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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗
NASA NTRS1991

Application of a monotonic upstream-biased transport scheme to three-dimensional constituent transport calculations

The application of van Leer's scheme, a monotonic, upstream-biased differencing scheme, to three-dimensional constituent transport calculations is shown. The major disadvantage of the scheme is shown to be a self-limiting diffusion. A major advantage of the scheme is shown to be its ability to maintain constituent correlations. The scheme is adapted for a spherical coordinate system with a hybrid sigma-pressure coordinate in the vertical. Special consideration is given to cross-polar flow. The vertical wind calculation is shown to be extremely sensitive to the method of calculating the divergence. This sensitivity implies that a vertical wind formulation consistent with the transport scheme is essential for accurate transport calculations. The computational savings of the time-splitting method used to solve this equation are shown. Finally, the capabilities of this scheme are illustrated by an ozone transport and chemistry model simulation.

Allen, Dale J.↗
NASA NTRS1996

Four-Dimensional Oceanic and Atmosperic Data Assimilation with Tropical Rainfall Measuring Mission Data

An oceanic data assimilation system which allows to utilize the forthcoming Tropical Rainfall Measuring Mission (TRMM) data has been developed and applied to the Pacific Ocean to produce the velocity field. The assimilated data will be indispensable to examine the effects of rainfall and its variability on the structure and circulation of the tropical oceans and to assess the impact of global warming due to the increase of carbon dioxide on the ocean circulation system and the marine pollution caused by oil spill and ocean damping of radionuclide. The data will also provide the verification for the oceanic and ocean-atmosphere coupled General Circulation Models (GCM's). The system consists of oceanic GCM, analysis scheme and data. In the system the flow field has been determined to be physically consistent with the observed density field and the sea surface winds derived from the Special Sensor Microwave Imagery (SSM/I) data which drive the ocean current. The time integration has been performed for five years until the flow field near the surface attained the steady state starting from the rest ocean with observed temperature and salinity fields, and the SSM/I surface wind velocity. The resultant flow field showed high producibility of the system. Especially the flow near the ocean surface agreed well with available observed data. The system, for the first time, succeeded to produce the eastward subtropical current which has been discovered in the joint investigation on Kuroshio current (CSK) in the 1960s. To verify the quality of the flow field a trajectory analysis has been carried out and compared with the Algos buoy data. BRIEF DESCRIPTION OF THE DATA ASSIMILATION SYSTEM ## Oceanic GCM and analysis scheme--The basic equations are much the same as used for the GCM's, except for the Newtonian damping terms introduced into the prediction equations for the potential temperature and salinity to maintain these fields as observed. The C grid of 2'lat. by 2'long. in horizontal and the 11 vertical levels are applied to the entire Pacific Ocean. At the east and west ocean boundaries the periodic boundary conditions are applied creating fictitious ocean there. The SMAC Method is used to increase the accuracy of mass conservation. * Data--The JODC temperature and salinity data obtained from 1906 to 1988 are used in the system between Long.100'E. and 60'W. The surface wind data are derived from the SSM/I data by Dr-R. Atlas of NASA/GSFC. The data set contains every 6 hours data from July 1987 to June 1989 on the grid of 2'lat. by 2.5'long. The averaged for the whole period and then interpolated into the 2'lat. by 2'long. grid data are used to force the system. The sea bottom topography data was based on the General Bathymetric Chart of the Ocean (GEBCO) supplied by the Canadian Hydrographic Service under contract with the International Hydrographic Organization and International Oceanographic Commission of UNESCO.

Takano, Kenji↗
NASA NTRS1989

Application of direct solvers to unstructured meshes for the Euler and Navier-Stokes equations using upwind schemes

The application of Newton iteration to inviscid and viscous airfoil calculations on unstructured meshes is examined. A cell-centered finite volume scheme is employed on an unstructured mesh consisting of triangles. Roe's flux difference splitting scheme is used to compute the inviscid fluxes. Higher order accuracy is achieved by an interpolation procedure that makes use of auxiliary gradients. The efficient solution of the sparse linear system of equations which arises upon linearization in time is addressed. Results are presented for inviscid and viscous test cases. The complications which arise due to the introduction of nonlinear limiters are addressed.

Venkatakrishnan, V.↗
NASA NTRS1987

An adaptive control scheme for a flexible manipulator

The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

Yang, T. C.↗
DOE OSTI2022

A multi-resolution approach to hydraulic fracture simulation

Abstract We present a multi-resolution approach for constructing model-based simulations of hydraulic fracturing, wherein flow through porous media is coupled with fluid-driven fracture. The approach consists of a hybrid scheme that couples a discrete crack representation in a global domain to a phase-field representation in a local subdomain near the crack tip. The multi-resolution approach addresses issues such as the computational expense of accurate hydraulic fracture simulations and the difficulties associated with reconstructing crack apertures from diffuse fracture representations. In the global domain, a coupled system of equations for displacements and pressures is considered. The crack geometry is assumed to be fixed and the displacement field is enriched with discontinuous functions. Around the crack tips in the local subdomains, phase-field sub-problems are instantiated on the fly to propagate fractures in arbitrary, mesh independent directions. The governing equations and fields in the global and local domains are approximated using a combination of finite-volume and finite element discretizations. The efficacy of the method is illustrated through various benchmark problems in hydraulic fracturing, as well as a new study of fluid-driven crack growth around a stiff inclusion.

58 GEOSCIENCES↗
DOE OSTI2025

Particle Markov Chain Monte Carlo Approach to Inference in Transient Surface Kinetics

Here, in this work, we develop a novel Bayesian approach to study the adsorption and desorption of CO onto a Pd(111) surface, a process of great importance in natural sciences. The motivation for this work comes from the recent availability of time-resolved infrared spectroscopy data and the need for model interpretability and uncertainty quantification in chemical processes. The objective is to learn the relevant parameters that characterize the process: coverage with time, rate constants, activation energies, and pre-exponential factors. Our approach consists of three main schemes: (i) a problem design and probabilistic model for the whole system, (ii) a particle Markov chain Monte Carlo sampler to learn the hidden coverages and rate constant parameters, and (iii) two Bayesian formulations to infer the activation energies and pre-exponential factors. The flexibility of the Bayesian framework allows for uncertainty quantification where possible and integration of mathematical constraints in the model to reflect the system physically. We found that our results for the activation energies and pre-exponential factor are in agreement with those reported in the experimental literature, independently, and we provide discussions on the advantages and disadvantages as well as applicability to other systems.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Competitive Valerate Binding Enables RuO 2 -Mediated Butene Electrosynthesis in Water

The (non)-Kolbe oxidation of valeric acid, sourced from a hydrolysis product of cellulose, provides a sustainable synthetic route to access value-added products, such as butene. An essential mechanistic step preceding product formation involves the oxidative and decarboxylative cleavage of a C–C bond. Yet, the role of the electrode surface in mediating this oxidative step remains an open question: the electron transfer can occur either via an inner-sphere or outer-sphere mechanism. Here, we report the electrochemical, in situ spectroscopic, computational, and reactivity studies of RuO 2 -mediated oxidative decarboxylation of valeric acid to butene in aqueous electrolytes. We find that carboxylates bind to RuO 2 anode surfaces at potential values where decarboxylation products are observed. Our results are consistent with a reaction scheme where the competitive and catalytic oxygen evolution reaction (OER) is impeded by these bound carboxylate species while these species are inert toward butene formation. Our results implicate an outer-sphere electron transfer mechanism for decarboxylation where the surface chemistry of the RuO 2 electrode serves to enable higher non-Kolbe reaction selectivity by suppressing the parasitic OER. Furthermore, our findings delineate interfacial design principles for selective electrochemical systems that utilize water as the ultimate oxidant for sustainable decarboxylation.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2025

Sensitivities of Large Eddy Simulations of Aerosol Plume Transport and Cloud Response

Abstract Cloud responses to surface‐based sources of aerosol perturbation partially depend on how turbulent transport of the aerosol to cloud base affects the spatial and temporal distribution of aerosol. Here, scenarios of plume injection below a marine stratocumulus cloud are modeled using large eddy simulations coupled to a prognostic bulk aerosol and cloud microphysics scheme. Both passive plumes, consisting of an inert tracer, and active plumes are investigated, where the latter are representative of saltwater droplet plumes such as have been proposed for marine cloud brightening. Passive plume scenarios show higher in‐plume cloud brightness (relative to out‐of‐plume) due to the predominant transport of the passive plume tracer from the near‐surface to the cloud layer within updrafts. These updrafts rise into brighter areas within the cloud deck, even in the absence of an aerosol perturbation associated with an active plume. Comparing albedo at in‐plume to out‐of‐plume locations associates the inert plume with the brightest cloud locations, without any causal effect of the plume on the cloud. Numerical sensitivities are first assessed to establish a suitable model configuration. Then sensitivity to particle injection rate is investigated. Trade‐offs are identified between the number of injected particles and the suppressive effect of droplet evaporation on plume loft and spread. Furthermore, as the near‐field in‐plume brightening effect does not depend significantly on injection rate given a suitable definition of perturbed versus unperturbed regions of the flow, plume area is a key controlling factor on the overall cloud brightening effect of an aerosol perturbation.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Thermodynamically consistent incorporation of the Langmuir adsorption model into compressible fluctuating hydrodynamics

For a gas–solid interfacial system where chemical species undergo reversible adsorption, we develop a mesoscopic stochastic modeling method that simulates both gas-phase hydrodynamics and surface coverage dynamics by coupling the Langmuir adsorption model with compressible fluctuating hydrodynamics. To this end, we derive a thermodynamically consistent mass–energy update scheme that accounts for how the mass and energy variables in the gas and surface subsystems should be updated according to the changes in the number of molecules of each species in each subsystem due to adsorption and desorption events. By performing a stochastic analysis for the ideal Langmuir model and the full hydrodynamic system, we analytically confirm that our mass–energy update scheme captures thermodynamic equilibrium predicted by equilibrium statistical mechanics. We find that an internal energy correction term is needed, which is attributed to the difference in the mean kinetic energy of gas molecules colliding with the surface from that computed from the Maxwell–Boltzmann distribution. By performing an equilibrium simulation study for an ideal gas mixture of CO and Ar, with CO undergoing reversible adsorption, we validate our overall simulation method and implementation.

Adsorption↗
NASA NTRS1973

A land use and environmental impact analysis of the Norfolk-Portsmouth SMSA

The feasibility of using remote sensing techniques for land use and environmental assessment in the Norfolk-Portsmouth area is discussed. Data cover the use of high altitude aircraft and satellite remote sensing data for: (1) identifying various heirarchial levels of land use, (2) monitoring land use changes for repetitive basis, (3) assessing the impact of competing land uses, and (4) identifying areas of potential environmental deterioration. High altitude aircraft photographs (scale 1:120,000) acquired in 1959, 1970, and 1972, plus Earth Resources Technology Satellite (ERTS-1) color composite images acquired in 1972 were used for the land use and environmental assessments. The high altitude aircraft photography, as expected, was successfully used to map Level 1, Level 2, as well as some urban Level 3 land use categories. However, the detail of land use analysis obtainable from the ERTS imagery exceeded the expectations for the U.S. Geological Survey's land use classification scheme. Study results are consistent with the initial investigation which determined Level 1 land use change to be 16.7 square km per year.

Mitchel, W. B.↗
NASA NTRS1976

Determination of the cosmological rate of change of G and the tidal accelerations of earth and moon from ancient and modern astronomical data

The theory and numerical analysis of ancient astronomical observations (1374 to 1715) are combined with modern data in a simultaneous solution for: the tidal acceleration of the lunar longitude; the observed apparent acceleration of the earth's rotation; the true nontidal geophysical part of this acceleration; and the rate of change in the gravitational constant. Provided are three independent determinations of a rate of change of G consistent with the Hubble Constant and a near zero nontidal rotational acceleration of the earth. The tidal accelerations are shown to have remained constant during the historical period within uncertainties. Ancient and modern solar system data, and extragalactic observations provided a completely consistent astronomical and cosmological scheme.

Muller, P. M.↗
NASA NTRS1979

Flexible stator control on the Galileo spacecraft

Galileo is a dual-spin spacecraft designed to deliver a probe to Jupiter and then orbit the planet. The stator, or despun section, contains four flexible modes below 10 Hz and the despun actuator is separated from the inertial sensors by this flexibility. Control loop separation by bandwidth proved unacceptable due to performance requirements. To obtain the desired performance, a control scheme was devised which consists of three parts. First, flexibility damping and control notch filtering are accomplished by phase locked loop techniques. Second, slewing maneuvers are produced by torque profiles which are nonexcitatory to the structure. Finally, a low bandwidth perturbation controller is supplied to remove spacecraft disturbances.

Kopf, E. H.↗
NASA NTRS1984

Numerical optimization of circulation control airfoil at high subsonic speed

A numerical procedure for optimizing the design of the circulation control airfoil for use at high subsonic speeds is presented. The procedure consists of an optimization scheme coupled with a viscous potential flow analysis for the blowing jet. The desired airfoil is defined by a combination of three baseline shapes (cambered ellipse and cambered ellipse with drooped and spiraled trailing edges). The coefficients of these shapes are used as design variables in the optimization process. Under the constraints of lift augmentation and lift-to-drag ratios, the airfoil, optimized at free-stream Mach 0.54 and alpha = -2 degrees can be characterized as a cambered ellipse with a drooped trailing edge. Experimental tests support the performance improvement predicted by numerical optimization.

Tai, T. C.↗
NASA NTRS1987

Odd nitrogen during the MAP/GLOBUS 1983 campaign - Theoretical considerations

The paper reviews the chemical processes involved in the formation and destruction of active nitrogen in the stratosphere and indicates that transport processes play an important role in the behavior of these species. Vertical profiles measured during the MAP/GLOBUS 1983 campaign are compared to distributions calculated by a number of one-dimensional models. An intercomparison between six of these models shows that, if some quantitative differences attributed to different model input are noticeable, the same type of behavior is predicted for NO and NO2 by all models. Although the observed concentration of species belonging to the odd nitrogen family should be highly variable, as a result of dynamical disturbances, most data obtained during the campaign appear to be consistent with the chemical scheme currently used in photochemical models.

Brasseur, Guy↗
NASA NTRS1988

Numerical study of unsteady viscous hypersonic blunt body flows with an impinging shock

A complex two-dimensional, unsteady, viscous hypersonic shock wave interaction is numerically simulated by a high-resolution, second-order fully implicit shock-capturing scheme. The physical model consists of a nonstationary oblique shock impinging on the bow shock of a blunt body. Studies indicated that the unsteady flow patterns are slightly different from their steady counterparts. However, for the sample cases investigated the peak surface pressures for the unsteady flows seem to occur at very different impingement locations than for the steady flow cases.

Klopfer, G. H.↗
NASA NTRS1988

Observations of diurnal variations of BrO and OClO at McMurdo Station, Antarctica (78S)

Observations of the diurnal variations of OClO and BrO during austral spring, 1987 using long-path visible and near-ultraviolet absorption spectroscopy are presented and compared to simplified model calculations. It is shown that care must be taken to compare model calculations and measurements along the line of sight of the instrument. Evening twilight observations of OClO are shown to be broadly consistent with current photochemical schemes, assuming ClO and BrO levels near 50 mb of about 0.5 ppbv and 7 pptv, respectively, throughout the observing period from late Aug. to mid-Oct. Nighttime observations of OClO obtained using the moon as a light source display evidence for growth through the night in late-Aug., but not in late-Sept. Further, the observed morning twilight OClO abundances are in agreement with model calculations in late August, but generally fall below in late September and October. Observations of BrO in mid-Sept. systematically show far greater evening twilight than morning twilight abundances.

Solomon, S.↗
NASA NTRS1989

Numerical study of unsteady viscous hypersonic blunt body flows with an impinging shock

A complex two-dimensional, unsteady, viscous hypersonic shock wave interaction is numerically simulated by a high-resolution, second-order fully implicit shock-capturing scheme. The physical model consists of a nonstationary oblique shock impinging on the bow shock of a blunt body. Studies indicate that the unsteady flow patterns are slightly different from their steady counterparts. However, for the sample cases investigated the peak surface pressures for the unsteady flows seem to occur at very different impingement locations than for the steady flow cases.

Klopfer, G. H.↗