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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 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Calculating potential fields using microchannel spatial light modulators

We describe and present experimental results of the optical calculation of potential field maps suitable for mobile robot navigation. The optical computation employs two write modes of a microchannel spatial light modulator (MSLM). In one mode, written patterns expand spatially, and this characteristic is used to create an extended two dimensional function representing the influence of the goal in a robot's workspace. Distinct obstacle patterns are written in a second, non-expanding, mode. A model of the mechanisms determining MSLM write mode characteristics is developed and used to derive the optical calculation time for full potential field maps. Field calculations at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

Reid, Max B.↗
NASA NTRS1993

Experiments with a small behaviour controlled planetary rover

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

Miller, David P.↗
NASA NTRS2005

Single-Command Approach and Instrument Placement by a Robot on a Target

AUTOAPPROACH is a computer program that enables a mobile robot to approach a target autonomously, starting from a distance of as much as 10 m, in response to a single command. AUTOAPPROACH is used in conjunction with (1) software that analyzes images acquired by stereoscopic cameras aboard the robot and (2) navigation and path-planning software that utilizes odometer readings along with the output of the image-analysis software. Intended originally for application to an instrumented, wheeled robot (rover) in scientific exploration of Mars, AUTOAPPROACH could be adapted to terrestrial applications, notably including the robotic removal of land mines and other unexploded ordnance. A human operator generates the approach command by selecting the target in images acquired by the robot cameras. The approach path consists of multiple legs. Feature points are derived from images that contain the target and are thereafter tracked to correct odometric errors and iteratively refine estimates of the position and orientation of the robot relative to the target on successive legs. The approach is terminated when the robot attains the position and orientation required for placing a scientific instrument at the target. The workspace of the robot arm is then autonomously checked for self/terrain collisions prior to the deployment of the scientific instrument onto the target.

Huntsberger, Terrance↗
NASA NTRS2022

How to Build a Rover: An Overview of the Mars 2020 Mission’s Vehicle System Testbed

While NASA’s Mars rover Perseverance continues to make groundbreaking achievements on the Red Planet, its twin is hard at work here on Earth. The Operational Perseverance Twin for the Integration of Mechanisms and Instruments Sent to Mars, or OPTIMISM, is the Mars 2020 Vehicle System Testbed (VSTB) rover operated by NASA Jet Propulsion Laboratory (JPL) in Pasadena, California. OPTIMISM’s home is the JPL Mars Yard; an outdoor field with red soil that simulates the terrain encountered by Perseverance. The VSTB is a full-scale engineering model of the flight rover, serving a number of functions to ensure mission operations can continue smoothly and on schedule. The VSTB possesses instrumentation, computers, mechanisms, cameras, and a Mobility subsystem that are nearly identical to its extraterrestrial twin. Its high fidelity allows the rover to be a highly effective tool to fully test system functionality and performance prior to commanding the flight rover. The early stages of building OPTIMISM began a few months prior to Perseverance departing JPL for Cape Canaveral, FL in early 2020. Electrical integration of the flight system avionics, and compatibility checkouts of the electrical ground support equipment ensured that the foundation of the electrical system was operational and in place. Next, the internal harnessing was installed and compatibility checks of the rover instrumentation and mechanisms were performed to confirm the system was prepared for full buildup. Finally, mechanical assembly of the rover chassis with its external components completed the integration of the system before it was moved to the Mars Yard for its initial phase of testing to perform verification & validation (V&V) of the Mobility subsystem requirements. By the time Perseverance landed at Jezero Crater in February 2021, the first phase of VSTB operations was underway. Surface guidance, navigation, and control (SGNC) testing for the Mobility subsystem ensured functionality and performance requirements were met for various capabilities such as visual odometry (VO), mapping, and automatic navigation (AutoNav). Subsequent integration of the robotic arm (RA) onto the VSTB enabled the V&V campaign for surface sampling operations (SSO) to commence. As the mission’s engineering operations (EO) have gotten underway, the VSTB has been utilized for an array of purposes including troubleshooting software anomalies, and performing dry-runs for first time activities (FTAs) prior to sending the commands to Perseverance. OPTIMISM will continue to serve mission critical functions as long as Perseverance is roving the Red Planet.

Rojas, Jose Trujillo↗
NASA NTRS1995

Computer simulation and performance assessment of the packet-data service of the Aeronautical Mobile Satellite Service (AMSS)

The ICAO Aeronautical Mobile Communications Panel (AMCP) completed the drafting of the Aeronautical Mobile Satellite Service (AMSS) Standards and Recommended Practices (SARP's) and the associated Guidance Material and submitted these documents to ICAO Air Navigation Commission (ANC) for ratification in May 1994. This effort, encompassed an extensive, multi-national SARP's validation. As part of this activity, the US Federal Aviation Administration (FAA) sponsored an effort to validate the SARP's via computer simulation. This paper provides a description of this effort. Specifically, it describes: (1) the approach selected for the creation of a high-fidelity AMSS computer model; (2) the test traffic generation scenarios; and (3) the resultant AMSS performance assessment. More recently, the AMSS computer model was also used to provide AMSS performance statistics in support of the RTCA standardization activities. This paper describes this effort as well.

Ferzali, Wassim↗
DOE OSTI2020

Data on the comprehensive first-principles diffusion study of the aluminum-magnesium system

First-principles calculation of diffusion coefficients between Mg and Al is investigated comprehensively using density functional theory (DFT). The effect of different uncertainty sources arising from first principles calculations has been investigated systematically. These sources include the diffusion model, energetic, entropic and attempt frequency calculations. Variation in self and impurity diffusion coefficients of Mg and Al in stable phases are quantified using different DFT settings and compared with the experiments. Using the optimal DFT settings, diffusion coefficients in metastable phases of Al and Mg are predicted. The dataset refers to “An integrated experimental and computational study of diffusion and atomic mobility of the aluminum-magnesium system” [1].

36 MATERIALS SCIENCE↗
DOE OSTI2012

Mobile Ice Nucleus Spectrometer

This first year report presents results from a computational fluid dynamics (CFD) study to assess the flow and temperature profiles within the mobile ice nucleus spectrometer.

Kulkarni, Gourihar R.↗
DOE OSTI2018

Workflow-based automatic processing for Internet of Floating Things crowdsourced data

Data from sensors incorporated into mobile devices, such as networked navigational sensors, can be used to capture detailed environmental information. We describe here a workflow and framework for using sensors on boats to construct unique new datasets of underwater topography (bathymetry). Starting with a large number of measurements of position, depth, etc., obtained from such an Internet of Floating Things, we illustrate how, with a specialized protocol, data can be communicated to cloud resources, even when using delayed, intermittent, or disconnected networks. We then propose a method for automatic sensor calibration based on a novel reputation approach. Sampled depth data are interpolated efficiently on a cloud computing platform in order to provide a continuously updated bathymetric database. Our prototype implementation uses the FACE-IT Galaxy workflow engine to manage network communication and exploits the computational power of GPGPUs in a virtualized cloud environment, working with a CUDA-parallel algorithm, for efficient data processing. We report on an initial evaluation involving data from a sailing vessel in Italian coastal waters.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2014

Feasibility Study of Implementing a Mobile Collaborative Information Platform for International Safeguards Inspections

In response to the growing pervasiveness of mobile technologies such as tablets and smartphones, the International Atomic Energy Agency and the U.S. Department of Energy National Laboratories have been exploring the potential use of these platforms for international safeguards activities. Specifically of interest are information systems (software, and accompanying servers and architecture) deployed on mobile devices to increase the situational awareness and productivity of an IAEA safeguards inspector in the field, while simultaneously reducing paperwork and pack weight of safeguards equipment. Exploratory development in this area has been met with skepticism regarding the ability to overcome technology deployment challenges for IAEA safeguards equipment. This report documents research conducted to identify potential challenges for the deployment of a mobile collaborative information system to the IAEA, and proposes strategies to mitigate those challenges.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2018

Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment

This article presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain. In traditional tracking error-based control approaches, feedback and feedforward controllers are designed based on the nominal model which cannot capture the uncertainties, disturbances and changing working conditions so that they cannot ensure precise path tracking performance in the outdoor environment. In TELC algorithm, the feedforward control actions are updated by using the tracking error dynamics and the plant-model mismatch problem is thus discarded. Therefore, the feedforward controller gradually eliminates the feedback controller from the control of the system once the mobile robot has been ontrack. In addition to the proof of the stability, it is proven that the cost functions do not have local minima so that the coefficients in TELC algorithm guarantee that the global minimum is reached. The experimental results show that the TELC algorithm results in better path tracking performance than the traditional tracking error-based control method. The mobile robot controlled by TELC algorithm can track a target path precisely with less than 10 cm error in off-road terrain.

42 ENGINEERING↗
DOE OSTI2019

A computational survey of semiconductors for power electronics

Power electronics (PE) are used to control and convert electrical energy in a wide range of applications from consumer products to large-scale industrial equipment. While Si-based power devices account for the vast majority of the market, wide band gap semiconductors such as SiC, GaN, and Ga 2 O 3 are starting to gain ground. However, these emerging materials face challenges due to either non-negligible defect densities, high synthesis and processing costs, or poor thermal properties. Here, we report on a broad computational survey aimed to identify promising materials for future power electronic devices beyond SiC, GaN, and Ga 2 O 3 . We consider 863 oxides, sulfides, nitrides, carbides, silicides, and borides that exhibit finite calculated band gaps. We utilize ab initio methods in conjunction with models for intrinsic carrier mobility, and critical breakdown field to compute the widely used Baliga figure of merit. We also compute the lattice thermal conductivity and use it as an additional screening parameter. In addition to correctly identifying known PE materials, our survey has revealed a number of promising candidates exhibiting the desirable combination of high figure of merit and high lattice thermal conductivity, which we propose for further experimental investigations.

36 MATERIALS SCIENCE↗
DOE OSTI2021

FedADMP: A Joint Anomaly Detection and Mobility Prediction Framework via Federated Learning

With the proliferation of mobile devices and smart cameras, detecting anomalies and predicting their mobility are critical for enhancing safety in ubiquitous computing systems. Due to data privacy regulations and limited communication bandwidth, it is infeasible to collect, transmit, and store all data from mobile devices at a central location. To overcome this challenge, we propose FedADMP, a federated learning based joint Anomaly Detection and Mobility Prediction framework. FedADMP adaptively splits the training process between the server and clients to reduce computation loads on clients. To protect the privacy of user data, clients in FedADMP upload only intermediate model parameters to the cloud server. We also develop a differential privacy method to prevent the cloud server and external attackers from inferring private information during the model upload procedure. Extensive experiments using real-world datasets show that FedADMP consistently outperforms existing methods.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2015

Method and System for Determining Relative Displacement and Heading for Navigation

A system and method for determining a location of a mobile object is provided. The system determines the location of the mobile object by determining distances between a plurality of sensors provided on a first and second movable parts of the mobile object. A stride length, heading, and separation distance between the first and second movable parts are computed based on the determined distances and the location of the mobile object is determined based on the computed stride length, heading, and separation distance.

Sheikh, Suneel Ismail↗
DOE OSTI2026

Technical Assistance

DOE-TTO Annual Merit Review presentation on the Technical Assistance task, covering FY25-26. Includes an overview of what technical assistance is and highlights three key projects: (1) FLeet CNG Infrastructure Clean Cities TA request, (2) 3D Mobile App for Emergency Responders (for EVs) Pilot Project, and (3) Smart Playbook for Fleets AFDC content development.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2018

Effect of Chain Length Dispersity on the Mobility of Entangled Polymers

While nearly all theoretical and computational studies of entangled polymer melts have focused on uniform samples, polymer synthesis routes always result in some dispersity, albeit narrow, of distribution of molecular weights ( Ð M = M w / M n ~ 1.02 – 1.04 ). Here, the effects of dispersity on chain mobility are studied for entangled, disperse melts using a coarse-grained model for polyethylene. Polymer melts with chain lengths set to follow a Schulz-Zimm distribution for the same average M w = 36 kg / mol with Ð M = 1.0 to 1.16, were studied for times of 600 – 800 μ s using molecular dynamics simulations. This time frame is longer than the time required to reach the diffusive regime. We find that dispersity in this range does not affect the entanglement time or tube diameter. However, while there is negligible difference in the average mobility of chains for the uniform distribution Ð M = 1.0 and Ð M = 1.02 , the shortest chains move significantly faster than the longest ones offering a constraint release pathway for the melts for larger Ð M .

36 MATERIALS SCIENCE↗
DOE OSTI2017

Large scale Brownian dynamics of confined suspensions of rigid particles

We introduce methods for large-scale Brownian Dynamics (BD) simulation of many rigid particles of arbitrary shape suspended in a fluctuating fluid. Our method adds Brownian motion to the rigid multiblob method [F. Balboa Usabiaga et al., Commun. Appl. Math. Comput. Sci. 11(2), 217–296 (2016)] at a cost comparable to the cost of deterministic simulations. We demonstrate that we can efficiently generate deterministic and random displacements for many particles using preconditioned Krylov iterative methods, if kernel methods to efficiently compute the action of the Rotne-Prager-Yamakawa (RPY) mobility matrix and its “square” root are available for the given boundary conditions. These kernel operations can be computed with near linear scaling for periodic domains using the positively split Ewald method. Here we study particles partially confined by gravity above a no-slip bottom wall using a graphical processing unit implementation of the mobility matrix-vector product, combined with a preconditioned Lanczos iteration for generating Brownian displacements. We address a major challenge in large-scale BD simulations, capturing the stochastic drift term that arises because of the configuration-dependent mobility. Unlike the widely used Fixman midpoint scheme, our methods utilize random finite differences and do not require the solution of resistance problems or the computation of the action of the inverse square root of the RPY mobility matrix. We construct two temporal schemes which are viable for large-scale simulations, an Euler-Maruyama traction scheme and a trapezoidal slip scheme, which minimize the number of mobility problems to be solved per time step while capturing the required stochastic drift terms. We validate and compare these schemes numerically by modeling suspensions of boomerang-shaped particles sedimented near a bottom wall. Using the trapezoidal scheme, we investigate the steady-state active motion in dense suspensions of confined microrollers, whose height above the wall is set by a combination of thermal noise and active flows. We find the existence of two populations of active particles, slower ones closer to the bottom and faster ones above them, and demonstrate that our method provides quantitative accuracy even with relatively coarse resolutions of the particle geometry.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2010

Use of Land Use Land Cover Change Mapping Products in Aiding Coastal Habitat Conservation and Restoration Efforts of the Mobile Bay NEP

The Mobile Bay region has undergone significant land use land cover change (LULC) over the last 35 years, much of which is associated with urbanization. These changes have impacted the region s water quality and wildlife habitat availability. In addition, much of the region is low-lying and close to the Gulf, which makes the region vulnerable to hurricanes, climate change (e.g., sea level rise), and sometimes man-made disasters such as the Deepwater Horizon (DWH) oil spill. Land use land cover change information is needed to help coastal zone managers and planners to understand and mitigate the impacts of environmental change on the region. This presentation discusses selective results of a current NASA-funded project in which Landsat data over a 34-year period (1974-2008) is used to produce, validate, refine, and apply land use land cover change products to aid coastal habitat conservation and restoration needs of the Mobile Bay National Estuary Program (MB NEP). The project employed a user defined classification scheme to compute LULC change mapping products for the entire region, which includes the majority of Mobile and Baldwin counties. Additional LULC change products have been computed for select coastal HUC-12 sub-watersheds adjacent to either Mobile Bay or the Gulf of Mexico, as part of the MB NEP watershed profile assessments. This presentation will include results of additional analyses of LULC change for sub-watersheds that are currently high priority areas, as defined by MB NEP. Such priority sub-watersheds include those that are vulnerable to impacts from the DWH oil spill, as well as sub-watersheds undergoing urbanization. Results demonstrating the nature and permanence of LULC change trends for these higher priority sub-watersheds and results characterizing change for the entire 34-year period and at approximate 10-year intervals across this period will also be presented. Future work will include development of value-added coastal habitat quality assessment products that will be used by the MB NEP and its partners in the planning of coastal conservation and restoration activities.

Spruce, Joseph P.↗