The Destiny module was built by the Boeing Company under the direction of the Marshall Space Flight Center.

International Space Station (ISS)

NASA Image and Video Library

2001-02-01

In the grasp of the Shuttle's Remote Manipulator System (RMS) robot arm, the U.S. Laboratory, Destiny, is moved from its stowage position in the cargo bay of the Space Shuttle Atlantis. This photograph was taken by astronaut Thomas D. Jones during his Extravehicular Activity (EVA). The American-made Destiny module is the cornerstone for space-based research aboard the orbiting platform and the centerpiece of the International Space Station (ISS), where unprecedented science experiments will be performed in the near-zero gravity of space. Destiny will also serve as the command and control center for the ISS. The aluminum module is 8.5- meters (28-feet) long and 4.3-meters (14-feet) in diameter. The laboratory consists of three cylindrical sections and two endcones with hatches that will be mated to other station components. A 50.9-centimeter (20-inch-) diameter window is located on one side of the center module segment. This pressurized module is designed to accommodate pressurized payloads. It has a capacity of 24 rack locations. Payload racks will occupy 15 locations especially designed to support experiments. The Destiny module was built by the Boeing Company under the direction of the Marshall Space Flight Center.

International Space Station (ISS)

NASA Image and Video Library

2001-02-01

In the grasp of the Shuttle's Remote Manipulator System (RMS) robot arm, the U.S. Laboratory, Destiny, is moved from its stowage position in the cargo bay of the Space Shuttle Atlantis. This photograph was taken by astronaut Thomas D. Jones during his Extravehicular Activity (EVA). The American-made Destiny module is the cornerstone for space-based research aboard the orbiting platform and the centerpiece of the International Space Station (ISS), where unprecedented science experiments will be performed in the near-zero gravity of space. Destiny will also serve as the command and control center for the ISS. The aluminum module is 8.5- meters (28-feet) long and 4.3-meters (14-feet) in diameter. The laboratory consists of three cylindrical sections and two endcones with hatches that will be mated to other station components. A 50.9-centimeter- (20-inch-) diameter window is located on one side of the center module segment. This pressurized module is designed to accommodate pressurized payloads. It has a capacity of 24 rack locations. Payload racks will occupy 15 locations especially designed to support experiments. The Destiny module was built by the Boeing Company under the direction of the Marshall Space Flight Center.

Spacelab

NASA Image and Video Library

1994-11-04

This is an STS-66 mission onboard photo showing the Remote Manipulator System (RMS) moving toward one of the solar science instruments for the third Atmospheric Laboratory for Applications and Science (ATLAS-3) mission in the cargo bay of the Orbiter Atlantis. During the ATLAS missions, international teams of scientists representing many disciplines combined their expertise to seek answers to complex questions about the atmospheric and solar conditions that sustain life on Earth. The ATLAS program specifically investigated how Earth's middle and upper atmospheres and climate are affected by by the sun and by products of industrial and agricultural activities on Earth. Thirteen ATLAS instruments supported experiments in atmospheric sciences, solar physics, space plasma physics, and astronomy. The instruments were mounted on two Spacelab pallets in the Space Shuttle payload bay. The ATLAS-3 mission continued a variety of atmospheric and solar studies, to improve understanding of the Earth's atmosphere and its energy input from the sun. A key scientific objective was to refine existing data on variations in the fragile ozone layer of the atmosphere. The Shuttle Orbiter Atlantis was launched on November 3, 1994 for the ATLAS-3 mission (STS-66). The ATLAS program was managed by the Marshall Space Flight Center.

Ensuring the reliability of stable isotope ratio data--beyond the principle of identical treatment.

PubMed

Carter, J F; Fry, B

2013-03-01

The need for inter-laboratory comparability is crucial to facilitate the globalisation of scientific networks and the development of international databases to support scientific and criminal investigations. This article considers what lessons can be learned from a series of inter-laboratory comparison exercises organised by the Forensic Isotope Ratio Mass Spectrometry (FIRMS) network in terms of reference materials (RMs), the management of data quality, and technical limitations. The results showed that within-laboratory precision (repeatability) was generally good but between-laboratory accuracy (reproducibility) called for improvements. This review considers how stable isotope laboratories can establish a system of quality control (QC) and quality assurance (QA), emphasising issues of repeatability and reproducibility. For results to be comparable between laboratories, measurements must be traceable to the international δ-scales and, because isotope ratio measurements are reported relative to standards, a key aspect is the correct selection, calibration, and use of international and in-house RMs. The authors identify four principles which promote good laboratory practice. The principle of identical treatment by which samples and RMs are processed in an identical manner and which incorporates three further principles; the principle of identical correction (by which necessary corrections are identified and evenly applied), the principle of identical scaling (by which data are shifted and stretched to the international δ-scales), and the principle of error detection by which QC and QA results are monitored and acted upon. To achieve both good repeatability and good reproducibility it is essential to obtain RMs with internationally agreed δ-values. These RMs will act as the basis for QC and can be used to calibrate further in-house QC RMs tailored to the activities of specific laboratories. In-house QA standards must also be developed to ensure that QC-based calibrations and corrections lead to accurate results for samples. The δ-values assigned to RMs must be recorded and reported with all data. Reference materials must be used to determine what corrections are necessary for measured data. Each analytical sequence of samples must include both QC and QA materials which are subject to identical treatment during measurement and data processing. Results for these materials must be plotted, monitored, and acted upon. Periodically international RMs should be analysed as an in-house proficiency test to demonstrate results are accurate.

Some articulatory details of emotional speech

NASA Astrophysics Data System (ADS)

Lee, Sungbok; Yildirim, Serdar; Bulut, Murtaza; Kazemzadeh, Abe; Narayanan, Shrikanth

2005-09-01

Differences in speech articulation among four emotion types, neutral, anger, sadness, and happiness are investigated by analyzing tongue tip, jaw, and lip movement data collected from one male and one female speaker of American English. The data were collected using an electromagnetic articulography (EMA) system while subjects produce simulated emotional speech. Pitch, root-mean-square (rms) energy and the first three formants were estimated for vowel segments. For both speakers, angry speech exhibited the largest rms energy and largest articulatory activity in terms of displacement range and movement speed. Happy speech is characterized by largest pitch variability. It has higher rms energy than neutral speech but articulatory activity is rather comparable to, or less than, neutral speech. That is, happy speech is more prominent in voicing activity than in articulation. Sad speech exhibits longest sentence duration and lower rms energy. However, its articulatory activity is no less than neutral speech. Interestingly, for the male speaker, articulation for vowels in sad speech is consistently more peripheral (i.e., more forwarded displacements) when compared to other emotions. However, this does not hold for female subject. These and other results will be discussed in detail with associated acoustics and perceived emotional qualities. [Work supported by NIH.

Emg Amplitude Estimators Based on Probability Distribution for Muscle-Computer Interface

NASA Astrophysics Data System (ADS)

Phinyomark, Angkoon; Quaine, Franck; Laurillau, Yann; Thongpanja, Sirinee; Limsakul, Chusak; Phukpattaranont, Pornchai

To develop an advanced muscle-computer interface (MCI) based on surface electromyography (EMG) signal, the amplitude estimations of muscle activities, i.e., root mean square (RMS) and mean absolute value (MAV) are widely used as a convenient and accurate input for a recognition system. Their classification performance is comparable to advanced and high computational time-scale methods, i.e., the wavelet transform. However, the signal-to-noise-ratio (SNR) performance of RMS and MAV depends on a probability density function (PDF) of EMG signals, i.e., Gaussian or Laplacian. The PDF of upper-limb motions associated with EMG signals is still not clear, especially for dynamic muscle contraction. In this paper, the EMG PDF is investigated based on surface EMG recorded during finger, hand, wrist and forearm motions. The results show that on average the experimental EMG PDF is closer to a Laplacian density, particularly for male subject and flexor muscle. For the amplitude estimation, MAV has a higher SNR, defined as the mean feature divided by its fluctuation, than RMS. Due to a same discrimination of RMS and MAV in feature space, MAV is recommended to be used as a suitable EMG amplitude estimator for EMG-based MCIs.

Magsat - A new satellite to survey the earth's magnetic field

NASA Technical Reports Server (NTRS)

Mobley, F. F.; Eckard, L. D.; Fountain, G. H.; Ousley, G. W.

1980-01-01

The Magsat satellite was launched on Oct. 30, 1979 into a sun-synchronous dawn-dusk orbit, of 97 deg inclination, 350 km perigee, and 550 km apogee. It contains a precision vector magnetometer and a cesium-vapor scalar magnetometer at the end of a 6-m long graphite epoxy scissors boom. The magnetometers are accurate to 2 nanotesla. A pair of star cameras are used to define the body orientation to 10 arc sec rms. An 'attitude transfer system' measures the orientation of the magnetometer sensors relative to the star cameras to approximately 5 arc sec rms. The satellite position is determined to 70 meters rms by Doppler tracking. The overall objective is to determine each component of the earth's vector magnetic field to an accuracy of 6 nanotesla rms. The Magsat satellite gathers a complete picture of the earth's magnetic field every 12 hours. The vector components are sampled 16 times per second with a resolution of 0.5 nanotesla. The data will be used by the U.S. Geological Survey to prepare 1980 world magnetic field charts and to detect large-scale magnetic anomalies in the earth's crust for use in planning resource exploration strategy.

Non-null full field X-ray mirror metrology using SCOTS: a reflection deflectometry approach

DOE Office of Scientific and Technical Information (OSTI.GOV)

Su P.; Kaznatcheev K.; Wang, Y.

In a previous paper, the University of Arizona (UA) has developed a measurement technique called: Software Configurable Optical Test System (SCOTS) based on the principle of reflection deflectometry. In this paper, we present results of this very efficient optical metrology method applied to the metrology of X-ray mirrors. We used this technique to measure surface slope errors with precision and accuracy better than 100 nrad (rms) and {approx}200 nrad (rms), respectively, with a lateral resolution of few mm or less. We present results of the calibration of the metrology systems, discuss their accuracy and address the precision in measuring amore » spherical mirror.« less

Synthesis and analysis of precise spaceborne laser ranging systems, volume 1. [link analysis

NASA Technical Reports Server (NTRS)

Paddon, E. A.

1977-01-01

Measurement accuracy goals of 2 cm rms range estimation error and 0.003 cm/sec rms range rate estimation error, with no more than 1 cm (range) static bias error are requirements for laser measurement systems to be used in planned space-based earth physics investigations. Constraints and parameters were defined for links between a high altitude, transmit/receive satellite (HATRS), and one of three targets: a low altitude target satellite, passive (LATS), and active low altitude target, and a ground-based target, as well as with operations with a primary transmit/receive terminal intended to be carried as a shuttle payload, in conjunction with the Spacelab program.

A flexible 32-channel time-to-digital converter implemented in a Xilinx Zynq-7000 field programmable gate array

NASA Astrophysics Data System (ADS)

Wang, Yonggang; Kuang, Jie; Liu, Chong; Cao, Qiang; Li, Deng

2017-03-01

A high performance multi-channel time-to-digital converter (TDC) is implemented in a Xilinx Zynq-7000 field programmable gate array (FPGA). It can be flexibly configured as either 32 TDC channels with 9.9 ps time-interval RMS precision, 16 TDC channels with 6.9 ps RMS precision, or 8 TDC channels with 5.8 ps RMS precision. All TDCs have a 380 M Samples/second measurement throughput and a 2.63 ns measurement dead time. The performance consistency and temperature dependence of TDC channels are also evaluated. Because Zynq-7000 FPGA family integrates a feature-rich dual-core ARM based processing system and 28 nm Xilinx programmable logic in a single device, the realization of high performance TDCs on it will make the platform more widely used in time-measuring related applications.

Application of artificial neural networks in hydrological modeling: A case study of runoff simulation of a Himalayan glacier basin

NASA Technical Reports Server (NTRS)

Buch, A. M.; Narain, A.; Pandey, P. C.

1994-01-01

The simulation of runoff from a Himalayan Glacier basin using an Artificial Neural Network (ANN) is presented. The performance of the ANN model is found to be superior to the Energy Balance Model and the Multiple Regression model. The RMS Error is used as the figure of merit for judging the performance of the three models, and the RMS Error for the ANN model is the latest of the three models. The ANN is faster in learning and exhibits excellent system generalization characteristics.

Enhanced thermal properties of novel shape-stabilized PEG composite phase change materials with radial mesoporous silica sphere for thermal energy storage.

PubMed

Min, Xin; Fang, Minghao; Huang, Zhaohui; Liu, Yan'gai; Huang, Yaoting; Wen, Ruilong; Qian, Tingting; Wu, Xiaowen

2015-08-11

Radial mesoporous silica (RMS) sphere was tailor-made for further applications in producing shape-stabilized composite phase change materials (ss-CPCMs) through a facile self-assembly process using CTAB as the main template and TEOS as SiO2 precursor. Novel ss-CPCMs composed of polyethylene glycol (PEG) and RMS were prepared through vacuum impregnating method. Various techniques were employed to characterize the structural and thermal properties of the ss-CPCMs. The DSC results indicated that the PEG/RMS ss-CPCM was a promising candidate for building thermal energy storage applications due to its large latent heat, suitable phase change temperature, good thermal reliability, as well as the excellent chemical compatibility and thermal stability. Importantly, the possible formation mechanisms of both RMS sphere and PEG/RMS composite have also been proposed. The results also indicated that the properties of the PEG/RMS ss-CPCMs are influenced by the adsorption limitation of the PEG molecule from RMS sphere with mesoporous structure and the effect of RMS, as the impurities, on the perfect crystallization of PEG.

Enhanced thermal properties of novel shape-stabilized PEG composite phase change materials with radial mesoporous silica sphere for thermal energy storage

PubMed Central

Min, Xin; Fang, Minghao; Huang, Zhaohui; Liu, Yan’gai; Huang, Yaoting; Wen, Ruilong; Qian, Tingting; Wu, Xiaowen

2015-01-01

Radial mesoporous silica (RMS) sphere was tailor-made for further applications in producing shape-stabilized composite phase change materials (ss-CPCMs) through a facile self-assembly process using CTAB as the main template and TEOS as SiO2 precursor. Novel ss-CPCMs composed of polyethylene glycol (PEG) and RMS were prepared through vacuum impregnating method. Various techniques were employed to characterize the structural and thermal properties of the ss-CPCMs. The DSC results indicated that the PEG/RMS ss-CPCM was a promising candidate for building thermal energy storage applications due to its large latent heat, suitable phase change temperature, good thermal reliability, as well as the excellent chemical compatibility and thermal stability. Importantly, the possible formation mechanisms of both RMS sphere and PEG/RMS composite have also been proposed. The results also indicated that the properties of the PEG/RMS ss-CPCMs are influenced by the adsorption limitation of the PEG molecule from RMS sphere with mesoporous structure and the effect of RMS, as the impurities, on the perfect crystallization of PEG. PMID:26261089

The Application of Root Mean Square Electrocardiography (RMS ECG) for the Detection of Acquired and Congenital Long QT Syndrome

PubMed Central

Lux, Robert L.; Sower, Christopher Todd; Allen, Nancy; Etheridge, Susan P.; Tristani-Firouzi, Martin; Saarel, Elizabeth V.

2014-01-01

Background Precise measurement of the QT interval is often hampered by difficulty determining the end of the low amplitude T wave. Root mean square electrocardiography (RMS ECG) provides a novel alternative measure of ventricular repolarization. Experimental data have shown that the interval between the RMS ECG QRS and T wave peaks (RTPK) closely reflects the mean ventricular action potential duration while the RMS T wave width (TW) tracks the dispersion of repolarization timing. Here, we tested the precision of RMS ECG to assess ventricular repolarization in humans in the setting of drug-induced and congenital Long QT Syndrome (LQTS). Methods RMS ECG signals were derived from high-resolution 24 hour Holter monitor recordings from 68 subjects after receiving placebo and moxifloxacin and from standard 12 lead ECGs obtained in 97 subjects with LQTS and 97 age- and sex-matched controls. RTPK, QTRMS and RMS TW intervals were automatically measured using custom software and compared to traditional QT measures using lead II. Results All measures of repolarization were prolonged during moxifloxacin administration and in LQTS subjects, but the variance of RMS intervals was significantly smaller than traditional lead II measurements. TW was prolonged during moxifloxacin and in subjects with LQT-2, but not LQT-1 or LQT-3. Conclusion These data validate the application of RMS ECG for the detection of drug-induced and congenital LQTS. RMS ECG measurements are more precise than the current standard of care lead II measurements. PMID:24454918

The application of root mean square electrocardiography (RMS ECG) for the detection of acquired and congenital long QT syndrome.

PubMed

Lux, Robert L; Sower, Christopher Todd; Allen, Nancy; Etheridge, Susan P; Tristani-Firouzi, Martin; Saarel, Elizabeth V

2014-01-01

Precise measurement of the QT interval is often hampered by difficulty determining the end of the low amplitude T wave. Root mean square electrocardiography (RMS ECG) provides a novel alternative measure of ventricular repolarization. Experimental data have shown that the interval between the RMS ECG QRS and T wave peaks (RTPK) closely reflects the mean ventricular action potential duration while the RMS T wave width (TW) tracks the dispersion of repolarization timing. Here, we tested the precision of RMS ECG to assess ventricular repolarization in humans in the setting of drug-induced and congenital Long QT Syndrome (LQTS). RMS ECG signals were derived from high-resolution 24 hour Holter monitor recordings from 68 subjects after receiving placebo and moxifloxacin and from standard 12 lead ECGs obtained in 97 subjects with LQTS and 97 age- and sex-matched controls. RTPK, QTRMS and RMS TW intervals were automatically measured using custom software and compared to traditional QT measures using lead II. All measures of repolarization were prolonged during moxifloxacin administration and in LQTS subjects, but the variance of RMS intervals was significantly smaller than traditional lead II measurements. TW was prolonged during moxifloxacin and in subjects with LQT-2, but not LQT-1 or LQT-3. These data validate the application of RMS ECG for the detection of drug-induced and congenital LQTS. RMS ECG measurements are more precise than the current standard of care lead II measurements.

Characterization of Wnt/β-catenin signaling in rhabdomyosarcoma.

PubMed

Annavarapu, Srinivas R; Cialfi, Samantha; Dominici, Carlo; Kokai, George K; Uccini, Stefania; Ceccarelli, Simona; McDowell, Heather P; Helliwell, Timothy R

2013-10-01

Rhabdomyosarcoma (RMS) is the most common soft tissue sarcoma in children and accounts for about 5% of all malignant paediatric tumours. β-Catenin, a multifunctional nuclear transcription factor in the canonical Wnt signaling pathway, is active in myogenesis and embryonal somite patterning. Dysregulation of Wnt signaling facilitates tumour invasion and metastasis. This study characterizes Wnt/β-catenin signaling and functional activity in paediatric embryonal and alveolar RMS. Immunohistochemical assessment of paraffin-embedded tissues from 44 RMS showed β-catenin expression in 26 cases with cytoplasmic/membranous expression in 9/14 cases of alveolar RMS, and 15/30 cases of embryonal RMS, whereas nuclear expression was only seen in 2 cases of embryonal RMS. The potential functional significance of β-catenin expression was tested in four RMS cell lines, two derived from embryonal (RD and RD18) RMS and two from alveolar (Rh4 and Rh30) RMS. Western blot analysis demonstrated the expression of Wnt-associated proteins including β-catenin, glycogen synthase kinase-3β, disheveled, axin-1, naked, LRP-6 and cadherins in all cell lines. Cell fractionation and immunofluorescence studies of the cell lines (after stimulation by human recombinant Wnt3a) showed reduced phosphorylation of β-catenin, stabilization of the active cytosolic form and nuclear translocation of β-catenin. Reporter gene assay demonstrated a T-cell factor/lymphoid-enhancing factor-mediated transactivation in these cells. In response to human recombinant Wnt3a, the alveolar RMS cells showed a significant decrease in proliferation rate and induction of myogenic differentiation (myogenin, MyoD1 and myf5). These data indicate that the central regulatory components of canonical Wnt/β-catenin signaling are expressed and that this pathway is functionally active in a significant subset of RMS tumours and might represent a novel therapeutic target.

Time synchronization of new-generation BDS satellites using inter-satellite link measurements

NASA Astrophysics Data System (ADS)

Pan, Junyang; Hu, Xiaogong; Zhou, Shanshi; Tang, Chengpan; Guo, Rui; Zhu, Lingfeng; Tang, Guifeng; Hu, Guangming

2018-01-01

Autonomous satellite navigation is based on the ability of a Global Navigation Satellite System (GNSS), such as Beidou, to estimate orbits and clock parameters onboard satellites using Inter-Satellite Link (ISL) measurements instead of tracking data from a ground monitoring network. This paper focuses on the time synchronization of new-generation Beidou Navigation Satellite System (BDS) satellites equipped with an ISL payload. Two modes of Ka-band ISL measurements, Time Division Multiple Access (TDMA) mode and the continuous link mode, were used onboard these BDS satellites. Using a mathematical formulation for each measurement mode along with a derivation of the satellite clock offsets, geometric ranges from the dual one-way measurements were introduced. Then, pseudoranges and clock offsets were evaluated for the new-generation BDS satellites. The evaluation shows that the ranging accuracies of TDMA ISL and the continuous link are approximately 4 cm and 1 cm (root mean square, RMS), respectively. Both lead to ISL clock offset residuals of less than 0.3 ns (RMS). For further validation, time synchronization between these satellites to a ground control station keeping the systematic time in BDT was conducted using L-band Two-way Satellite Time Frequency Transfer (TWSTFT). System errors in the ISL measurements were calibrated by comparing the derived clock offsets with the TWSTFT. The standard deviations of the estimated ISL system errors are less than 0.3 ns, and the calibrated ISL clock parameters are consistent with that of the L-band TWSTFT. For the regional BDS network, the addition of ISL measurements for medium orbit (MEO) BDS satellites increased the clock tracking coverage by more than 40% for each orbital revolution. As a result, the clock predicting error for the satellite M1S was improved from 3.59 to 0.86 ns (RMS), and the predicting error of the satellite M2S was improved from 1.94 to 0.57 ns (RMS), which is a significant improvement by a factor of 3-4.

Financing development stage biotechnology companies: RMs vs. IPOs.

PubMed

Ahn, Mark J; Couch, Robert B; Wu, Wei

2011-01-01

We examine reverse mergers (RMs) in the biotechnology industry and find that, when compared to initial public offerings (IPOs), RMs are smaller, have significantly lower market valuations relative to size, and generally invest less. We also find that RMs exhibit positive abnormal returns on the announcement date and throughout the first year after the RM event. In looking at liquidity measures, we find that RMs tend to be less liquid than IPOs and that illiquidity is greater during the six-month lock-up period following the RM event. Thus, RMs may be an appropriate alternative financing vehicle in capital intensive, high-risk biotechnology companies which require accessing deeper and larger pools of investors in public capital markets across multiple milestone periods in a "pay for progress" environment.

Short Communication: Comparative Susceptibility of Rhesus Macaques of Indian and Chinese Origin to Vaginal Simian-Human Immunodeficiency Virus Transmission as Models for HIV Prevention Research.

PubMed

Veazey, Ronald S; Ling, Binhua

2017-12-01

Historically, Indian rhesus macaques (iRMs) have been preferred for simian immunodeficiency virus (SIV)/HIV prevention, pathogenesis, and treatment studies, yet their supply is limited. Chinese rhesus macaques (cRMs) are currently more available, yet little is known regarding the relative susceptibility of this subspecies to vaginal transmission of SIV or simian-human immunodeficiency virus (SHIV). In this study, we compared the susceptibility of 40 cRMs and 21 iRMs with a single vaginal challenge with SHIVsf162P. Our results showed that cRMs have comparable primary SHIV infection as iRMs, underscoring their equal importance in studies of HIV transmission and prevention.

Achievable flatness in a large microwave power transmitting antenna

NASA Technical Reports Server (NTRS)

Ried, R. C.

1980-01-01

A dual reference SPS system with pseudoisotropic graphite composite as a representative dimensionally stable composite was studied. The loads, accelerations, thermal environments, temperatures and distortions were calculated for a variety of operational SPS conditions along with statistical considerations of material properties, manufacturing tolerances, measurement accuracy and the resulting loss of sight (LOS) and local slope distributions. A LOS error and a subarray rms slope error of two arc minutes can be achieved with a passive system. Results show that existing materials measurement, manufacturing, assembly and alignment techniques can be used to build the microwave power transmission system antenna structure. Manufacturing tolerance can be critical to rms slope error. The slope error budget can be met with a passive system. Structural joints without free play are essential in the assembly of the large truss structure. Variations in material properties, particularly for coefficient of thermal expansion from part to part, is more significant than actual value.

Spacelab

NASA Image and Video Library

1985-07-01

This STS-51F mission onboard Photograph shows some of the Spacelab-2 instruments in the cargo bay of the Orbiter Challenger. The Plasma Diagnostics Package (PDP). shown at the end of the Remote Manipulator System (RMS), used instruments on a subsatellite to study natural plasma processes, orbiter-induced plasma processes, and beam plasma physics. Fourteen instruments were mounted on the PDP for measurements of various plasma characteristics. The X-ray Telescope (XRT), is at the front. The goal of this investigation was to image and examine the X-ray emissions from clusters of galaxies in order to study the mechanisms that cause high-temperature emissions and to determine the weight of galactic clusters. The Small Helium-Cooled Infrared Telescope (IRT) is at the right behind the XRT. The objective of this investigation was to measure and map diffused and discrete infrared astronomical sources while evaluating the Space Shuttle as a platform for infrared astronomy. At the same time, a new large superfluid helium dewar system for cooling the telescope was evaluated. The egg-shaped Cosmic Ray Nuclei experiment (CRNE) is shown at the rear. This investigation was to study the composition of high-energy cosmic rays by using a large instrument exposed to space for a considerable period of time. Spacelab-2 (STS-51F, 19th Shuttle mission) was launched aboard the Space Shuttle Orbiter Challenger on July 29, 1985.

Creation, transport and detection of imprinted magnetic solitons stabilized by spin-polarized current

NASA Astrophysics Data System (ADS)

Loreto, R. P.; Moura-Melo, W. A.; Pereira, A. R.; Zhang, X.; Zhou, Y.; Ezawa, M.; de Araujo, C. I. L.

2018-06-01

With the recent proposition of skyrmion utilization in racetrack memories at room temperature, skyrmionics has become a very attractive field. However, for the stability of skyrmions, it is essential to incorporate the Dzyaloshinskii-Moriya interaction (DMI) and the out-of-plane magnetic field into the system. In this work, we explore a system without these interactions. First, we propose a controlled way for the creation of magnetic skyrmions and skyrmioniums imprinted on a ferromagnetic nanotrack via a nanopatterned nanodisk with the magnetic vortex state. Then we investigate the detachment of the imprinted spin textures from the underneath of the nanodisk, as well as its transport by the spin-transfer torque imposed by spin-polarized current pulses applied in the nanotrack. A prominent feature of the moving imprinted spin texture is that its topological number Q is oscillating around the averaged value of Q = 0 as if it is a resonant state between the skyrmions with Q = ± 1 and the bubble with Q = 0 . We may call it a resonant magnetic soliton (RMS). A RMS moves along a straight line since it is free from the skyrmion Hall effect. In our studied device, the same electrodes are employed to realize the imprinted spin texture detachment and its transport. In addition, we have investigated the interaction between the RMS and a magnetic tunnel junction sensor, where the passing of the RMS in the nanotrack can be well detected. Our results would be useful for the development of novel spintronic devices based on moveable spin textures.

The physiological effects of simultaneous exposures to heat and vibration. Ph.D. Thesis - California Univ., Berkeley

NASA Technical Reports Server (NTRS)

Spaul, W. A.

1983-01-01

Determination of the effects of exposure to vibration on the body's ability to handle heat stress, and, if so, identification of the specific vibration parameters (frequency and intensity) for both whole-body (wbv) and segmental-body vibration (sbv) that would have the most detrimental effect on the body's ability to maintain thermal homeostasis were studied. Rectal and skin temperatures, heart rates, localized sweat rates, arm-segment blood perfusion rates, respiration rates, oxygen uptakes, and respiratory exchange ratios were measured in six men (22 to 33 yr) during simultaneous exposures to heat and vibration - either wbv or sbv, and during a heated 50 min recovery period. The heat conditions were T (sub db) = 43.5 + or - 0.5 C (mean + or S.E.M.), and RH = 20 + or - 4%. All vibration exposures were divided into two exposure conditions - identical frequencies but at a high intensity (HI) and a low intensity (LI) level. The HI wbv exposure was for 25 min/day at 5 Hz, 0.37 g-rms; 10 Hz, 0.46 g-rms; 16 Hz, 0.72 g-rms; 30 Hz, 1.40 g-rms; 80 Hz, 3.70 g-rms. The LI wbv exposure was for 2.5 hr/day at the same frequencies but at the following accelerations: 0.14 g-rms; 0.18 g-rms; 0.28 g-rms; 0.55 g-rms; 1.44 g-rms. During the sbv the subject stood and grasped a vibrating, in the Z-axis, hand grip with both hands.

Molecular dynamics study of di-CF4 based reverse micelles in supercritical CO2.

PubMed

Liu, Bing; Tang, Xinpeng; Fang, Wenjing; Li, Xiaoqi; Zhang, Jun; Zhang, Zhiliang; Shen, Yue; Yan, Youguo; Sun, Xiaoli; He, Jianying

2016-10-26

Reverse micelles (RMs) in supercritical CO 2 (scCO 2 ) are promising alternatives for organic solvents, especially when both polar and non-polar components are involved. Fluorinated surfactants, particularly double-chain fluorocarbon surfactants, are able to form well-structured RMs in scCO 2 . The inherent self-assembly mechanisms of surfactants in scCO 2 are still subject to discussion. In this study, molecular dynamics simulations are performed to investigate the self-aggregation behavior of di-CF4 based RMs in scCO 2 , and stable and spherical RMs are formed. The dynamics process and the self-assembly structure in the RMs reveal a three-step mechanism to form the RMs, that is, small RMs, rod-like RMs and fusion of the rod-like RMs. Hydrogen-bonds between headgroups and water molecules, and salt bridges linking Na + ions, headgroups and water molecules enhance the interfacial packing efficiency of the surfactant. The results show that di-CF4 molecules have a high surfactant coverage at the RM interface, implying a high CO 2 -philicity. This mainly results from bending of the short chain (C-COO-CH 2 -(CF2) 3 -CF3) due to the flexible carboxyl group. The microscopic insight provided in this study is helpful in understanding surfactant self-assembly phenomena and designing new CO 2 -philic surfactants.

Multivariable polynomial fitting of controlled single-phase nonlinear load of input current total harmonic distortion

NASA Astrophysics Data System (ADS)

Sikora, Roman; Markiewicz, Przemysław; Pabjańczyk, Wiesława

2018-04-01

The power systems usually include a number of nonlinear receivers. Nonlinear receivers are the source of disturbances generated to the power system in the form of higher harmonics. The level of these disturbances describes the total harmonic distortion coefficient THD. Its value depends on many factors. One of them are the deformation and change in RMS value of supply voltage. A modern LED luminaire is a nonlinear receiver as well. The paper presents the results of the analysis of the influence of change in RMS value of supply voltage and the level of dimming of the tested luminaire on the value of the current THD. The analysis was made using a mathematical model based on multivariable polynomial fitting.

New Technique of AC drive in Tokamak using Permanent Magnets

NASA Astrophysics Data System (ADS)

Matteucci, Jackson; Zolfaghari, Ali

2013-10-01

This study investigates a new technique of capturing the rotational energy of alternating permanent magnets in order to inductively drive an alternating current in tokamak devices. The use of rotational motion bypasses many of the pitfalls seen in typical inductive and non-inductive current drives. Three specific designs are presented and assessed in the following criteria: the profile of the current generated, the RMS loop voltage generated as compared to the RMS power required to maintain it, the system's feasibility from an engineering perspective. All of the analysis has been done under ideal E&M conditions using the Maxwell 3D program. Preliminary results indicate that it is possible to produce an over 99% purely toroidal current with a RMS d Φ/dt of over 150 Tm2/s, driven by 20 MW or less of rotational power. The proposed mechanism demonstrates several key advantages including an efficient mechanical drive system, the generation of pure toroidal currents, and the potential for a quasi-steady state fusion reactor. The following quantities are presented for various driving frequencies and magnet strengths: plasma current generated, loop voltage, torque and power required. This project has been supported by DOE Funding under the SULI program.

Correction of Single Frequency Altimeter Measurements for Ionosphere Delay

NASA Technical Reports Server (NTRS)

Schreiner, William S.; Markin, Robert E.; Born, George H.

1997-01-01

This study is a preliminary analysis of the accuracy of various ionosphere models to correct single frequency altimeter height measurements for Ionospheric path delay. In particular, research focused on adjusting empirical and parameterized ionosphere models in the parameterized real-time ionospheric specification model (PRISM) 1.2 using total electron content (TEC) data from the global positioning system (GPS). The types of GPS data used to adjust PRISM included GPS line-of-sight (LOS) TEC data mapped to the vertical, and a grid of GPS derived TEC data in a sun-fixed longitude frame. The adjusted PRISM TEC values, as well as predictions by IRI-90, a climatotogical model, were compared to TOPEX/Poseidon (T/P) TEC measurements from the dual-frequency altimeter for a number of T/P tracks. When adjusted with GPS LOS data, the PRISM empirical model predicted TEC over 24 1 h data sets for a given local time to with in a global error of 8.60 TECU rms during a midnight centered ionosphere and 9.74 TECU rms during a noon centered ionosphere. Using GPS derived sun-fixed TEC data, the PRISM parameterized model predicted TEC within an error of 8.47 TECU rms centered at midnight and 12.83 TECU rms centered at noon. From these best results, it is clear that the proposed requirement of 3-4 TECU global rms for TOPEX/Poseidon Follow-On will be very difficult to meet, even with a substantial increase in the number of GPS ground stations, with any realizable combination of the aforementioned models or data assimilation schemes.

Role of location-dependent transverse wind on root-mean-square bandwidth of temporal light-flux fluctuations in the turbulent atmosphere.

PubMed

Chen, Chunyi; Yang, Huamin

2017-11-01

The root-mean-square (RMS) bandwidth of temporal light-flux fluctuations is formulated for both plane and spherical waves propagating in the turbulent atmosphere with location-dependent transverse wind. Two path weighting functions characterizing the joint contributions of turbulent eddies and transverse winds at various locations toward the RMS bandwidth are derived. Based on the developed formulations, the roles of variations in both the direction and magnitude of transverse wind velocity with locations over a path on the RMS bandwidth are elucidated. For propagation paths between ground and space, comparisons of the RMS bandwidth computed based on the Bufton wind profile with that calculated by assuming a nominal constant transverse wind velocity are made to exemplify the effect that location dependence of transverse wind velocity has on the RMS bandwidth. Moreover, an expression for the weighted RMS transverse wind velocity has been derived, which can be used as a nominal constant transverse wind velocity over a path for accurately determining the RMS bandwidth.

Assessment of Heavy Metals Contamination in Reclaimed Mine Soil and their Accumulation and Distribution in Eucalyptus Hybrid.

PubMed

Maiti, Subodh Kumar; Rana, Vivek

2017-01-01

The metal contamination in reclaimed mine soil (RMS) of Jharia coal field, Dhanbad (India) using various contamination indices and their accumulation in tissues of Eucalyptus hybrid were assessed. In RMS, metal concentrations were found higher (202%-533%) than control soil (CS) with major contribution of Co and Mn followed by Zn, Cu and Pb. Principal component analysis (PCA) of metals present in RMS was carried out to assess their origin in RMS. The contamination factor (CF) values in RMS indicated moderate to very high level of pollution (ranged between 2.02 and 5.33). Higher accumulation of Pb in barks (three times), Zn in leaves (4.5 times), Mn in leaves (19 times), and Cu in roots (1.4 times) was found in trees growing on RMS than CS. The study concluded that different tree tissues accumulate varied concentration of heavy metals in RMS and thus for biomonitoring of metals, specific tissues has to be selected.

Velocity-Map Imaging for Emittance Characterization of Multiphoton Electron Emission from a Gold Surface

NASA Astrophysics Data System (ADS)

Ye, Hong; Trippel, Sebastian; Di Fraia, Michele; Fallahi, Arya; Mücke, Oliver D.; Kärtner, Franz X.; Küpper, Jochen

2018-04-01

A velocity-map-imaging spectrometer is demonstrated to characterize the normalized emittance (root-mean-square, rms) of photoemitted electron bunches. Both the two-dimensional spatial distribution and the projected velocity distribution images of photoemitted electrons are recorded by the detection system and analyzed to obtain the normalized emittance (rms). With the presented distribution function of the electron photoemission angles, a mathematical method is implemented to reconstruct the three-dimensional velocity distribution. As a first example, multiphoton emission from a planar Au surface is studied via irradiation at a glancing angle by intense 45-fs laser pulses at a central wavelength of 800 nm. The reconstructed energy distribution agrees very well with the Berglund-Spicer theory of photoemission. The normalized emittance (rms) of the intrinsic electron bunch is characterized to be 128 and 14 nm rad in the X and Y directions, respectively. The demonstrated imaging spectrometer has the ability to characterize the normalized emittance (rms) in a few minutes with a fine energy resolution of 0.2 meV in the image center and will, thereby, foster the further development of x-ray free-electron-laser injectors and ultrafast electron diffraction, and it opens up opportunities for studying correlated electron emission from surfaces and vacuum nanoelectronic devices.

Accuracy and Precision of a Surgical Navigation System: Effect of Camera and Patient Tracker Position and Number of Active Markers.

PubMed

Gundle, Kenneth R; White, Jedediah K; Conrad, Ernest U; Ching, Randal P

2017-01-01

Surgical navigation systems are increasingly used to aid resection and reconstruction of osseous malignancies. In the process of implementing image-based surgical navigation systems, there are numerous opportunities for error that may impact surgical outcome. This study aimed to examine modifiable sources of error in an idealized scenario, when using a bidirectional infrared surgical navigation system. Accuracy and precision were assessed using a computerized-numerical-controlled (CNC) machined grid with known distances between indentations while varying: 1) the distance from the grid to the navigation camera (range 150 to 247cm), 2) the distance from the grid to the patient tracker device (range 20 to 40cm), and 3) whether the minimum or maximum number of bidirectional infrared markers were actively functioning. For each scenario, distances between grid points were measured at 10-mm increments between 10 and 120mm, with twelve measurements made at each distance. The accuracy outcome was the root mean square (RMS) error between the navigation system distance and the actual grid distance. To assess precision, four indentations were recorded six times for each scenario while also varying the angle of the navigation system pointer. The outcome for precision testing was the standard deviation of the distance between each measured point to the mean three-dimensional coordinate of the six points for each cluster. Univariate and multiple linear regression revealed that as the distance from the navigation camera to the grid increased, the RMS error increased (p<0.001). The RMS error also increased when not all infrared markers were actively tracking (p=0.03), and as the measured distance increased (p<0.001). In a multivariate model, these factors accounted for 58% of the overall variance in the RMS error. Standard deviations in repeated measures also increased when not all infrared markers were active (p<0.001), and as the distance between navigation camera and physical space increased (p=0.005). Location of the patient tracker did not affect accuracy (0.36) or precision (p=0.97). In our model laboratory test environment, the infrared bidirectional navigation system was more accurate and precise when the distance from the navigation camera to the physical (working) space was minimized and all bidirectional markers were active. These findings may require alterations in operating room setup and software changes to improve the performance of this system.

New biotite and muscovite isotopic reference materials, USGS57 and USGS58, for δ2H measurements–A replacement for NBS 30

USGS Publications Warehouse

Qi, Haiping; Coplen, Tyler B.; Gehre, Matthias; Vennemann, Torsten W.; Brand, Willi A.; Geilmann, Heike; Olack, Gerard; Bindeman, Ilya N.; Palandri, Jim; Huang, Li; Longstaffe, Fred J.

2017-01-01

The advent of continuous-flow isotope-ratio mass spectrometry (CF-IRMS) coupled with a high temperature conversion (HTC) system enabled faster, more cost effective, and more precise δ2H analysis of hydrogen-bearing solids. Accurate hydrogen isotopic analysis by on-line or off-line techniques requires appropriate isotopic reference materials (RMs). A strategy of two-point calibrations spanning δ2H range of the unknowns using two RMs is recommended. Unfortunately, the supply of the previously widely used isotopic RM, NBS 30 biotite, is exhausted. In addition, recent measurements have shown that the determination of δ2H values of NBS 30 biotite on the VSMOW-SLAP isotope-delta scale by on-line HTC systems with CF-IRMS may be unreliable because hydrogen in this biotite may not be converted quantitatively to molecular hydrogen. The δ2HVSMOW-SLAP values of NBS 30 biotite analyzed by on-line HTC systems can be as much as 21 mUr (or ‰) too positive compared to the accepted value of − 65.7 mUr, determined by only a few conventional off-line measurements. To ensure accurate and traceable on-line hydrogen isotope-ratio determinations in mineral samples, we here propose two isotopically homogeneous, hydrous mineral RMs with well-characterized isotope-ratio values, which are urgently needed. The U.S. Geological Survey (USGS) has prepared two such RMs, USGS57 biotite and USGS58 muscovite. The δ2H values were determined by both glassy carbon-based on-line conversion and chromium-based on-line conversion, and results were confirmed by off-line conversion. The quantitative conversion of hydrogen from the two RMs using the on-line HTC method was carefully evaluated in this study. The isotopic compositions of these new RMs with 1-σ uncertainties and mass fractions of hydrogen are:USGS57 (biotite)δ2HVSMOW-SLAP = − 91.5 ± 2.4 mUr (n = 24)Mass fraction hydrogen = 0.416 ± 0.002% (n = 4)Mass fraction water = 3.74 ± 0.02% (n = 4)USGS58 (muscovite)δ2HVSMOW-SLAP = − 28.4 ± 1.6 mUr (n = 24)Mass fraction hydrogen = 0.448 ± 0.002% (n = 4)Mass fraction water = 4.03 ± 0.02% (n = 4).These δ2HVSMOW-SLAP values encompass typical ranges for solid unknowns of crustal and mantle origin and are available to users for recommended two-point calibration.

Three-dimensional relationship between high-order root-mean-square wavefront error, pupil diameter, and aging

PubMed Central

Applegate, Raymond A.; Donnelly, William J.; Marsack, Jason D.; Koenig, Darren E.; Pesudovs, Konrad

2007-01-01

We report root-mean-square (RMS) wavefront error (WFE) for individual aberrations and cumulative high-order (HO) RMS WFE for the normal human eye as a function of age by decade and pupil diameter in 1 mm steps from 3 to 7 mm and determine the relationship among HO RMS WFE, mean age for each decade of life, and luminance for physiologic pupil diameters. Subjects included 146 healthy individuals from 20 to 80 years of age. Ocular aberration was measured on the preferred eye of each subject (for a total of 146 eyes through dilated pupils; computed for 3, 4, 5, 6, and 7 mm pupils; and described with a tenth-radial-order normalized Zernike expansion. We found that HO RMS WFE increases faster with increasing pupil diameter for any given age and pupil diameter than it does with increasing age alone. A planar function accounts for 99% of the variance in the 3-D space defined by mean log HO RMS WFE, mean age for each decade of life, and pupil diameter. When physiologic pupil diameters are used to estimate HO RMS WFE as a function of luminance and age, at low luminance (9 cd/m2) HO RMS WFE decreases with increasing age. This normative data set details (1) the 3-D relationship between HO RMS WFE and age for fixed pupil diameters and (2) the 3-D relationship among HO RMS WFE, age, and luminance for physiologic pupil diameters. PMID:17301847

Noncontact on-machine measurement system based on capacitive displacement sensors for single-point diamond turning

NASA Astrophysics Data System (ADS)

Li, Xingchang; Zhang, Zhiyu; Hu, Haifei; Li, Yingjie; Xiong, Ling; Zhang, Xuejun; Yan, Jiwang

2018-04-01

On-machine measurements can improve the form accuracy of optical surfaces in single-point diamond turning applications; however, commercially available linear variable differential transformer sensors are inaccurate and can potentially scratch the surface. We present an on-machine measurement system based on capacitive displacement sensors for high-precision optical surfaces. In the proposed system, a position-trigger method of measurement was developed to ensure strict correspondence between the measurement points and the measurement data with no intervening time-delay. In addition, a double-sensor measurement was proposed to reduce the electric signal noise during spindle rotation. Using the proposed system, the repeatability of 80-nm peak-to-valley (PV) and 8-nm root-mean-square (RMS) was achieved through analyzing four successive measurement results. The accuracy of 109-nm PV and 14-nm RMS was obtained by comparing with the interferometer measurement result. An aluminum spherical mirror with a diameter of 300 mm was fabricated, and the resulting measured form error after one compensation cut was decreased to 254 nm in PV and 52 nm in RMS. These results confirm that the measurements of the surface form errors were successfully used to modify the cutting tool path during the compensation cut, thereby ensuring that the diamond turning process was more deterministic. In addition, the results show that the noise level was significantly reduced with the reference sensor even under a high rotational speed.

RMS active damping augmentation

NASA Technical Reports Server (NTRS)

Gilbert, Michael G.; Scott, Michael A.; Demeo, Martha E.

1992-01-01

The topics are presented in viewgraph form and include: RMS active damping augmentation; potential space station assembly benefits to CSI; LaRC/JSC bridge program; control law design process; draper RMS simulator; MIMO acceleration control laws improve damping; potential load reduction benefit; DRS modified to model distributed accelerations; accelerometer location; Space Shuttle aft cockpit simulator; simulated shuttle video displays; SES test goals and objectives; and SES modifications to support RMS active damping augmentation.

Comparison of 3D Joint Angles Measured With the Kinect 2.0 Skeletal Tracker Versus a Marker-Based Motion Capture System.

PubMed

Guess, Trent M; Razu, Swithin; Jahandar, Amirhossein; Skubic, Marjorie; Huo, Zhiyu

2017-04-01

The Microsoft Kinect is becoming a widely used tool for inexpensive, portable measurement of human motion, with the potential to support clinical assessments of performance and function. In this study, the relative osteokinematic Cardan joint angles of the hip and knee were calculated using the Kinect 2.0 skeletal tracker. The pelvis segments of the default skeletal model were reoriented and 3-dimensional joint angles were compared with a marker-based system during a drop vertical jump and a hip abduction motion. Good agreement between the Kinect and marker-based system were found for knee (correlation coefficient = 0.96, cycle RMS error = 11°, peak flexion difference = 3°) and hip (correlation coefficient = 0.97, cycle RMS = 12°, peak flexion difference = 12°) flexion during the landing phase of the drop vertical jump and for hip abduction/adduction (correlation coefficient = 0.99, cycle RMS error = 7°, peak flexion difference = 8°) during isolated hip motion. Nonsagittal hip and knee angles did not correlate well for the drop vertical jump. When limited to activities in the optimal capture volume and with simple modifications to the skeletal model, the Kinect 2.0 skeletal tracker can provide limited 3-dimensional kinematic information of the lower limbs that may be useful for functional movement assessment.

An occultation satellite system for determining pressure levels in the atmosphere

NASA Technical Reports Server (NTRS)

Morrison, A. R.; Vngar, S. G.; Lusignan, B. B.

1974-01-01

A two-satellite microwave occultation system is described that will fix, as an absolute function of altitude, the pressure-temperature profile generated by a passive infrared sounder. The 300 mb pressure level is determined to within 24 m rms, assuming the temperture errors produced by the infrared sensor are not greater than 2 K rms. Error caused by water vapor in the radio path is corrected by climatological adjustments. A ground test of the proposed system is described. A microwave signal propagating between two mountain tops was found to be subject to periods of intense fading. Computer analysis of the raypath between the transmitting and receiving stations indicates that multipath and defocusing were responsible for this fading. It is unlikely that an operational pressure-reference-level system will be subject to the deep fades observed in the ground test, because the phenomena are associated with lower altitudes than the closest approach altitude of an occultation-system raypath.

Evaluation of desmin as a diagnostic and prognostic marker of childhood rhabdomyosarcomas and embryonal sarcomas.

PubMed Central

Dias, P.; Kumar, P.; Marsden, H. B.; Morris-Jones, P. H.; Birch, J.; Swindell, R.; Kumar, S.

1987-01-01

The diagnostic and prognostic relevance of desmin expression in 80 rhabdomyosarcomas (RMS) and 5 embryonal sarcomas (ES) was examined using a peroxidase anti-peroxidase staining procedure. Fifty-nine RMS but only one ES stained for desmin (P less than 0.05). The maximum percentage of desmin containing cells was 49 in RMS compared with only 1% in ES. Desmin positivity correlated inversely with survival (P less than 0.02) in that RMS with high proportions of desmin positive cells were associated with poorer prognoses than those containing fewer desmin positive cells. If the degree of expression of desmin is related to myogenic differentiation, then our results indicate that poorly differentiated RMS tend to have a better prognosis than the well differentiated tumours. One possible explanation is that the poorly differentiated RMS respond better to chemotherapy than to well differentiated RMS. A multivariant analysis incorporating desmin staining, treatment, histology, age and gender revealed that the two most significant independent prognostic factors were treatment and histology. Images Figure 1 PMID:3311112

Separation of the Galactic Cosmic Rays and Inner Earth Radiation Belt Contributions to the Daily Dose Onboard the International Space Station in 2005-2011

NASA Astrophysics Data System (ADS)

Lishnevskii, A. E.; Benghin, V. V.

2018-03-01

The DB-8 detectors of the ISS radiation monitoring system (RMS) have operated almost continuously onboard the ISS service module since August 2001 till December 2014. The RMS data obtained were used for the daily monitoring of the radiation environment aboard the station. This paper considers the technique of RMS data analysis that allows one to distinguish the contributions of galactic cosmic rays and the Earth's inner radiation belt to the daily dose based on the dosimetry data obtained as a result of the station's passage in areas of the highest geomagnetic latitudes. The paper presents the results of an analysis of the dosimetry data based on this technique for 2005-2011, as well as a comparison with similar results the authors obtained previously using the technique based on an analysis of the dosimetry data obtained during station passages in the area of the South Atlantic Anomaly.

Reducing Risk for the Next Generation Nuclear Plant

DOE Office of Scientific and Technical Information (OSTI.GOV)

John M. Beck II; Harold J. Heydt; Emmanuel O. Opare

2010-07-01

The Next Generation Nuclear Plant (NGNP) Project, managed by the Idaho National Laboratory (INL), is directed by the Energy Policy Act of 2005, to research, develop, design, construct, and operate a prototype forth generation nuclear reactor to meet the needs of the 21st Century. As with all large projects developing and deploying new technologies, the NGNP has numerous risks that need to be identified, tracked, mitigated, and reduced in order for successful project completion. A Risk Management Plan (RMP) was created to outline the process the INL is using to manage the risks and reduction strategies for the NGNP Project.more » Integral to the RMP is the development and use of a Risk Management System (RMS). The RMS is a tool that supports management and monitoring of the project risks. The RMS does not only contain a risk register, but other functionality that allows decision makers, engineering staff, and technology researchers to review and monitor the risks as the project matures.« less

Estimating maximum instantaneous distortion from inlet total pressure rms and PSD measurements. [Root Mean Square and Power Spectral Density methods

NASA Technical Reports Server (NTRS)

Melick, H. C., Jr.; Ybarra, A. H.; Bencze, D. P.

1975-01-01

An inexpensive method is developed to determine the extreme values of instantaneous inlet distortion. This method also provides insight into the basic mechanics of unsteady inlet flow and the associated engine reaction. The analysis is based on fundamental fluid dynamics and statistical methods to provide an understanding of the turbulent inlet flow and quantitatively relate the rms level and power spectral density (PSD) function of the measured time variant total pressure fluctuations to the strength and size of the low pressure regions. The most probable extreme value of the instantaneous distortion is then synthesized from this information in conjunction with the steady state distortion. Results of the analysis show the extreme values to be dependent upon the steady state distortion, the measured turbulence rms level and PSD function, the time on point, and the engine response characteristics. Analytical projections of instantaneous distortion are presented and compared with data obtained by a conventional, highly time correlated, 40 probe instantaneous pressure measurement system.

Monitoring volcano activity through Hidden Markov Model

NASA Astrophysics Data System (ADS)

Cassisi, C.; Montalto, P.; Prestifilippo, M.; Aliotta, M.; Cannata, A.; Patanè, D.

2013-12-01

During 2011-2013, Mt. Etna was mainly characterized by cyclic occurrences of lava fountains, totaling to 38 episodes. During this time interval Etna volcano's states (QUIET, PRE-FOUNTAIN, FOUNTAIN, POST-FOUNTAIN), whose automatic recognition is very useful for monitoring purposes, turned out to be strongly related to the trend of RMS (Root Mean Square) of the seismic signal recorded by stations close to the summit area. Since RMS time series behavior is considered to be stochastic, we can try to model the system generating its values, assuming to be a Markov process, by using Hidden Markov models (HMMs). HMMs are a powerful tool in modeling any time-varying series. HMMs analysis seeks to recover the sequence of hidden states from the observed emissions. In our framework, observed emissions are characters generated by the SAX (Symbolic Aggregate approXimation) technique, which maps RMS time series values with discrete literal emissions. The experiments show how it is possible to guess volcano states by means of HMMs and SAX.

Development of one-shot aspheric measurement system with a Shack-Hartmann sensor.

PubMed

Furukawa, Yasunori; Takaie, Yuichi; Maeda, Yoshiki; Ohsaki, Yumiko; Takeuchi, Seiji; Hasegawa, Masanobu

2016-10-10

We present a measurement system for a rotationally symmetric aspheric surface that is designed for accurate and high-volume measurements. The system uses the Shack-Hartmann sensor and is capable of measuring aspheres with a maximum diameter of 90 mm in one shot. In our system, a reference surface, made with the same aspheric parameter as the test surface, is prepared. The test surface is recovered as the deviation from the reference surface using a figure-error reconstruction algorithm with a ray coordinate and angle variant table. In addition, we developed a method to calibrate the rotationally symmetric system error. These techniques produce stable measurements and high accuracy. For high-throughput measurements, a single measurement scheme and auto alignment are implemented; they produce a 4.5 min measurement time, including calibration and alignment. In this paper, we introduce the principle and calibration method of our system. We also demonstrate that our system achieved an accuracy better than 5.8 nm RMS and a repeatability of 0.75 nm RMS by comparing our system's aspheric measurement results with those of a probe measurement machine.

On the dynamic singularities in the control of free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, E.; Dubowsky, S.

1989-01-01

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Establishment of a Site-Specific Tropospheric Model Based on Ground Meteorological Parameters over the China Region.

PubMed

Zhou, Chongchong; Peng, Bibo; Li, Wei; Zhong, Shiming; Ou, Jikun; Chen, Runjing; Zhao, Xinglong

2017-07-27

China is a country of vast territory with complicated geographical environment and climate conditions. With the rapid progress of the Chinese BeiDou satellite navigation system (BDS); more accurate tropospheric models must be applied to improve the accuracy of navigation and positioning. Based on the formula of the Saastamoinen and Callahan models; this study develops two single-site tropospheric models (named SAAS_S and CH_S models) for the Chinese region using radiosonde data from 2005 to 2012. We assess the two single-site tropospheric models with radiosonde data for 2013 and zenith tropospheric delay (ZTD) data from four International GNSS Service (IGS) stations and compare them to the results of the Saastamoinen and Callahan models. The experimental results show that: the mean accuracy of the SAAS_S model (bias: 0.19 cm; RMS: 3.19 cm) at all radiosonde stations is superior to those of the Saastamoinen (bias: 0.62 cm; RMS: 3.62 cm) and CH_S (bias: -0.05 cm; RMS: 3.38 cm) models. In most Chinese regions; the RMS values of the SAAS_S and CH_S models are about 0.51~2.12 cm smaller than those of their corresponding source models. The SAAS_S model exhibits a clear improvement in the accuracy over the Saastamoinen model in low latitude regions. When the SAAS_S model is replaced by the SAAS model in the positioning of GNSS; the mean accuracy of vertical direction in the China region can be improved by 1.12~1.55 cm and the accuracy of vertical direction in low latitude areas can be improved by 1.33~7.63 cm. The residuals of the SAAS_S model are closer to a normal distribution compared to those of the Saastamoinen model. Single-site tropospheric models based on the short period of the most recent data (for example 2 years) can also achieve a satisfactory accuracy. The average performance of the SAAS_S model (bias: 0.83 cm; RMS: 3.24 cm) at four IGS stations is superior to that of the Saastamoinen (bias: -0.86 cm; RMS: 3.59 cm) and CH_S (bias: 0.45 cm; RMS: 3.38 cm) models.

Establishment of a Site-Specific Tropospheric Model Based on Ground Meteorological Parameters over the China Region

PubMed Central

Zhou, Chongchong; Peng, Bibo; Li, Wei; Zhong, Shiming; Ou, Jikun; Chen, Runjing; Zhao, Xinglong

2017-01-01

China is a country of vast territory with complicated geographical environment and climate conditions. With the rapid progress of the Chinese BeiDou satellite navigation system (BDS); more accurate tropospheric models must be applied to improve the accuracy of navigation and positioning. Based on the formula of the Saastamoinen and Callahan models; this study develops two single-site tropospheric models (named SAAS_S and CH_S models) for the Chinese region using radiosonde data from 2005 to 2012. We assess the two single-site tropospheric models with radiosonde data for 2013 and zenith tropospheric delay (ZTD) data from four International GNSS Service (IGS) stations and compare them to the results of the Saastamoinen and Callahan models. The experimental results show that: the mean accuracy of the SAAS_S model (bias: 0.19 cm; RMS: 3.19 cm) at all radiosonde stations is superior to those of the Saastamoinen (bias: 0.62 cm; RMS: 3.62 cm) and CH_S (bias: −0.05 cm; RMS: 3.38 cm) models. In most Chinese regions; the RMS values of the SAAS_S and CH_S models are about 0.51~2.12 cm smaller than those of their corresponding source models. The SAAS_S model exhibits a clear improvement in the accuracy over the Saastamoinen model in low latitude regions. When the SAAS_S model is replaced by the SAAS model in the positioning of GNSS; the mean accuracy of vertical direction in the China region can be improved by 1.12~1.55 cm and the accuracy of vertical direction in low latitude areas can be improved by 1.33~7.63 cm. The residuals of the SAAS_S model are closer to a normal distribution compared to those of the Saastamoinen model. Single-site tropospheric models based on the short period of the most recent data (for example 2 years) can also achieve a satisfactory accuracy. The average performance of the SAAS_S model (bias: 0.83 cm; RMS: 3.24 cm) at four IGS stations is superior to that of the Saastamoinen (bias: −0.86 cm; RMS: 3.59 cm) and CH_S (bias: 0.45 cm; RMS: 3.38 cm) models. PMID:28749429

Precision vector control of a superconducting RF cavity driven by an injection locked magnetron

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chase, Brian; Pasquinelli, Ralph; Cullerton, Ed

The technique presented in this paper enables the regulation of both radio frequency amplitude and phase in narrow band devices such as a Superconducting RF (SRF) cavity driven by constant power output devices i.e. magnetrons [1]. The ability to use low cost high efficiency magnetrons for accelerator RF power systems, with tight vector regulation, presents a substantial cost savings in both construction and operating costs - compared to current RF power system technology. An operating CW system at 2.45 GHz has been experimentally developed. Vector control of an injection locked magnetron has been extensively tested and characterized with a SRFmore » cavity as the load. Amplitude dynamic range of 30 dB, amplitude stability of 0.3% r.m.s, and phase stability of 0.26 degrees r.m.s. has been demonstrated.« less

Precision vector control of a superconducting RF cavity driven by an injection locked magnetron

DOE PAGES

Chase, Brian; Pasquinelli, Ralph; Cullerton, Ed; ...

2015-03-01

The technique presented in this paper enables the regulation of both radio frequency amplitude and phase in narrow band devices such as a Superconducting RF (SRF) cavity driven by constant power output devices i.e. magnetrons [1]. The ability to use low cost high efficiency magnetrons for accelerator RF power systems, with tight vector regulation, presents a substantial cost savings in both construction and operating costs - compared to current RF power system technology. An operating CW system at 2.45 GHz has been experimentally developed. Vector control of an injection locked magnetron has been extensively tested and characterized with a SRFmore » cavity as the load. Amplitude dynamic range of 30 dB, amplitude stability of 0.3% r.m.s, and phase stability of 0.26 degrees r.m.s. has been demonstrated.« less

Accuracy analysis for triangulation and tracking based on time-multiplexed structured light.

PubMed

Wagner, Benjamin; Stüber, Patrick; Wissel, Tobias; Bruder, Ralf; Schweikard, Achim; Ernst, Floris

2014-08-01

The authors' research group is currently developing a new optical head tracking system for intracranial radiosurgery. This tracking system utilizes infrared laser light to measure features of the soft tissue on the patient's forehead. These features are intended to offer highly accurate registration with respect to the rigid skull structure by means of compensating for the soft tissue. In this context, the system also has to be able to quickly generate accurate reconstructions of the skin surface. For this purpose, the authors have developed a laser scanning device which uses time-multiplexed structured light to triangulate surface points. The accuracy of the authors' laser scanning device is analyzed and compared for different triangulation methods. These methods are given by the Linear-Eigen method and a nonlinear least squares method. Since Microsoft's Kinect camera represents an alternative for fast surface reconstruction, the authors' results are also compared to the triangulation accuracy of the Kinect device. Moreover, the authors' laser scanning device was used for tracking of a rigid object to determine how this process is influenced by the remaining triangulation errors. For this experiment, the scanning device was mounted to the end-effector of a robot to be able to calculate a ground truth for the tracking. The analysis of the triangulation accuracy of the authors' laser scanning device revealed a root mean square (RMS) error of 0.16 mm. In comparison, the analysis of the triangulation accuracy of the Kinect device revealed a RMS error of 0.89 mm. It turned out that the remaining triangulation errors only cause small inaccuracies for the tracking of a rigid object. Here, the tracking accuracy was given by a RMS translational error of 0.33 mm and a RMS rotational error of 0.12°. This paper shows that time-multiplexed structured light can be used to generate highly accurate reconstructions of surfaces. Furthermore, the reconstructed point sets can be used for high-accuracy tracking of objects, meeting the strict requirements of intracranial radiosurgery.

Activation of Neck and Low-Back Muscles Is Reduced with the Use of a Neck Balance System Together with a Lumbar Support in Urban Drivers.

PubMed

Menotti, Federica; Labanca, Luciana; Laudani, Luca; Giombini, Arrigo; Pigozzi, Fabio; Macaluso, Andrea

2015-01-01

Driving is associated with high activation of low-back and neck muscles due to the sitting position and perturbations imposed by the vehicle. The aim of this study was to investigate the use of a neck balance system together with a lumbar support on the activation of low-back and neck muscles during driving. Twelve healthy male subjects (age 32±6.71 years) were asked to drive in two conditions: 1) with devices; 2) without devices. During vehicle accelerations and decelerations root mean square (RMS) of surface electromyography (sEMG) was recorded from the erector spinae, semispinalis capitis and sternocleidomastoid muscles and expressed as a percentage of maximal voluntary contraction (MVC). The pitch of the head was obtained by means of an inertial sensor placed on the subjects' head. A visual analog scale (VAS) was used to assess the level of perceived comfort. RMS of the low back muscles was lower with than without devices during both acceleration and deceleration of the vehicle (1.40±0.93% vs 29 2.32±1.90% and 1.88±1.45% vs 2.91±2.33%, respectively), while RMS of neck extensor muscles was reduced only during acceleration (5.18±1.96% vs 5.91±2.16%). There were no differences between the two conditions in RMS of neck flexor muscles, the pitch of the head and the VAS score. The use of these two ergonomic devices is therefore effective in reducing the activation of low-back and neck muscles during driving with no changes in the level of perceived comfort, which is likely due to rebalancing weight on the neck and giving a neutral position to lumbar segments.

Rms-flux relation and fast optical variability simulations of the nova-like system MV Lyr

NASA Astrophysics Data System (ADS)

Dobrotka, A.; Mineshige, S.; Ness, J.-U.

2015-03-01

The stochastic variability (flickering) of the nova-like system (subclass of cataclysmic variable) MV Lyr yields a complicated power density spectrum with four break frequencies. Scaringi et al. analysed high-cadence Kepler data of MV Lyr, taken almost continuously over 600 d, giving the unique opportunity to study multicomponent Power Density Spectra (PDS) over a wide frequency range. We modelled this variability with our statistical model based on disc angular momentum transport via discrete turbulent bodies with an exponential distribution of the dimension scale. Two different models were used, a full disc (developed from the white dwarf to the outer radius of ˜1010 cm) and a radially thin disc (a ring at a distance of ˜1010 cm from the white dwarf) that imitates an outer disc rim. We succeed in explaining the two lowest observed break frequencies assuming typical values for a disc radius of 0.5 and 0.9 times the primary Roche lobe and an α parameter of 0.1-0.4. The highest observed break frequency was also modelled, but with a rather small accretion disc with a radius of 0.3 times the primary Roche lobe and a high α value of 0.9 consistent with previous findings by Scaringi. Furthermore, the simulated light curves exhibit the typical linear rms-flux proportionality linear relation and the typical log-normal flux distribution. As the turbulent process is generating fluctuations in mass accretion that propagate through the disc, this confirms the general knowledge that the typical rms-flux relation is mainly generated by these fluctuations. In general, a higher rms is generated by a larger amount of superposed flares which is compatible with a higher mass accretion rate expressed by a larger flux.

Differences in Muscle Activity During Cable Resistance Training Are Influenced by Variations in Handle Types.

PubMed

Rendos, Nicole K; Heredia Vargas, Héctor M; Alipio, Taislaine C; Regis, Rebeca C; Romero, Matthew A; Signorile, Joseph F

2016-07-01

Rendos, NK, Heredia Vargas, HM, Alipio, TC, Regis, RC, Romero, MA, and Signorile, JF. Differences in muscle activity during cable resistance training are influenced by variations in handle types. J Strength Cond Res 30(7): 2001-2009, 2016-There has been a recent resurgence in the use of cable machines for resistance training allowing movements that more effectively simulate daily activities and sports-specific movements. By necessity, these devices require a machine/human interface through some type of handle. Considerable data from material handling, industrial engineering, and exercise training studies indicate that handle qualities, especially size and shape, can significantly influence force production and muscular activity, particularly of the forearm muscles, which affect the critical link in activities that require object manipulation. The purpose for this study was to examine the influence of three different handle conditions: standard handle (StandH), ball handle with the cable between the index and middle fingers (BallIM), and ball handle with the cable between the middle and ring fingers (BallMR), on activity levels (rmsEMG) of the triceps brachii lateral and long heads (TriHLat, TriHLong), brachioradialis (BR), flexor carpi radialis (FCR), extensor carpi ulnaris, and extensor digitorum (ED) during eight repetitions of standing triceps pushdown performed from 90° to 0° elbow flexion at 1.5 s per contractile stage. Handle order was randomized. No significant differences were seen for triceps or BR rmsEMG across handle conditions; however, relative patterns of activation did vary for the forearm muscles by handle condition, with more coordinated activation levels for the FCR and ED during the ball handle conditions. In addition, the rmsEMG for the ED was significantly higher during the BallIM than any other condition and during the BallMR than the StandH. These results indicate that the use of ball handles with the cable passing between different fingers can vary the utilization patterns of selected forearm muscles and may therefore be advantageous for coaches, personal trainers, therapists, or bodybuilders for targeted training or rehabilitation of these muscles.