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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 NTRS2016

State Estimation for Tensegrity Robots

Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

robot↗
NASA NTRS2005

Decomposition-Based Decision Making for Aerospace Vehicle Design

Most practical engineering systems design problems have multiple and conflicting objectives. Furthermore, the satisfactory attainment level for each objective ( requirement ) is likely uncertain early in the design process. Systems with long design cycle times will exhibit more of this uncertainty throughout the design process. This is further complicated if the system is expected to perform for a relatively long period of time, as now it will need to grow as new requirements are identified and new technologies are introduced. These points identify a need for a systems design technique that enables decision making amongst multiple objectives in the presence of uncertainty. Traditional design techniques deal with a single objective or a small number of objectives that are often aggregates of the overarching goals sought through the generation of a new system. Other requirements, although uncertain, are viewed as static constraints to this single or multiple objective optimization problem. With either of these formulations, enabling tradeoffs between the requirements, objectives, or combinations thereof is a slow, serial process that becomes increasingly complex as more criteria are added. This research proposal outlines a technique that attempts to address these and other idiosyncrasies associated with modern aerospace systems design. The proposed formulation first recasts systems design into a multiple criteria decision making problem. The now multiple objectives are decomposed to discover the critical characteristics of the objective space. Tradeoffs between the objectives are considered amongst these critical characteristics by comparison to a probabilistic ideal tradeoff solution. The proposed formulation represents a radical departure from traditional methods. A pitfall of this technique is in the validation of the solution: in a multi-objective sense, how can a decision maker justify a choice between non-dominated alternatives? A series of examples help the reader to observe how this technique can be applied to aerospace systems design and compare the results of this so-called Decomposition-Based Decision Making to more traditional design approaches.

Borer, Nicholas K.↗
DOE OSTI2024

Robust VAR Capability Curve of DER with Uncertain Renewable Generation

Active distribution system with high penetration of inverter based distributed energy resources(DER), can be utilized for var-related ancillary services at the transmission side interface. In order to utilize the DER flexibility, transmission system operator must be presented the aggregated DER flexibility of distribution system. However, the uncertainty in renewable generation, questions the credibility of aggregated capability curve in practice. In this paper, we incorporate the uncertainty into aggregation process to develop capability curve while preserving the real physics (unbalance and lossy nature) of distribution system. The Resulting capability curve with the associated probability can be harnessed by the TSO for decision making for both planning and operation.

Kar, Aditya Shankar↗
DOE OSTI2021

A Machine Learning-based Reliability Evaluation Model for Integrated Power-Gas Systems

This article proposes a hybrid machine learning method for the reliability evaluation of integrated power-gas systems (IPGS) under the uncertain component failure probability distributions. The Random Forest (RF) method is designed to select important features to solve the insufficient quantity of data and the curse of dimensionality problems. The Extreme Gradient Boosting (XGBoost) regression algorithm is developed to quantify the relationship between the uncertain parameters and reliability metrics. Moreover, a ten-fold cross-validation method is employed to further improve the accuracy of the regression model. Simulation results on three test systems show that the proposed method can achieve high accuracy for the reliability evaluation.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2022

Simulation-based assessment on stochastic load scheduling for building cooling systems

Here, to fill knowledge gaps related to stochastic load scheduling, we performed a comprehensive evaluation of the stochastic load scheduling for building cooling systems. Specifically, we studied the common uncertain variables in the load scheduling process for building cooling systems and categorized those variables based on their dynamic patterns. We then developed a generic stochastic load scheduling framework and applied it to building cooling systems that served a simulated community. This community consists of 100 heterogeneous houses and serves as a virtual testbed for evaluating the performance of stochastic load scheduling. In this evaluation, we considered representatives of uncertain variables with different dynamic patterns and included 100 realizations of the considered uncertainty in the evaluation to better catch the probability distribution of the control performance. The evaluation results suggest that deterministic load scheduling can reduce the operating energy cost by 18% but its performance can be affected by uncertainty. Stochastic load scheduling can further decrease the operating energy cost under uncertainty compared to deterministic load scheduling. We also found that the effectiveness of stochastic load scheduling in handling uncertainty is not directly associated with the number of uncertainty scenarios that are considered in its formulation.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2025

Dynamic security assessment of systems powered only by grid-forming power plants with uncertain dispatch using polynomial vectors

A modern challenge in power engineering is to perform the dynamic security assessment (DSA) of grids that are 100% powered by inverter-based resources (IBRs). Addressing this challenge is difficult because: (i) the dispatch of IBRs can be uncertain as a result of the variability of renewable resources and (ii) they have hard current control limits that cannot be neglected, contrasting synchronous machines. To address this problem, this paper sets forth a framework to conduct DSA of bulk power systems that are 100% powered by grid-forming IBRs. Furthermore, the framework considers that IBR operational conditions are unknown but bounded by a zonotope which is also expressed as a polynomial vector for uncertainty propagation via Dormand–Prince integration. The framework is applied to modified versions of the WSCC 9-bus and IEEE 39-bus grids.

14 SOLAR ENERGY↗
DOE OSTI2021

Sparse Control Synthesis for Uncertain Responsive Loads With Stochastic Stability Guarantees

In this report, recent studies have demonstrated the potential of flexible loads in providing frequency response services, predominantly due to their availability and cost-effectiveness. However, uncertainty and variability in various weather-related and end-use behavioral factors often impact the reliability of demand-side control performance. This work addresses this problem with the design of a demand-side control to achieve frequency response under load uncertainties. Our approach involves modeling the load uncertainties via stochastic processes that appear as both multiplicative and additive in the power system dynamics. Recently developed mean square exponential stability (MSES) results for continuous-time linear stochastic systems are applied to pose the control synthesis problem which results in an LMI-based optimization problem. Additional costs and constraints are added to the LMI-based controller synthesis to ensure MSES, improve closed-loop transient performance, maximize tolerable uncertainties, and promote sparsity in the controller. Additionally, the fundamental limitations between the tolerable uncertainties and control efforts while ensuring MSES are discussed. Further, the control synthesis problem for the case of the full-state measurement is generalized to the case of partial-state measurements. The proposed control synthesis is illustrated on an IEEE 39 bus system with rigorous studies to demonstrate the role of sparsity, closed-loop transient performance, tolerable uncertainties, and control efforts while ensuring MSES and achieving frequency response.

42 ENGINEERING↗
NASA NTRS1992

Quantitative Feedback Theory (QFT) applied to the design of a rotorcraft flight control system

Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. Quantitative Feedback Theory is applied to the design of the longitudinal flight control system for a linear uncertain model of the AH-64 rotorcraft. In this model, the uncertainty is assigned, and is assumed to be attributable to actual uncertainty in the dynamic model and to the changes in the vehicle aerodynamic characteristics which occur near hover. The model includes an approximation to the rotor and actuator dynamics. The design example indicates the manner in which handling qualities criteria may be incorporated into the design of realistic rotorcraft control systems in which significant uncertainty exists in the vehicle model.

Hess, R. A.↗
NASA NTRS2021

Spatiotemporal Methane Emissions from Global Reservoirs

Methane (CH4) is a greenhouse gas which contributes significantly to global warming and has atmospheric concentrations which have increased considerably in the last few decades, primarily due to human-induced emissions. Natural sources such as wetlands and inland aquatic systems (i.e., reservoirs, lakes, rivers) contribute substantially to global emissions but these natural systems comprise the most uncertain components of the CH4 budget. This study addresses multiple gaps and uncertainties associated with global CH4 emissions from reservoirs and undertakes a spatial and temporal assessment of global reservoir emissions. The results from this study suggest that reservoirs occupy a global area about 300,000 km2 (comparable to the size of the country of Italy) and emit 10.1 Tg CH4 yr-1. We identify data and methodological elements of previous estimates that indicate they may overestimate these emissions. This work provides a suite of global data sets, gridded at 0.25° × 0.25°, considering reservoir surface area, spatial distribution, eco-climatic system type, and the full annual cycle of daily CH4 emissions.

Spatiotemporal↗
NASA NTRS2022

Earth System Model Parameter Adjustment Using a Green's Functions Approach

We demonstrate the practicality and effectiveness of using a Green's functions estimation approach for adjusting uncertain parameters in an Earth system model (ESM). This estimation approach has previously been applied to an intermediate-complexity climate model and to individual ESM components, e.g., ocean, sea ice, or carbon cycle components. Here, the Green's functions approach is applied to a state-of-the-art ESM that comprises a global atmosphere/land configuration of the Goddard Earth Observing System (GEOS) coupled to an ocean and sea ice configuration of the Massachusetts Institute of Technology general circulation model (MITgcm). Horizontal grid spacing is approximately 110 km for GEOS and 37–110 km for MITgcm. In addition to the reference GEOS-MITgcm simulation, we carried out a series of model sensitivity experiments, in which 20 uncertain parameters are perturbed. These “control” parameters can be used to adjust sea ice, microphysics, turbulence, radiation, and surface schemes in the coupled simulation. We defined eight observational targets: sea ice fraction, net surface shortwave radiation, downward longwave radiation, near-surface temperature, sea surface temperature, sea surface salinity, and ocean temperature and salinity at 300 m. We applied the Green's functions approach to optimize the values of the 20 control parameters so as to minimize a weighted least-squares distance between the model and the eight observational targets. The new experiment with the optimized parameters resulted in a total cost reduction of 9 % relative to a simulation that had already been adjusted using other methods. The optimized experiment attained a balanced cost reduction over most of the observational targets. We also report on results from a set of sensitivity experiments that are not used in the final optimized simulation but helped explore options and guided the optimization process. These experiments include an assessment of sensitivity to the number of control parameters and to the selection of observational targets and weights in the cost function. Based on these sensitivity experiments, we selected a specific definition for the cost function. The sensitivity experiments also revealed a decreasing overall cost as the number of control variables was increased. In summary, we recommend using the Green's functions estimation approach as an additional fine-tuning step in the model development process. The method is not a replacement for modelers' experience in choosing and adjusting sensitive model parameters. Instead, it is an additional practical and effective tool for carrying out final adjustments of uncertain ESM parameters.

Green's Function↗
NASA NTRS2016

Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

Neilan, James H.↗
DOE OSTI2026

Connecting ambient toxicity testing with community-level responses of benthic macroinvertebrates in an impacted stream in East Tennessee, USA

Single-species laboratory toxicity tests are a standard tool for evaluating potential impairment of freshwater systems; however, it remains uncertain how well they reflect community-level impacts in natural environments. This study presents a multi-decadal dataset (2005-2025) pairing ambient toxicity testing with macroinvertebrate surveys along Bear Creek on the Oak Ridge Reservation (Tennessee, USA) downstream of an industrial complex to assess the ability of laboratory tests using stream water to track community-level effects. Biannual three-brood Ceriodaphnia dubia tests from 2005 to 2025 often showed reduced reproduction at select sites. Integrating water quality data showed strong positive correlations between sublethal toxicity and specific conductance. Macroinvertebrate diversity metrics, family-level occurrence, and densities were also associated with conductance and contemporaneous C. dubia responses. Laboratory-measured sublethal toxicity was a stronger indicator of macroinvertebrate change than conductance alone, although responses varied among sites and seasons. At the site with the highest diversity, densities and richness of Ephemeroptera, Plecoptera, Trichoptera (EPT) and non-EPT taxa were significantly related to C. dubia reproduction, with greater toxicity corresponding to lower diversity. At the family level, some pollution-tolerant taxa were more prevalent and at higher densities during periods of sublethal toxicity, while some sensitive families were absent or reduced. These patterns may reflect site-specific mixtures of acute and chronic stressors, with laboratory toxicity tests more effectively capturing short-term impacts. Overall, these multi-decadal observations suggest that laboratory toxicity tests can help track water-quality changes linked to shifts in aquatic community diversity, despite variable responses reflecting the complexity of dynamic stressors in this impacted freshwater system.

Stevenson, Louise [ORNL] (ORCID:0000000349679897)↗
DOE OSTI2022

Grassmannian diffusion maps based surrogate modeling via geometric harmonics

Abstract A novel surrogate model based on the Grassmannian diffusion maps (GDMaps) and utilizing geometric harmonics (GH) is developed for predicting the response of complex physical phenomena. The method utilizes GDMaps to obtain a low‐dimensional representation of the underlying behavior of physical/mathematical systems with respect to uncertain input parameters. Using this representation, GH, an out‐of‐sample extension technique, is employed to create a global map from the input parameter space to a Grassmannian diffusion manifold. GH is further employed to locally map points on the diffusion manifold onto the tangent space of a Grassmann manifold. The exponential map is then used to project the points in the tangent space onto the Grassmann manifold, where reconstruction of the full solution is performed. The performance of the proposed surrogate model is verified with three examples. The first problem is a toy example used to illustrate the technique. In the second example, errors associated with the various mappings are assessed by studying response predictions of the electric potential of a dielectric cylinder in a homogeneous electric field. The last example applies the method for uncertainty prediction in the strain field evolution in a model amorphous material using the shear transformation zone theory of plasticity.

42 ENGINEERING↗
DOE OSTI2022

Aggregation in bottom-up vulnerability assessments and equity implications: The case of Jordanian households’ water supply

Bottom-up methods for water resources modeling rely on acceptability thresholds to find, through a response surface, which deeply uncertain futures lead to system failure. They commonly treat water users as aggregate actors, which may preclude analysis of the equity impacts of interventions. This paper explores how aggregation choices for large groups of water users lead to different policy recommendations in response surface assessments. Herein, two aggregation methods with varying parameters are considered: percentile satisfaction targets and generalized mean. A 2-dimensional stress-test assessment across groundwater availability and population is applied to household water supply in Jordan. The study compares six different policies covering supply enhancement and rebalancing, using a country-wide multi-agent model that characterizes households across socioeconomic strata. For different aggregation levels, policies are ordered by their associated robustness index. Results show that aggregation choices may modify response surfaces as much as policy changes and strongly determine policy preference. Modifying allocation rules can substantially reduce the disparity in household vulnerability. Preferences defined by aggregation intervals provide a finer understanding of trade-offs among water users and may improve deliberation over equity under deep uncertainty.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Global monthly sectoral water use for 2010–2100 at 0.5° resolution across alternative futures

Water usage is closely linked with societal goals that are both local and global in scale, such as sustainable development and economic growth. It is therefore of value, particularly for long-term planning, to understand how future sectoral water usage could evolve on a global scale at fine resolution. Additionally, future water usage could be strongly shaped by global forces, such as socioeconomic and climate change, and the multi-sector dynamic interactions those forces create. We generate a novel global gridded monthly sectoral water withdrawal and consumption dataset at 0.5° resolution for 2010–2100 for a diverse range of 75 scenarios. The scenarios are harmonized with the five Shared Socioeconomic Pathways (SSPs) and four Representative Concentration Pathways (RCPs) scenarios to support its usage in studies evaluating the implications of uncertain human and earth system change for future global and regional dynamics. To generate the data, we couple the Global Change Analysis Model (GCAM) with a land use spatial downscaling model (Demeter), a global hydrologic framework (Xanthos), and a water withdrawal downscaling model (Tethys).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Uncertainty propagation and sensitivity analysis for constrained optimization of nuclear waste vitrification

Abstract The vitrification of high‐level waste (HLW) by heating a mixture of glass‐forming chemicals (GFCs) with the waste can be improved using a constrained optimization problem. This study explores how different uncertainty propagation (UP) methods implemented with the optimization process can affect the glass formulation of nuclear waste glasses. UP is the effort of propagating uncertain inputs through a system to understand and quantify output distributions. Uncertainty intervals are crafted from output distributions to inform the optimization algorithm. UP is often implemented with Monte Carlo (MC) sampling for large nonlinear systems, which can be difficult to implement within a constrained optimization algorithm that requires derivative information. Other UP methods often used for optimization under uncertainty (OUU) can be designed to work within an established constrained optimization framework. Methods of UP are evaluated in this study including iterative sampling approaches, first‐order approximations, and surrogate modeling with machine learning (ML). A method of dimensional reduction based on global sensitivity analysis is introduced to support the UP methods for the large dimensionality of the problem. Analytical UP methods able to achieve similar optimums 10 times faster than the baseline MC approach, and produce 93.9% similar output distributions are reported.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

Modular hybrid modeling to increase efficiency, explore structural uncertainty, and allow multidimensional complexity scaling in land surface models

Land surface models (LSMs) are indispensable tools for predicting hydrologic extremes, as well as a particularly uncertain component of Earth system models that has stubbornly resisted the convergence in projections over several successive generations of model intercomparisons. This uncertainty in LSMs is poorly quantified and poorly attributed to specific processes, which has hampered efforts to focus research in reducing uncertainty. This has resulted from sparse sampling of the possible uncertainty space—which is high-dimensional and has contributions from parametric, structural, initial, and boundary condition uncertainties—as an artifact of CMIP-type ensembles of opportunity and limitations inherent in observational benchmarks. A new approach is needed to understand and reduce this uncertainty, based around individual LSMs that can represent the breadth of assumptions represented in current CMIP-type efforts, while at the same time exploring that uncertainty in a systematic way, confronting multiple types of observations, and where justified, replacing process representations with ML-driven emulators. We propose an approach of modular hybrid modeling to address these challenges.

58 GEOSCIENCES↗
NASA NTRS1975

A study of attitude control concepts for precision-pointing non-rigid spacecraft

Attitude control concepts for use onboard structurally nonrigid spacecraft that must be pointed with great precision are examined. The task of determining the eigenproperties of a system of linear time-invariant equations (in terms of hybrid coordinates) representing the attitude motion of a flexible spacecraft is discussed. Literal characteristics are developed for the associated eigenvalues and eigenvectors of the system. A method is presented for determining the poles and zeros of the transfer function describing the attitude dynamics of a flexible spacecraft characterized by hybrid coordinate equations. Alterations are made to linear regulator and observer theory to accommodate modeling errors. The results show that a model error vector, which evolves from an error system, can be added to a reduced system model, estimated by an observer, and used by the control law to render the system less sensitive to uncertain magnitudes and phase relations of truncated modes and external disturbance effects. A hybrid coordinate formulation using the provided assumed mode shapes, rather than incorporating the usual finite element approach is provided.

Likins, P. W.↗