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DOE OSTI2022

In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep challenges, even with available sensor data, due to complex electrical-thermal-mechanical interactions and hysteresis. This article proposes a framework for in-situ sensing and dynamics modeling of actuator states, particularly temperature of SMA wires, which is used to predict robot motions. A planar soft limb is developed, actuated by a pair of SMA coils, that includes compact and robust sensors for temperature and angular deflection. Data from these sensors are used to train a neural network-based on the long short-term memory (LSTM) architecture to model both unidirectional (single SMA) and bidirectional (both SMAs) motion. Predictions from the model demonstrate that data from the temperature sensor, combined with control inputs, allow for dynamics predictions over extraordinarily long open-loop timescales (10 min) with little drift. Prediction errors are on the order of the soft deflection sensor’s accuracy. This architecture allows for compact designs of electrothermally-actuated soft robots that include sensing sufficient for motion predictions, helping to bring these robots into practical application.

Sabelhaus, Andrew P.↗

DOE OSTI2025

Measurement of the azimuthal anisotropy of charged particles in $\sqrt{s_{\mathrm{NN}}}=5.36$ TeV $^{16}$O$+^{16}$O and $^{20}$Ne$+^{20}$Ne collisions with the ATLAS detector

This paper presents the first measurements of the azimuthal anisotropy coefficients $v_{n}$, which quantify the $n^{\mathrm{th}}$-order Fourier modulation of charged-particle azimuthal distributions, for $n=2$-4 in $\sqrt{s_{\mathrm{NN}}}=5.36$ TeV $\mathrm{^{16}O}+\mathrm{^{16}O}$ and $\mathrm{^{20}Ne}+\mathrm{^{20}Ne}$ collisions recorded with the ATLAS detector at the Large Hadron Collider in 2025. The $v_{n}$ coefficients are measured as a function of transverse momentum ($p_{\mathrm{T}}$), collision centrality, and event multiplicity. They are extracted using two complementary methods: two-particle correlations with a template-fit subtraction of short-range non-flow contributions, and four-particle subevent cumulants, which intrinsically suppress non-flow effects and provide sensitivity to flow fluctuations. The results show a clear hierarchy $v_{2} > v_{3} > v_{4}$ and a non-monotonic dependence on $p_{\mathrm{T}}$, reaching a maximum around 2 GeV, consistent with trends observed in heavy-ion collisions. Detailed comparisons between the two collision systems reveal an enhanced $v_{2}$ in central $\mathrm{^{20}Ne}+\mathrm{^{20}Ne}$ collisions, consistent with theory expectations based on the predicted prolate deformation of neon nuclei, in contrast to the slightly tetrahedral structure predicted for oxygen. The four-particle cumulant results highlight strong event-by-event fluctuations and provide the greatest sensitivity to nuclear shape effects. These measurements can place new constraints on the initial geometry and the hydrodynamic response in light-ion collisions, offering valuable input for models of nuclear structure.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

NASA NTRS1981

A programing system for research and applications in structural optimization

The paper describes a computer programming system designed to be used for methodology research as well as applications in structural optimization. The flexibility necessary for such diverse utilizations is achieved by combining, in a modular manner, a state-of-the-art optimization program, a production level structural analysis program, and user supplied and problem dependent interface programs. Standard utility capabilities existing in modern computer operating systems are used to integrate these programs. This approach results in flexibility of the optimization procedure organization and versatility in the formulation of contraints and design variables. Features shown in numerical examples include: (1) variability of structural layout and overall shape geometry, (2) static strength and stiffness constraints, (3) local buckling failure, and (4) vibration constraints. The paper concludes with a review of the further development trends of this programing system.

Sobieszczanski-Sobieski, J.↗

NASA NTRS1984

Optimization of Antenna Structure Design

Optimality criteria design is applied for large antenna structures with multiple constraints on microwave performance. The constraints are on accuracy of the structure: restrictions on the microwave pathlength error, and the antenna pointing error. The examples given show convergence to low-weight feasible designs that satisfy the constraints. Truss-member sizes are automatically selected from tables of commercially available structural shapes, and approximations results from the method of selection are found moderate. The multiple constraint design is shown to be more effective in meeting constraints than the old envelop method. For practical structures, the new design method can be performed within reasonable core size and computation time.

Levy, R.↗

NASA NTRS1985

TRO-2D - A code for rational transonic aerodynamic optimization

Features and sample applications of the transonic rational optimization (TRO-2D) code are outlined. TRO-2D includes the airfoil analysis code FLO-36, the CONMIN optimization code and a rational approach to defining aero-function shapes for geometry modification. The program is part of an effort to develop an aerodynamically smart optimizer that will simplify and shorten the design process. The user has a selection of drag minimization and associated minimum lift, moment, and the pressure distribution, a choice among 14 resident aero-function shapes, and options on aerodynamic and geometric constraints. Design variables such as the angle of attack, leading edge radius and camber, shock strength and movement, supersonic pressure plateau control, etc., are discussed. The results of calculations of a reduced leading edge camber transonic airfoil and an airfoil with a natural laminar flow are provided, showing that only four design variables need be specified to obtain satisfactory results.

Davis, W. H., Jr.↗

NASA NTRS1990

Constraints on the subsurface structure of Europa

The wedge-shaped bands appearing near the anti-Jovian point on Europa are tension cracks which, after formation on an intact lithosphere, have facilitated the rotation of ice-lithosphere sections decoupled from the silicate interior. Such factors as fluid pressure, surface temperature, silicate impurities in the ice, and strain rates, would have affected the processes in question. A minimum degree of differentiation is required for Europa to mechanically decouple the rotated ice lithosphere from the underlying, predominantly silicate mantle.

Golombek, M. P.↗

NASA NTRS2010

Five Years of Mid-Infrared Evolution of the Remnant of SN 1987A: The Encounter Between the Blast Wave and the Dusty Equatorial Ring

We have used the Spitzer satellite to monitor the laid-IR evolution of SN 1987A over a 5 year period spanning the epochs between days 6000 and 8000 since the explosion. The supernova (SN) has evolved into a supernova remnant (SNR) and its radiative output, is dominated by the interaction of the SN blast wave with the pre-existing equatorial ring (ER). The mid-IR spectrum is dominated by emission from approximately 180 K silicate dust, collisionally-heated by the hot X-ray emitting gas with a temperature and density of 5 x 10(exp 6) K and approximately 3 x 10(exp 4) per cubic centimeter, respectively. The mass of the radiating dust is approximately 1.2 x 10(exp -6) solar mass on day 7554, and scales linearly with IR flux. Comparison of the IR data with the soft X-ray flux derived from Chandra observations shows that the IR-to-X-ray flux ratio, IRX, is roughly constant with a value of 2.5. Gas-grain collisions therefore dominate the cooling of the shocked gas. The constancy of IRX is most consistent with the scenario that very little grain processing or gas cooling have occurred throughout this epoch. The shape of the dust spectrum remained unchanged during the observations while the total flux increased by a factor of approximately 5 with a time dependence of t(sup '0.87 plus or minus 0.20), t' being the time since the first encounter between the blast wave and the ER. These observations are consistent with the transitioning of the blast wave from free expansion to a Sedov phase as it propagates into the main body of the ER, as also suggested by X-ray observations. The constant spectral shape of they IR, emission provides strong constraints on the density and temperature of the shocked gas in which the interaction takes place. The IR spectra also suggest the presence of a secondary population of very small, hot (T greater than or equal to 350 K), featureless dust. If these grains spatially coexists with the silicates, then they must have shorter lifetimes. The data show slightly different rates of increase of their respective fluxes, lending some support to this hypothesis. However, the origin of this emission component and the exact nature of its relation to the silicate emission is still a major unsolved puzzle.

Dwek, Eli↗

NASA NTRS2011

Monitoring Aerosols from Space: What We can Say, and What We Can't

Aerosols are understood to play a significant role is the global energy balance, and especially on atmospheric as well as surface energy balances regionally. A combination of direct radiative cooling of the surface, atmospheric warming through diabatic heating, and indirect effects of aerosol on clouds are all thought to contribute to the net aerosol effect, though the magnitudes of each are both highly variable in space and time, and highly uncertain. Passive space-based remote sensing is a key tool for constraining these effects, due to the frequent, global coverage satellites can provide. However, information from such observations about total-column aerosol amount (i.e., aerosol optical depth or AOD), and especially about aerosol type, is limited. The current generation of passive aerosol remote-sensing instruments, including the Multi-angle Imaging SpectroRadiometer (MISR) and the MODerate resolution Imaging Spectroradiometer (MODIS) offer vast improvements over previous instruments, including AOD over water and much of the land surface, fine vs. coarse particle type over ocean from MODIS, and discrimination of about a dozen aerosol types from MISR under good retrieval conditions, based on particle size, shape, and single-scattering albedo (SSA) constraints. This presentation will summarize the capabilities and expected improvements in the currently available aerosol products, in light of required energy budget constraints. Ways of addressing the need for detailed information about particle microphysical properties, especially SSA, unobtainable from MISR or MODIS, will be discussed.

Kahn, Ralph A.↗

NASA NTRS2008

Estimating Small-Body Gravity Field from Shape Model and Navigation Data

This paper presents a method to model the external gravity field and to estimate the internal density variation of a small-body. We first discuss the modeling problem, where we assume the polyhedral shape and internal density distribution are given, and model the body interior using finite elements definitions, such as cubes and spheres. The gravitational attractions computed from these approaches are compared with the true uniform-density polyhedral attraction and the level of accuracies are presented. We then discuss the inverse problem where we assume the body shape, radiometric measurements, and a priori density constraints are given, and estimate the internal density variation by estimating the density of each finite element. The result shows that the accuracy of the estimated density variation can be significantly improved depending on the orbit altitude, finite-element resolution, and measurement accuracy.

Covariance Analysis↗

NASA NTRSDate not supplied

Risk Characterization Research for Artemis II: Human Factors and Behavioral Performance

BACKGROUND Artemis II will be the first time NASA astronauts go beyond low-Earth orbit (LEO) since the Apollo era, and the first astronauts heading into space in the Orion vehicle. As such, it provides a critical opportunity to refine our understanding of the likelihood and consequences associated with the Behavioral Medicine (BMed), Team, Human System Integration Architecture (HSIA), and Sleep Risks, and prepare for future Moon and Mars missions. However, Artemis II research efforts are uniquely shaped by in-mission data collection constraints. There is currently no in-mission crew time available to complete measures. In-mission data will need to be collected unobtrusively from available data streams (e.g., audiovisual, existing records such as schedules, and actigraphy). Accordingly, the overarching goal of our research is to utilize Artemis II data to further define the likelihood and consequences of these risks, and to create an unobtrusive research infrastructure that can be expanded to include future Artemis missions. This goal spans four aims across three research phases: (1) identify and operationally define key performances metrics and constructs across the four aforementioned risks, (2) develop an unobtrusive methodology and coding scheme for in-mission data collection, (3) characterize performance decrements due to Bmed, Team, HSIA, and Sleep Risks, and (4) develop a data infrastructure for future Artemis missions. The following details results of Phase I efforts in which we address Aims 1 and 2 to develop an unobtrusive measurement plan and coding scheme to capture key constructs, contributing factors, and performance decrements across each risk area. METHOD As part of Phase I, we conducted an interdisciplinary literature review and consulted with SMEs to identify unobtrusive methodologies that leverage text, audio, and/or video data as well as conceptualize key performance metrics, contributing factors, and BMed, Team, HSIA, and Sleep risk constructs related to performance decrements. The Phase I effort resulted in a finalized pre- and post-mission protocol for Artemis II, along with a measurement and coding scheme for in-mission Artemis II data. Phase II will involve data collection from the upcoming Artemis II mission. Phase III will include data processing, coding, depiction, analysis, and report writing of the Artemis II data. RESULTS & DISCUSSION To date, we have completed Phase I efforts. Specifically, we identified BMed, Team, HSIA, and Sleep risk constructs related to performance metrics, summarized how these constructs can be measured using audiovisual data collected during the mission, and worked with NASA’s HFBP Element to finalize a data collection protocol that leverages audiovisual input from the Orion spacecraft system. Our protocol includes novel unobtrusive methodologies that adhere to in-mission data streams and subsequent constraints (e.g., limited storage space on GoPro cameras, ambient noise impeding audio files) to best capture in-mission phenomena across each risk area. We will present our results from Phase I efforts, namely best practices for unobtrusive measurement as identified through literature reviews and SME consultation as well as codebook excerpts for use in Artemis II. We will include a description of planned work as we prepare for Phase II and Phase III of this research plan and the Artemis II mission itself. SUMMARY We describe progress on our Human Factors and Behavioral Performance Research for Artemis II study.

behavioral health↗

DOE OSTI2020

RL-HEMS: Reinforcement Learning Based Home Energy Management System for HVAC Energy Optimization

Heating, ventilation, and air conditioning (HVAC) is one of the major energy consumers in the residential sector. It is important to be able to monitor and control the energy consumed to provide utility services such as load shaping while satisfying the comfort and economic constraints of the homeowner. The objective of this work is to create the optimal schedule for HVAC operation to reduce the cost while satisfying the home-owner and equipment’s constraints using a model-free Reinforcement Learning (RL)-based optimization. The specific goal is to find the right balance between reducing energy cost, consumption, and customer comfort level. Our research effort addresses this optimization problem using multiple components: the development of initial learning test-bed and implementation of RL techniques on a real home. This will enable the rapid evaluation of the RL techniques and provide an early baseline to train before implementation on site. The RL algorithm is designed to learn the energy use patterns and generate the optimized schedule for HVAC within an acceptable time-interval to satisfy the homeowner’s comfort and minimize the energy usage. Our preliminary results are promising and we have observed a 17% reduction in the total cost and a 15% reduction in the power utilization using our RL-based HVAC model—RL-HEMS.

Kotevska, Olivera↗

NASA NTRS2015

Adaptive Shape Control for Aerodynamic Design

We present an approach to aerodynamic optimization in which the shape control is adaptively parameterized. Starting from a coarse set of design variables, a sequence of higher-dimensional nested search spaces is automatically generated. Refinement can be either uniform or adaptive, in which case only the most important shape control is added. The relative importance of candidate design variables is determined by comparing objective and constraint gradients, computed at low cost via adjoint solutions. A search procedure for finding an effective ensemble of shape parameters is also given. We first demonstrate this system on a multipoint drag miminization problem in 2D with many constraints, showing that an adaptive parameterization approach consistently achieves smoother, more robust, and faster design improvement than fixed parameterizations. We also establish a 3D shape- matching benchmark, where we demonstrate that our approach automatically discovers the necessary parameters to match a target shape. By largely automating shape parameterization, this work also aims to remove a time-consuming aspect of shape optimization.

Aerodynamic Design↗

NASA NTRS1989

Trajectory optimization and guidance for an aerospace plane

The first step in the approach to developing guidance laws for a horizontal take-off, air breathing single-stage-to-orbit vehicle is to characterize the minimum-fuel ascent trajectories. The capability to generate constrained, minimum fuel ascent trajectories for a single-stage-to-orbit vehicle was developed. A key component of this capability is the general purpose trajectory optimization program OTIS. The pre-production version, OTIS 0.96 was installed and run on a Convex C-1. A propulsion model was developed covering the entire flight envelope of a single-stage-to-orbit vehicle. Three separate propulsion modes, corresponding to an after burning turbojet, a ramjet and a scramjet, are used in the air breathing propulsion phase. The Generic Hypersonic Aerodynamic Model Example aerodynamic model of a hypersonic air breathing single-stage-to-orbit vehicle was obtained and implemented. Preliminary results pertaining to the effects of variations in acceleration constraints, available thrust level and fuel specific impulse on the shape of the minimum-fuel ascent trajectories were obtained. The results show that, if the air breathing engines are sized for acceleration to orbital velocity, it is the acceleration constraint rather than the dynamic pressure constraint that is active during ascent.

Mease, Kenneth D.↗

NASA NTRS1985

An Intuitive Approach to Geometric Continuity for Parametric Curves and Surfaces (Extended Abstract)

The notion of geometric continuity is extended to an arbitrary order for curves and surfaces, and an intuitive development of constraints equations is presented that are necessary for it. The constraints result from a direct application of the univariate chain rule for curves, and the bivariate chain rule for surfaces. The constraints provide for the introduction of quantities known as shape parameters. The approach taken is important for several reasons: First, it generalizes geometric continuity to arbitrary order for both curves and surfaces. Second, it shows the fundamental connection between geometric continuity of curves and geometric continuity of surfaces. Third, due to the chain rule derivation, constraints of any order can be determined more easily than derivations based exclusively on geometric measures.

Derose, T. D.↗

NASA NTRS1991

Experiences with optimizing airfoil shapes for maximum lift over drag

The goal was to find airfoil shapes which maximize the ratio of lift over drag for given flow conditions. For a fixed Mach number, Reynolds number, and angle of attack, the lift and drag depend only on the airfoil shape. This then becomes a problem in optimization: find the shape which leads to a maximum value of lift over drag. The optimization was carried out using a self contained computer code for finding the minimum of a function subject to constraints. To find the lift and drag for each airfoil shape, a flow solution has to be obtained. This was done using a two dimensional Navier-Stokes code.

Doria, Michael L.↗

NASA NTRS2013

Constraints on Porosity and Mass Loss in O-star Winds from the Modeling of X-ray Emission Line Profile Shapes

We fit X-ray emission line profiles in high resolution XMM-Newton and Chandra grating spectra of the early O supergiant Zeta Pup with models that include the effects of porosity in the stellar wind. We explore the effects of porosity due to both spherical and flattened clumps. We find that porosity models with flattened clumps oriented parallel to the photosphere provide poor fits to observed line shapes. However, porosity models with isotropic clumps can provide acceptable fits to observed line shapes, but only if the porosity effect is moderate. We quantify the degeneracy between porosity effects from isotropic clumps and the mass-loss rate inferred from the X-ray line shapes, and we show that only modest increases in the mass-loss rate (40%) are allowed if moderate porosity effects (h(sub infinity) less than approximately R(sub ∗)) are assumed to be important. Large porosity lengths, and thus strong porosity effects, are ruled out regardless of assumptions about clump shape. Thus, X-ray mass-loss rate estimates are relatively insensitive to both optically thin and optically thick clumping. This supports the use of X-ray spectroscopy as a mass-loss rate calibration for bright, nearby O stars

porosity↗

DOE OSTI2020

Planck 2018 results

We analyse the Planck full-mission cosmic microwave background (CMB) temperature and E -mode polarization maps to obtain constraints on primordial non-Gaussianity (NG). We compare estimates obtained from separable template-fitting, binned, and optimal modal bispectrum estimators, finding consistent values for the local, equilateral, and orthogonal bispectrum amplitudes. Our combined temperature and polarization analysis produces the following final results: f NL local = -0.9 ± 5.1; f NL equil = -26 ± 47; and f NL ortho = -38 ± 24 (68% CL, statistical). These results include low-multipole (4 ≤ ℓ < 40) polarization data that are not included in our previous analysis. The results also pass an extensive battery of tests (with additional tests regarding foreground residuals compared to 2015), and they are stable with respect to our 2015 measurements (with small fluctuations, at the level of a fraction of a standard deviation, which is consistent with changes in data processing). Polarization-only bispectra display a significant improvement in robustness; they can now be used independently to set primordial NG constraints with a sensitivity comparable to WMAP temperature-based results and they give excellent agreement. In addition to the analysis of the standard local, equilateral, and orthogonal bispectrum shapes, we consider a large number of additional cases, such as scale-dependent feature and resonance bispectra, isocurvature primordial NG, and parity-breaking models, where we also place tight constraints but do not detect any signal. The non-primordial lensing bispectrum is, however, detected with an improved significance compared to 2015, excluding the null hypothesis at 3.5 σ . Beyond estimates of individual shape amplitudes, we also present model-independent reconstructions and analyses of the Planck CMB bispectrum. Our final constraint on the local primordial trispectrum shape is g NL local = (-5.8 ± 6.5) × 10 4 (68% CL, statistical), while constraints for other trispectrum shapes are also determined. Exploiting the tight limits on various bispectrum and trispectrum shapes, we constrain the parameter space of different early-Universe scenarios that generate primordial NG, including general single-field models of inflation, multi-field models (e.g. curvaton models), models of inflation with axion fields producing parity-violation bispectra in the tensor sector, and inflationary models involving vector-like fields with directionally-dependent bispectra. Our results provide a high-precision test for structure-formation scenarios, showing complete agreement with the basic picture of the ΛCDM cosmology regarding the statistics of the initial conditions, with cosmic structures arising from adiabatic, passive, Gaussian, and primordial seed perturbations.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1997

Three-Dimensional Viscous Alternating Direction Implicit Algorithm and Strategies for Shape Optimization

A gradient-based shape optimization based on quasi-analytical sensitivities has been extended for practical three-dimensional aerodynamic applications. The flow analysis has been rendered by a fully implicit, finite-volume formulation of the Euler and Thin-Layer Navier-Stokes (TLNS) equations. Initially, the viscous laminar flow analysis for a wing has been compared with an independent computational fluid dynamics (CFD) code which has been extensively validated. The new procedure has been demonstrated in the design of a cranked arrow wing at Mach 2.4 with coarse- and fine-grid based computations performed with Euler and TLNS equations. The influence of the initial constraints on the geometry and aerodynamics of the optimized shape has been explored. Various final shapes generated for an identical initial problem formulation but with different optimization path options (coarse or fine grid, Euler or TLNS), have been aerodynamically evaluated via a common fine-grid TLNS-based analysis. The initial constraint conditions show significant bearing on the optimization results. Also, the results demonstrate that to produce an aerodynamically efficient design, it is imperative to include the viscous physics in the optimization procedure with the proper resolution. Based upon the present results, to better utilize the scarce computational resources, it is recommended that, a number of viscous coarse grid cases using either a preconditioned bi-conjugate gradient (PbCG) or an alternating-direction-implicit (ADI) method, should initially be employed to improve the optimization problem definition, the design space and initial shape. Optimized shapes should subsequently be analyzed using a high fidelity (viscous with fine-grid resolution) flow analysis to evaluate their true performance potential. Finally, a viscous fine-grid-based shape optimization should be conducted, using an ADI method, to accurately obtain the final optimized shape.

Pandya, Mohagna J.↗