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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 NTRS1991

Dual-arm manipulators with adaptive control

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗
NASA NTRS1995

Method and apparatus for adaptive force and position control of manipulators

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗
NASA NTRS2019

Method for Deriving Telescope Specifications for Earth-Detecting Coronagraphs and Its Use in Prioritizing Technology Development Investments

Different potential exoplanet mission concepts require different enabling and enhancing technologies. Decisions regarding prioritizing the development of these technologies can be made using a Science-Driven Systems-Engineering framework. The white paper makes the following specific recommendations. (1) Any potential telescope/coronagraph combination should develop a wavefront stability error budget using the method described in this white paper. That error budget will inform discussions about what technology development will be needed to enable the mission. (2) Enhancing and enabling technologies requiring investment include: low noise reaction wheels or control moment gyros; micro-thruster technology; active vibration isolation; materials and design practice for making lightweight stiff structures and optical components; 200-hertz wavefront sensing and control; 500-hertz sub-picometer-precision edge sensor and position actuators; non-destructive process to quantify CTE (Coefficient of Thermal Expansion) homogeneity of 4-meter class mirrors to an uncertainty of plus or minus 1 parts per billion per degree Kelvin over a 100 by 100 sampling; laser gauge positional metrology system; and predictive active thermal control.

Space Mirror Technology↗
NASA NTRS1961

Transonic and Supersonic Flutter Investigation of 1/2-Size Models of All-Movable Canard Surface of an Expendable Powered Target

A transonic and a supersonic flutter investigation of 1/2-size models of the all-movable canard surface of an expendable powered target has been conducted in the Langley transonic blowdown tunnel and in the Langley 9- by 18-inch supersonic aeroelasticity tunnel, respectively. The transonic investigation covered a Mach number range from 0.7 to 1.3, and the supersonic investigation was made at Mach numbers 1.3, 2.O, and 2.55. The effects on the flutter characteristics of the models of different levels of stiffness and of free play in the pitch control linkage were examined. The semispan models, which were tested at an angle of attack of 0 deg, had pitch springs with the scaled design and 1/2 the scaled design pitch stiffness and total free play in pitch ranging from 0 to 1 deg. An additional model configuration which had a pitch spring 1/4 the scaled design pitch stiffness and no free play in pitch was included in the supersonic tests. All model configurations investigated were flutter free up to dynamic pressures 32 percent greater than those required for flight throughout the Mach number range. Several model configurations were tested to considerably higher dynamic pressures without obtaining flutter at both transonic and supersonic speeds.

Ruhlin, Charles L.↗
DOE OSTI2026

Impact of Salt Chemistry and Interlayer Architecture on Solid Electrolyte Interphase Composition and Performance

Reversible lithium metal anodes require interphases that are chemically stable, mechanically robust, and compatible with scalable processing. Here, we use slot-die-coated, salt-rich PEO interlayers to design SEI nanolayers on Cu current collectors and isolate how salt anion chemistry controls interphase composition and lithium plating/stripping behavior in architectures relevant to Li plating and anode-free cells. Mesoscale modeling shows that dendrite initiation at SEI defects is governed by a tradeoff among interphase thickness, ionic conductivity, and stiffness through defect-driven current focusing, motivating controlled formation from thin precursor layers. Using UHV-transferred XPS and ToF-SIMS depth profiling after controlled Li deposition, we find that fluorinated sulfonylimide salts (LiTFSI, LiFSI) form mixed inorganic/organic interphases containing LiF and PEO-derived alkoxides, with LiFSI producing a more LiF-dominant Li-facing surface than LiTFSI under identical conditions. In contrast, LiNO 3 -containing interlayers yield a comparatively thick nitrate-derived interphase that reduces upon Li contact to an N-rich inorganic layer (Li–N/N 3− , LiN x O y ). In Cu| |Li cells, these designed interlayers reduce interfacial resistance and improve Coulombic efficiency (CE) and critical current density (CCD) relative to uncoated controls, with LiFSI- and LiNO 3 -based interlayers providing the highest CE/CCD. Overall, the results demonstrate a manufacturing-relevant approach to engineer SEI nanolayers by salt chemistry, providing pathways to improve reversible lithium metal anodes while reducing reliance on LiTFSI.

anion chemistry↗
NASA NTRS1993

A theoretical and experimental investigation of impact control for manipulators

This article describes a simple control strategy for stable hardon-hard contact of a manipulator with the environment. The strategy is motivated by recognition of the equivalence of proportional gain explicit force control and impedance control. It is shown that negative proportional force gains, or impedance mass ratios less than unity, can equivalently provide excellent impact response without bouncing. This result is indicated by an analysis performed with an experimentally determined arm/sensor/environment model. The results are corroborated by experimental data from implementation of the control algorithms on the CMU DD Arm II system. The results confirm that manipulator impact against a stiff environment without bouncing can be readily handled by this novel control strategy.

Volpe, Richard↗
NASA NTRS1977

Recent advances in aerodynamic energy concept for flutter suppression and gust alleviation using active controls

Control laws are derived, by using realizable transfer functions, which permit relaxation of the stability requirements of the aerodynamic energy concept. The resulting aerodynamic eigenvalues indicate that both the trailing edge and the leading edge-trailing edge control systems can be made more effective. These control laws permit the introduction of aerodynamic damping and stiffness terms in accordance with the requirements of any specific system. Flutter suppression and gust alleviation problems can now be treated by either a trailing edge control system or by a leading edge-trailing edge control system by using the aerodynamic energy concept. Results are applicable to a wide class of aircraft operating at subsonic Mach numbers.

Nissim, E.↗
NASA NTRS2018

Series Elastic Tether Management for Rappelling Rovers

The Axel rappelling rover was designed to enable access to intriguing and important science sites that lie in difficult terrains that are inaccessible to conventional rovers. Extended autonomous rappelling calls for careful control of tethertension,precisemanagementoftetherspooling,andsome measure of shock tolerance. This paper covers the design and testing of a first-generation tether management system (TMS) for Axel. The system uses a double bull-wheel capstan driven by a low-stiffness series elastic actuator (SEA) to provide tension control and decouple internal spooling tension from external tether tension. The benefit of the series elastic actuator is two-fold. First, it permits closed-loop tether tension control with lower mass and power consumption than a comparable torque motor. Second, it improves the shock/drop tolerance of the rappelling system both while moving and when the system is inactive with the motors locked. Experiments on the new TMS show that this design performs well in keeping nearly constant spooling tension while rejecting large dynamic disturbances at the output. While the SEA is very effective at maintaining a given tension contribution, the additional effects of friction and the unique mechanical properties of the tether result in substantial errors in the measured output tension. Upcoming field trials will be used to evaluate the effectiveness and sufficiency of this system when integrated in Axel.

Nesnas, Issa↗
DOE OSTI2025

Local Thermal Conductivity Patterning in Rotating Lattice Crystals of Anisotropic Sb 2 S 3

The ability to control material heat transport properties over space and time can drive advanced functionalities in thermal management for electronics and system-on-chip, and enable thermal circuits. Despite the technological relevance, there are limited demonstrations of local thermal property control. Rotating lattice single (RLS) crystals—formed via laser-induced crystallization of an amorphous substrate—offer a novel avenue for local crystal engineering, unlocking opportunities for microscale property patterning. Here, thermal conductivity (𝜅) imaging is applied to RLS crystals of Sb2S3 to resolve microscale 𝜅 variations across patterned regions. Amorphous areas exhibit 𝜅 as low as 0.6 Wm −1 K −1 , while crystalline regions display periodic 𝜅 variations from 0.7 to over 2.5 Wm −1 K −1 . These variations correspond to changes in crystal orientation, revealing marked 𝜅 anisotropy. The crystal out-of-plane direction (c axis)—featuring van der Waals bonds—shows amorphous-like transport, whereas in-plane directions (a, b axes) exhibit 3.5x and 1.7x larger 𝜅, respectively. First-principles calculations, in excellent agreement with experiments, suggest that the in-plane anisotropy originates from expressed Sb lone pairs, which impart a corrugation along the b axis affecting bond stiffness and 𝜅. These findings demonstrate microscale control of thermal properties via laser-processed metastructures, with significant implications for next-generation thermal management.

14 SOLAR ENERGY↗
NASA NTRS1975

Multimode attitude and orbit control for the Atmosphere Explorer spacecraft

The orbit profile for the Atmosphere Explorer requires a velocity adjust capability of 2000 ft/sec/sec and individual maneuvers of up to 24 ft/sec in magnitude. This requirement is met by a monopropellant hydrazine propulsion subsystem which also provides, by virtue of the tank arrangement, a means of adjusting the spacecraft center of mass in orbit, thereby minimizing external disturbance torques. The attitude control subsystem is of the momentum bias type. A large internal flywheel furnishes gyroscopic stiffness and permits rapid changes in operating mode (despun to spinning mode) by controlled interchange of momentum between the flywheel and the spacecraft main body.

Stewart, B.↗
NASA NTRS1995

Analysis and Development of Finite Element Methods for the Study of Nonlinear Thermomechanical Behavior of Structural Components

Underintegrated methods are investigated with respect to their stability and convergence properties. The focus was on identifying regions where they work and regions where techniques such as hourglass viscosity and hourglass control can be used. Results obtained show that underintegrated methods typically lead to finite element stiffness with spurious modes in the solution. However, problems exist (scalar elliptic boundary value problems) where underintegrated with hourglass control yield convergent solutions. Also, stress averaging in underintegrated stiffness calculations does not necessarily lead to stable or convergent stress states.

Oden, J. Tinsley↗
DOE OSTI2022

Ablating Lgr5-expressing prostatic stromal cells activates the ERK-mediated mechanosensory signaling and disrupts prostate tissue homeostasis

The heterogeneity of the prostate stromal cells is widely appreciated but the functional implication remains incompletely understood. Using genetic lineage tracing and light-sheet imaging, we show that some fibroblast cells near the junction of the mouse proximal prostatic ducts and prostatic urethra highly express Lgr5. Genetic ablation of these anatomically restricted stromal cells, but not nonselective ablation of prostatic stromal cells, rapidly induces prostate epithelial turnover and dedifferentiation that are reversed following spontaneous restoration of the Lgr5 + stromal cells. RNA-Seq analysis implies that ablating the Lgr5 + stromal cells activates a mechanosensory response. We show that ablating the Lgr5 + stromal cells impairs the control of prostatic ductal outlet, increases prostate tissue stiffness, and activates the mitogen-activated protein kinase (MAPK). Suppressing MAPK overrides the increased epithelial proliferation. This study demonstrates that the Lgr5 + stromal cells regulate tissue homeostasis in a long-distance manner by maintaining anatomic integrity and implies that the cells near the transitional regions between organs likely control organ homeostasis by sustaining a balanced mechanoforce.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS1998

Running in the real world: adjusting leg stiffness for different surfaces

A running animal coordinates the actions of many muscles, tendons, and ligaments in its leg so that the overall leg behaves like a single mechanical spring during ground contact. Experimental observations have revealed that an animal's leg stiffness is independent of both speed and gravity level, suggesting that it is dictated by inherent musculoskeletal properties. However, if leg stiffness was invariant, the biomechanics of running (e.g. peak ground reaction force and ground contact time) would change when an animal encountered different surfaces in the natural world. We found that human runners adjust their leg stiffness to accommodate changes in surface stiffness, allowing them to maintain similar running mechanics on different surfaces. These results provide important insight into mechanics and control of animal locomotion and suggest that incorporating an adjustable leg stiffness in the design of hopping and running robots is important if they are to match the agility and speed of animals on varied terrain.

NASA Discipline Musculoskeletal↗
DOE OSTI2021

A comprehensive review of nonlinear oscillators in hydrokinetic energy harnessing using flow-induced vibrations

A comprehensive review of hydrokinetic energy converters based on alternating lift technology (ALT) is provided. Emphasis is on nonlinear oscillators based on Flow Induced Vibration (FIV) or Oscillation (FIO). Due to strong coupling in Fluid-Structure Interaction (FSI), and in order to maximize the hydrokinetic harnessed energy, design of nonlinear oscillators and analysis by model tests or computational fluid dynamics dominates this area. Research confirmed that the nonlinear oscillator can harvest energy from a stochastic excitation modeled by a generic wide spectrum, and overcome the most severe oscillator limitations: specifically, the need for continuous frequency tuning due to the narrow bandwidth response, and low efficiency outside the narrow bandwidth oscillator response. This review covers the following aspects of nonlinear oscillators in ALT converters: (1) Geometric changes in oscillator cross-section; e.g., circular, square, rectangular, or trilateral shapes. (2) Passive turbulence control of FIV/FIO. (3) Position based nonlinear stiffness. (4) Multi-cylinder synergistic FIV/FIO. (5) Mechanically linked oscillators. (6) Velocity-based, nonlinear, adaptive harnessing damping.

42 ENGINEERING↗
NASA NTRS1977

Earth orbital teleoperator manipulator system evaluation program

The operator's ability to perform five manipulator tip movements while using monoptic and stereoptic video systems was assessed. Test data obtained were compared with previous results to determine the impact of camera placement and stereoptic viewing on manipulator system performance. The tests were performed using the NASA MSFC extendible stiff arm Manipulator and an analog joystick controller. Two basic manipulator tasks were utilized. The minimum position change test required the operator to move the manipulator arm to touch a target contract. The dexterity test required removal and replacement of pegs.

Brye, R. G.↗
NASA NTRS1977

Design study of the deepsky ultraviolet survey telescope

Preliminary mechanical design and specifications are presented for a wide field ultraviolet telescope and detector to be carried as a Spacelab payload. Topics discussed include support structure stiffness (torsional and bending), mirror assembly, thermal control, optical alignment, attachment to the instrument pointing pallet, control and display, power requirements, acceptance and qualification test plans, cost analysis and scheduling. Drawings are included.

Page, N. A.↗
DOE OSTI2020

Resonance Suppression based on Predictive Control of Grid-following Inverters with LCL Filter in Weak Grid Condition

This paper presents an effective resonance suppression control when grid interactive inverter with LCL filter experience weak grid conditions. The resonance suppression mechanism is based on finite-set model predictive control (FSMPC) with adaptive cost function to alter the controller objectives seamlessly. The large parasitic impedance and low short circuit ratio (SCR) of weak grid challenges the operation of gridconnected inverters. Specifically, the LCL filter resonance may get excited, resulting in collapse of the inverter operation. To address this issue, an effective active damping approach is implemented in the proposed control. In the proposed active damping scheme for resonance suppression, the feedback currents are switched based on the operating conditions of inverter. During the stiff grid conditions, grid current serves as feedback to the controller. While in the weak grid conditions, the inverter current is selected as feedback signal. The toggling action between these two feedback currents is determined by comparing moving RMS of grid current with threshold current as constraint in the cost function of the proposed MPC scheme. The threshold current for toggling action is based on the reference active and reactive power setpoints plus an acceptable band of variation. The theoretical analysis is verified by several case studies.

Umar, Muhammad Farooq↗
NASA NTRS1985

Improved accuracy in solid isoparametric elements using selectively reduced integration

Currently COSMIC NASTRAN uses the same Gaussian integration order for every term in the stiffness matrix of the solid isoparametric elements. This results in overly stiff elements under some conditions. A modification to the CIHEXI, CIHEX2 and CIHEX3 elements is described which provides the user with the capability of controlling the order of integration for selected terms in the stiffness matrix. Examples of improved accuracy using selectively reduced integration be provided are provided.

Case, W. R.↗