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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 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Mutambara, Arthur G. O.↗
DOE OSTI2023

Numerical evaluation of photosensitive tracers as a strategy for separating surface and subsurface transient storage in streams

For this work, we numerically evaluated photosensitive tracers as a potential strategy for separating the effects of surface and hyporheic storage zones (SSZs and HSZs, respectively) on stream corridor transport. Correctly separating HSZ and SSZ effects is critical to estimating the hydro-biogeochemical function of a stream because HSZs and SSZs expose solutes to significantly different biogeochemical conditions, like sunlight exposure, microbial processes, and oxygen availability. Our numerical experiments used a multiscale river-corridor transport model implemented in the ATS code, which accommodates multiple storage zones with distinct travel time distributions and biogeochemical reactions. For parameter inferences, we used Bayesian inverse modeling. We found that breakthrough curves for photo-decaying tracers from day and night injection can delineate surface and hyporheic transient storage contributions, but only when interpreted jointly through a two-storage zone model. Numerical experiments that used only daytime injection or interpreted breakthrough curves with a single storage zone model yielded good fit to breakthrough curves, but parameter estimates were biased and controlling processes misattributed, examples of good model fits for the wrong reasons. Using those biased parameter estimates in reactive transport simulations resulted in significantly different projections of denitrification, which underscores the potential for stream function to be mischaracterized if tracer tests are interpreted through an inappropriately simplified model for transient storage. More generally, this study highlights the role of modeling in evaluating the experimental design and identifying the potential of system mischaracterization and its implications.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1985

Microwave inversion of leaf area and inclination angle distributions from backscattered data

The backscattering coefficient from a slab of thin randomly oriented dielectric disks over a flat lossy ground is used to reconstruct the inclination angle and area distributions of the disks. The disks are employed to model a leafy agricultural crop, such as soybeans, in the L-band microwave region of the spectrum. The distorted Born approximation, along with a thin disk approximation, is used to obtain a relationship between the horizontal-like polarized backscattering coefficient and the joint probability density of disk inclination angle and disk radius. Assuming large skin depth reduces the relationship to a linear Fredholm integral equation of the first kind. Due to the ill-posed nature of this equation, a Phillips-Twomey regularization method with a second difference smoothing condition is used to find the inversion. Results are obtained in the presence of 1 and 10 percent noise for both leaf inclination angle and leaf radius densities.

Lang, R. H.↗
DOE OSTI2025

Machine learning inversion from small-angle scattering for charged polymers

We develop Monte Carlo simulations for uniformly charged polymers and a machine learning algorithm to interpret the intra-polymer structure factor of the charged polymer system, which can be obtained from small-angle scattering experiments. The polymer is modeled as a chain of fixed-length bonds, where the connected bonds are subject to bending energy, and there is also a screened Coulomb potential for charge interaction between all joints. The bending energy is determined by the intrinsic bending stiffness, and the charge interaction depends on the interaction strength and screening length. All three contribute to the stiffness of the polymer chain and lead to longer and larger polymer conformations. The screening length also introduces a second length scale for the polymer besides the bending persistence length. To obtain the inverse mapping from the structure factor to these polymer conformation and energy-related parameters, we generate a large data set of structure factors by running simulations for a wide range of polymer energy parameters. We use principal component analysis to investigate the intra-polymer structure factors and determine the feasibility of the inversion using the nearest neighbor distance. We employ Gaussian process regression to achieve the inverse mapping and extract the characteristic parameters of polymers from the structure factor with low relative error.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Characterizing the effects of drive asymmetries, component offsets, and joint gaps in double shell capsule implosions

This work provides a numerical study of how double shell capsule deformations caused by drive asymmetries and fabrication imperfections affect implosion symmetry and neutron yield. Hydrodynamics simulations are performed in two dimensions and focus on low-mode deformations that are caused by corresponding asymmetries in the Hohlraum drive, component offsets, and ablator joint gaps. By providing a parameter study of these features, our goal is to understand the dominant sources for inner shell deformation and yield degradation. The discussed capsules are composed of an aluminum ablator with a chromium inner shell. The latter encloses a carbon-deuterium foam ball that serves as fuel. We find that for clean capsules, even-numbered low-mode asymmetries in the drive are imprinted on the ablator and smoothly transferred to the inner shell during shell collision. The resulting deformation of the inner shell is more pronounced with larger fuel radius, while the yield is inversely proportional to the amplitude of the drive asymmetry and varies by factors ≤4 in comparison with clean simulations. Capsule component offsets in the vertical direction and ablator thickness nonuniformity result in p1-type deformations of the imploding inner shell. Finally, joint gaps have the largest effect in deforming the ablator and inner shell and degrading yield. While small gap widths (1 μm) result in prolate inner shells, larger gap widths (4 μm) cause an oblate deformation. More importantly, capsules with a small outer gap (1 μm) experience a dramatic drop in yield, typically <3% of a clean simulation.

Goodarzi, S. (ORCID:000000018556489X)↗
NASA NTRS1989

On trajectory generation for flexible space crane: Inverse dynamics analysis by LATDYN

For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

Chen, G.-S.↗
NASA NTRS1988

Learning a Probability Distribution Efficiently and Reliably

A new algorithm, called the CDF-Inversion Algorithm, is described. Using it, one can efficiently learn a probability distribution over a finite set to a specified accuracy and confidence. The algorithm can be extended to learn joint distributions over a vector space. Some implementation results are described.

Laird, Philip↗
DOE OSTI2020

Development of a Comparison Framework for Evaluating Environmental Contours of Extreme Sea States

Environmental contours of extreme sea states are often utilized for the purposes of reliability-based offshore design. Many methods have been proposed to estimate environmental contours of extreme sea states, including, but not limited to, the traditional inverse first-order reliability method (I-FORM) and subsequent modifications, copula methods, and Monte Carlo methods. These methods differ in terms of both the methodology selected for defining the joint distribution of sea state parameters and in the method used to construct the environmental contour from the joint distribution. It is often difficult to compare the results of proposed methods to determine which method should be used for a particular application or geographical region. The comparison of the predictions from various contour methods at a single site and across many sites is important to making environmental contours of extreme sea states useful in practice. The goal of this paper is to develop a comparison framework for evaluating methods for developing environmental contours of extreme sea states. This paper develops generalized metrics for comparing the performance of contour methods to one another across a collection of study sites, and applies these metrics and methods to develop conclusions about trends in the wave resource across geographic locations, as demonstrated for a pilot dataset. These proposed metrics and methods are intended to judge the environmental contours themselves relative to other contour methods, and are thus agnostic to a specific device, structure, or field of application. The metrics developed and applied in this paper include measures of predictive accuracy, physical validity, and aggregated temporal performance that can be used to both assess contour methods and provide recommendations for the use of certain methods in various geographical regions. The application and aggregation of the metrics proposed in this paper outline a comparison framework for environmental contour methods that can be applied to support design analysis workflows for offshore structures. This comparison framework could be extended in future work to include additional metrics of interest, potentially including those to address issues pertinent to a specific application area or analysis discipline, such as metrics related to structural response across contour methods or additional physics-based metrics based on wave dynamics.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1991

Direct adaptive impedance control of manipulators

An adaptive scheme for controlling the end-effector impedance of robot manipulators is presented. The proposed control system consists of three subsystems: a simple filter which characterizes the desired dynamic relationship between the end-effector position error and the end-effector/environment contact force, an adaptive controller which produces the Cartesian-space control input required to provide this desired dynamic relationship, and an algorithm for mapping the Cartesian-space control input to a physically realizable joint-space control torque. The controller does not require knowledge of either the structure or the parameter values of the robot dynamics, and it is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme represents a very general and computationally efficient approach to controlling the impedance of both nonredundant and redundant manipulators. Furthermore, the method can be applied directly to trajectory tracking in free-space motion by removing the impedance filter.

Colbaugh, R.↗
NASA NTRS2003

Quantifying Astronaut Tasks: Robotic Technology and Future Space Suit Design

The primary aim of this research effort was to advance the current understanding of astronauts' capabilities and limitations in space-suited EVA by developing models of the constitutive and compatibility relations of a space suit, based on experimental data gained from human test subjects as well as a 12 degree-of-freedom human-sized robot, and utilizing these fundamental relations to estimate a human factors performance metric for space suited EVA work. The three specific objectives are to: 1) Compile a detailed database of torques required to bend the joints of a space suit, using realistic, multi- joint human motions. 2) Develop a mathematical model of the constitutive relations between space suit joint torques and joint angular positions, based on experimental data and compare other investigators' physics-based models to experimental data. 3) Estimate the work envelope of a space suited astronaut, using the constitutive and compatibility relations of the space suit. The body of work that makes up this report includes experimentation, empirical and physics-based modeling, and model applications. A detailed space suit joint torque-angle database was compiled with a novel experimental approach that used space-suited human test subjects to generate realistic, multi-joint motions and an instrumented robot to measure the torques required to accomplish these motions in a space suit. Based on the experimental data, a mathematical model is developed to predict joint torque from the joint angle history. Two physics-based models of pressurized fabric cylinder bending are compared to experimental data, yielding design insights. The mathematical model is applied to EVA operations in an inverse kinematic analysis coupled to the space suit model to calculate the volume in which space-suited astronauts can work with their hands, demonstrating that operational human factors metrics can be predicted from fundamental space suit information.

Newman, Dava↗
NASA NTRS1989

Method and apparatus for adaptive force and position control of manipulators

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Seraji, Homayoun↗
DOE OSTI2023

Topological band inversion in HgTe(001): Surface and bulk signatures from photoemission

HgTe is a versatile topological material and has enabled the realization of a variety of topological states, including two- and three-dimensional (3D) topological insulators and topological semimetals. Nevertheless, a quantitative understanding of its electronic structure remains challenging, in particular, due to coupling of the Te $5p$-derived valence electrons to Hg $5d$ core states at shallow binding energy. Here, we present a joint experimental and theoretical study of the electronic structure in strained HgTe(001) films in the 3D topological-insulator regime, based on angle-resolved photoelectron spectroscopy and density functional theory. The results establish detailed agreement in terms of: (i) electronic band dispersions and orbital symmetries, (ii) surface and bulk contributions to the electronic structure, and (iii) the importance of Hg $5d$ states in the valence-band formation. Supported by theory, our experiments directly image the paradigmatic band inversion in HgTe, underlying its nontrivial band topology.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2023

Improving Subsurface Stress Characterization for Carbon Dioxide Storage Projects by Incorporating Machine Learning Techniques

The overall objective of this project is to develop a framework for reliable characterization and prediction of the state of stress in the overburden and underburden (including the basement) in CO 2 storage reservoirs using machine learning and integrated geomechanics and geophysical methods. Specifically, we propose to develop workflow encompassing of technologies and/or methods to predict stress and pressure changes due to CO 2 injection in an active tertiary recovery site and their impacts on subtle fault activation, fractures and occurrence of microseismic events and compare responses to field observations. In this project, we anticipate using dataset from the Farnsworth field Unit (FWU) which is operated by Purdure Petroleum. A novel elastic-waveform VSP inversion technique will be used to estimate high-resolution spatial and temporal changes of elastic moduli in CO 2 storage reservoirs, which will be combined with velocity-stress relationship derived from laboratory tests to obtain subsurface pressure and stress. Clustered microseismic data will be jointly inverted for improved focal mechanisms. Least-squares reverse-time migration of microseismic waveform data will be performed to directly image fracture/fault zones. Additionally, a deep neural network machine learning technique with convolutional and recurrent layers will be used for learning the spectro-temporal structures in microseismic waveforms. The results of this geotechnical data analysis will be integrated to develop a high-resolution 3D mechanical earth model extending from the overburden sealing formations to the underburden including the basement. Mechanical properties will be derived through integration of mechanical logs, tests, available results from chemo-mechanical laboratory tests, and elastic inversion of seismic data using a combination of Bayesian and stochastic methods as well as machine learning technique. Failure features (faults/fractures) will be represented and/or modeled based on seismic and core data analysis. A transient hydrodynamic-geomechanical model will be developed through coupling with the calibrated FWU reservoir simulation model. The full physics coupled model will be used to train a reduced order proxy model using machine learning algorithm for estimating stress which will then be used with appropriate constitutive relationships and forward seismological models to simulate pressure changes and induced microseismicity. An advanced optimization framework will be developed to perform a history match to minimize error between field observations and simulated. The history matched proxy model will be verified against the full-physics equivalent. The field observations that will be used in the coupled model calibration process include pressure/stress inverted from VSP, moment magnitude from microseismic analysis, real time downhole pressure measurements, production and injection data. Parameter sensitivity and uncertainty analysis will be performed to characterize the impact of model parameter uncertainty on stress estimates. The proposed project will have significant impact on future field implementation of the proposed technology. Because the project field site is an ongoing CO 2 EOR development, the value of the new technology will be demonstrated in an operational context and evaluated as a viable risk mitigation strategy. Cost/benefit will be evaluated together with the various commercial incentives for CO 2 sequestration available to oil and gas operators. The extensive available dataset and ongoing data acquisition under the SWP Phase III work plan provides flexibility for investigation of multiple approaches and reduces technical risk.

58 GEOSCIENCES↗
NASA NTRS1999

Composite Materials NDE Using Enhanced Leaky Lamb Wave Dispersion Data Acquisition Method

The leaky Lamb wave (LLW) technique is approaching a maturity level that is making it an attractive quantitative NDE tool for composites and bonded joints. Since it was first observed in 1982, the phenomenon has been studied extensively, particularly in composite materials. The wave is induced by oblique insonification using a pitch-catch arrangement and the plate wave modes are detected by identifying minima in the reflected spectra to obtain the dispersion data. The wave behavior in multi-orientation laminates has been well documented and corroborated experimentally with high accuracy. The sensitivity of the wave to the elastic constants of the material and to the boundary conditions led to the capability to measure the elastic properties of bonded joints. Recently, the authors significantly enhanced the LLW method's capability by increasing the speed of the data acquisition, the number of modes that can be identified and the accuracy of the data inversion. In spite of the theoretical and experimental progress, methods that employ oblique insonification of composites are still not being applied as standard industrial NDE methods. The authors investigated the issues that are hampering the transition of the LLW to industrial applications and identified 4 key issues. The current capability of the method and the nature of these issues are described in this paper.

Bar-Cohen, Yoseph↗
DOE OSTI2026

Emerging low-cloud feedback and adjustment in global satellite observations

From mid-2003 to mid-2024, a global decrease in low-cloud amount enhanced the absorption of solar radiation by 0.22±0.07 W m −2 per decade (±1σ range), accelerating the energy imbalance trend during that period (0.44 W m −2 per decade). Through controlling factor analysis, here we show that the low-cloud trend is due to a combination of cloud feedback and adjustments to greenhouse gases and aerosols (respectively 0.09±0.02, 0.05±0.03, and 0.03±0.03 W m −2 per decade), which jointly account for 74 % of the trend. The contribution of natural climate variability is weak but uncertain (0.01±0.08 W m −2 per decade), owing to a poorly constrained trend in boundary-layer inversion strength. Importantly, the observed low-cloud radiative trend lies well within the range of values simulated by contemporary global climate models under conditions close to present day. Any systematic model error in the representation of present-day global energy imbalance trends is thus likely to originate in processes unrelated to low clouds.

Geosciences↗
NASA NTRS1988

Control strategies

Techniques for improving the performance of robotic-manipulator path-control systems comprising independent SISO feedback controllers for each joint are discussed and illustrated with block diagrams, reviewing the results of recent analytical investigations. Topics examined include the servo design for a single link, the equations of motion for manipulators, SISO servo design for multiple links, inverse methods, pole placement with compensation of the gravity terms, linear state-feedback control based on the perturbation equations, and adaptive control methods. Consideration is given to variable-structure systems, suboptimal controllers, and the optimal-design-strategy approach.

Wang, J. C.↗
DOE OSTI2025

A New Probability Table Methodology with Covariances on Probability Tables

Through this work, we test a new methodology of evaluating probability tables informed by a combination of physics models and experimental data. This methodology uses generalized least squares to produce a joint mean and covariance for average cross sections and probability tables. This methodology has been tested and validated using total Monte Carlo. Attempts were made to parameterize the probability table using a formulation provided in. Although the normal inverse Gaussian fit was successful for the total cross section probability distribution, the rational-function fit to the capture, inelastic, and fission cross sections was unsuccessful due to time constraints.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗