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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

The significant impact of aerosol vertical structure on lower atmosphere stability and its critical role in aerosol–planetary boundary layer (PBL) interactions

The aerosol–planetary boundary layer (PBL) interaction was proposed as an important mechanism to stabilize the atmosphere and exacerbate surface air pollution. Despite the tremendous progress made in understanding this process, its magnitude and significance still have large uncertainties and vary largely with aerosol distribution and meteorological conditions. In this study, we focus on the role of aerosol vertical distribution in thermodynamic stability and PBL development by jointly using micropulse lidar, sun photometer, and radiosonde measurements taken in Beijing. Despite the complexity of aerosol vertical distributions, cloud-free aerosol structures can be largely classified into three types: well-mixed, decreasing with height, and inverse structures. The aerosol–PBL relationship and diurnal cycles of the PBL height and PM 2.5 associated with these different aerosol vertical structures show distinct characteristics. The vertical distribution of aerosol radiative forcing differs drastically among the three types, with strong heating in the lower, middle, and upper PBL, respectively. Such a discrepancy in the heating rate affects the atmospheric buoyancy and stability differently in the three distinct aerosol structures. Absorbing aerosols have a weaker effect of stabilizing the lower atmosphere under the decreasing structure than under the inverse structure. As a result, the aerosol–PBL interaction can be strengthened by the inverse aerosol structure and can be potentially neutralized by the decreasing structure. Moreover, aerosols can both enhance and suppress PBL stability, leading to both positive and negative feedback loops. This study attempts to improve our understanding of the aerosol–PBL interaction, showing the importance of the observational constraint of aerosol vertical distribution for simulating this interaction and consequent feedbacks.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1987

Adaptive identification and control for manipulators without using joint accelerations

The authors present a new scheme for the adaptive control of mechanical manipulators along with proof of convergence. Difficulties encountered in the input-error type adaptive controller are remedied by combining an explicit identifier with discrete time updates of the parameter values along with a computed torque type control law. The new scheme requires no matrix inversion with its consequent drain on the computational power of the controller. A discussion is presented of the dynamic model of a manipulator, a computed torque adaptive scheme, an input error identifier, and a hybrid identifier.

Hsu, Ping↗
NASA NTRS1989

Stress analysis method for clearance-fit joints with bearing-bypass loads

A simple direct stress analysis method is proposed for a laminate with a clearance-fit fastener subjected to combined bearing and bypass loads in tension or compression, including bearing and bypass loads on bolt-hole contact and local stresses. The approach uses a linear-elastic finite element analysis with an inverse formulation; conditions along the bolt-hole interface are specified by constraint equations that limit nodal displacements to a circular arc corresponding to the bolt diameter. The application of the method to the analysis of the effects of bearing-bypass loading on bolt-hole contact angles and local stresses, with the plate material properties representing a quasi-isotropic T300/5208 graphite/epoxy laminate, is discussed.

Naik, R. A.↗
NASA NTRS1994

Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool.

Williams, Robert L., II↗
NASA NTRS1988

Efficient Jacobian inversion for the control of simple robot manipulators

Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q = J-1X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA, Stanford, and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provides a better insight into the effect of different singular points on the motion and force exertion of each individual joint. For the above arms, the computation cost of the solution is on the same order as the cost of forward kinematic solution and it is significantly reduced if forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.

Fijany, Amir↗
NASA NTRS2007

Paleomagnetic Analysis Using SQUID Microscopy

Superconducting quantum interference device (SQUID) microscopes are a new generation of instruments that map magnetic fields with unprecedented spatial resolution and moment sensitivity. Unlike standard rock magnetometers, SQUID microscopes map magnetic fields rather than measuring magnetic moments such that the sample magnetization pattern must be retrieved from source model fits to the measured field data. In this paper, we presented the first direct comparison between paleomagnetic analyses on natural samples using joint measurements from SQUID microscopy and moment magnetometry. We demonstrated that in combination with apriori geologic and petrographic data, SQUID microscopy can accurately characterize the magnetization of lunar glass spherules and Hawaiian basalt. The bulk moment magnitude and direction of these samples inferred from inversions of SQUID microscopy data match direct measurements on the same samples using moment magnetometry. In addition, these inversions provide unique constraints on the magnetization distribution within the sample. These measurements are among the most sensitive and highest resolution quantitative paleomagnetic studies of natural remanent magnetization to date. We expect that this technique will be able to extend many other standard paleomagnetic techniques to previously inaccessible microscale samples.

Weiss, Benjamin P.↗
NASA NTRS1986

Control of elastic robotic systems by nonlinear inversion and modal damping

Energy efficient, lightweight robot arms for space applications have considerable structural flexibility. For large and fast motions, both the nonlinear coupled dynamics and the elastic behavior of the robots must be considered in control system designs. This paper presents an approach to the control of a class of flexible robotic systems. A control law is derived which decouples the joint-angle motion from the flexible motion and asymptotically decomposes the elastic dynamics into two subsystems, representing the transverse vibrations of the elastic link in two orthogonal planes. This decomposition allows the design of an elastic mode stabilizer independently based on lower order models representing structural flexibility. The closed-loop system is shown to be globally asymptotically stable and robust to uncertainty in system parameters. Simulation results are presented to show that large, fast control of joint angles can be performed in spite of space vehicle motion and uncertainty in the payload.

Singh, S. N.↗
NASA NTRS2004

A "Kane's Dynamics" Model for the Active Rack Isolation System Part Two: Nonlinear Model Development, Verification, and Simplification

Many microgravity space-science experiments require vibratory acceleration levels that are unachievable without active isolation. The Boeing Corporation's active rack isolation system (ARIS) employs a novel combination of magnetic actuation and mechanical linkages to address these isolation requirements on the International Space Station. Effective model-based vibration isolation requires: (1) An isolation device, (2) an adequate dynamic; i.e., mathematical, model of that isolator, and (3) a suitable, corresponding controller. This Technical Memorandum documents the validation of that high-fidelity dynamic model of ARIS. The verification of this dynamics model was achieved by utilizing two commercial off-the-shelf (COTS) software tools: Deneb's ENVISION(registered trademark), and Online Dynamics Autolev(trademark). ENVISION is a robotics software package developed for the automotive industry that employs three-dimensional computer-aided design models to facilitate both forward and inverse kinematics analyses. Autolev is a DOS-based interpreter designed, in general, to solve vector-based mathematical problems and specifically to solve dynamics problems using Kane's method. The simplification of this model was achieved using the small-angle theorem for the joint angle of the ARIS actuators. This simplification has a profound effect on the overall complexity of the closed-form solution while yielding a closed-form solution easily employed using COTS control hardware.

Beech, G. S.↗
DOE OSTI2023

Machine learning for detection of 3D features using sparse x-ray tomographic reconstruction

In many inertial confinement fusion (ICF) experiments, the neutron yield and other parameters cannot be completely accounted for with one and two dimensional models. This discrepancy suggests that there are three dimensional effects that may be significant. Sources of these effects include defects in the shells and defects in shell interfaces, the fill tube of the capsule, and the joint feature in double shell targets. Due to their ability to penetrate materials, x rays are used to capture the internal structure of objects. Methods such as computational tomography use x-ray radiographs from hundreds of projections, in order to reconstruct a three dimensional model of the object. In experimental environments, such as the National Ignition Facility and Omega-60, the availability of these views is scarce, and in many cases only consists of a single line of sight. Mathematical reconstruction of a 3D object from sparse views is an ill-posed inverse problem. These types of problems are typically solved by utilizing prior information. Neural networks have been used for the task of 3D reconstruction as they are capable of encoding and leveraging this prior information. We utilize half a dozen, different convolutional neural networks to produce different 3D representations of ICF implosions from the experimental data. Deep supervision is utilized to train a neural network to produce high-resolution reconstructions. These representations are used to track 3D features of the capsules, such as the ablator, inner shell, and the joint between shell hemispheres. Machine learning, supplemented by different priors, is a promising method for 3D reconstructions in ICF and x-ray radiography, in general.

Wolfe, Bradley T. (ORCID:0000000268301614)↗
NASA NTRS1985

Space robot simulator vehicle

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

Cannon, R. H., Jr.↗
NASA NTRS1989

Manipulation strategies for massive space payloads

Control for the bracing strategy is being examined. It was concluded earlier that trajectory planning must be improved to best achieve the bracing motion. Very interesting results were achieved which enable the inverse dynamics of flexible arms to be calculated for linearized motion in a more efficient manner than previously published. The desired motion of the end point beginning at t=0 and ending at t=t sub f is used to calculate the required torque at the joint. The solution is separated into a causal function that is zero for t is less than 0 and an accusal function which is zero for t is greater than t sub f. A number of alternative end point trajectories were explored in terms of the peak torque required, the amount of anticipatory action, and other issues. The single link case is the immediate subject and an experimental verification of that case is being performed. Modeling with experimental verification of closed chain dynamics continues. Modeling effort has pointed out inaccuracies that result from the choice of numerical techniques used to incorporate the closed chain constraints when modeling our experimental prototype RALF (Robotic Arm Large and Flexible). Results were compared to TREETOPS, a multi body code. The experimental verification work is suggesting new ways to make comparisons with systems having structural linearity and joint and geometric nonlinearity. The generation of inertial forces was studied with a small arm that will damp the large arm's vibration.

Book, Wayne J.↗
NASA NTRS1992

The effects of video compression on acceptability of images for monitoring life sciences experiments

Future manned space operations for Space Station Freedom will call for a variety of carefully planned multimedia digital communications, including full-frame-rate color video, to support remote operations of scientific experiments. This paper presents the results of an investigation to determine if video compression is a viable solution to transmission bandwidth constraints. It reports on the impact of different levels of compression and associated calculational parameters on image acceptability to investigators in life-sciences research at ARC. Three nonhuman life-sciences disciplines (plant, rodent, and primate biology) were selected for this study. A total of 33 subjects viewed experimental scenes in their own scientific disciplines. Ten plant scientists viewed still images of wheat stalks at various stages of growth. Each image was compressed to four different compression levels using the Joint Photographic Expert Group (JPEG) standard algorithm, and the images were presented in random order. Twelve and eleven staffmembers viewed 30-sec videotaped segments showing small rodents and a small primate, respectively. Each segment was repeated at four different compression levels in random order using an inverse cosine transform (ICT) algorithm. Each viewer made a series of subjective image-quality ratings. There was a significant difference in image ratings according to the type of scene viewed within disciplines; thus, ratings were scene dependent. Image (still and motion) acceptability does, in fact, vary according to compression level. The JPEG still-image-compression levels, even with the large range of 5:1 to 120:1 in this study, yielded equally high levels of acceptability. In contrast, the ICT algorithm for motion compression yielded a sharp decline in acceptability below 768 kb/sec. Therefore, if video compression is to be used as a solution for overcoming transmission bandwidth constraints, the effective management of the ratio and compression parameters according to scientific discipline and experiment type is critical to the success of remote experiments.

Haines, Richard F.↗
NASA NTRS2011

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component bodies, the indexing schemes, etc. The relationship of the underlying structure is intimately connected with efficient, recursive computational algorithms. The results provide the foundational groundwork for a much broader look at the key problems in kinematics and dynamics. The properties of general graphs and trees of nodes and edge were examined, as well as the properties of adjacency matrices that are used to describe graph connectivity. The nilpotency property of such matrices for directed trees was reviewed, and the adjacency matrices were generalized to the notion of block weighted adjacency matrices that support block matrix elements. This leads us to the development of the notion of Spatial Kernel Operator SKO kernels. These kernels provide the basis for the development of SKO resolvent operators.

Jain, Abhinandan↗
DOE OSTI2022

A non-commutative Bayes' theorem

Using a diagrammatic reformulation of Bayes' theorem, we provide a necessary and sufficient condition for the existence of Bayesian inference in the setting of finite-dimensional C* -algebras. In other words, we prove an analogue of Bayes' theorem in the joint classical and quantum context. Our analogue is justified by recent advances in categorical probability theory, which have provided an abstract formulation of the classical Bayes' theorem. In the process, we further develop non-commutative almost everywhere equivalence and illustrate its important role in non-commutative Bayesian inversion. The construction of such Bayesian inverses, when they exist, involves solving a positive semidefinite matrix completion problem for the Choi matrix. This gives a solution to the open problem of constructing Bayesian inversion for completely positive unital maps acting on density matrices that do not have full support. In conclusion, we illustrate how the procedure works for several examples relevant to quantum information theory.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

On the Reliability of Parameter Inferences in a Multiscale Model for Transport in Stream Corridors

Nonreacting tracer tests capture information about physical processes in transient storage zones including the hyporheic zone (HZ). However, reliably extracting this information from breakthrough curves (BTCs) and distinguishing the effects of in-channel dispersion and transient storage are well-known challenges. Using BTCs from a nonreacting tracer test monitored at multiple locations, we explore ways for reliable parameter estimations. The identifiability of parameters is greatly influenced by the choice of forward and inverse modeling frameworks in addition to the quality of the data. Our forward model is a recently proposed multiscale model that uses subgrid transport models written in the Lagrangian form to represent transport along a diverse set of HZ pathways with a shape-free distribution of travel times. Joint distributions of HZ and channel parameters are estimated using the Markov Chain Monte Carlo technique. Numerical experiments show ambiguity between channel dispersion and HZ transport when the reach length is too short to allow significant solute-HZ interaction, the observation period is too brief to observe the tailing behavior, or the solute source is spread in time. In contrast, we obtained reliable parameter estimates by simultaneously fitting BTCs observed at different locations in the test reach using a single set of HZ parameters and section-specific channel areas and dispersion coefficients. Furthermore, this study demonstrates the estimation of travel time distributions, HZ exchange rates, and channel parameters in a new multiscale approach and offers guidance for extracting reliable parameter estimates from multiple BTCs.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1988

Redundant manipulators for momentum compensation in a micro-gravity environment

This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.

Quinn, R. D.↗
NASA NTRS2005

High gain antenna pointing on the Mars Exploration Rovers

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars Exploration Rovers. The gimballed antennae must track the Earth as it moves across the Martian sky during communication sessions. The algorithm accounts for (1) gimbal range limitations, (2) obstructions both on the rover and in the surrounding environment, (3) kinematic singularities in the gimbal design, and (4) up to two joint-space solutions for a given pointing direction. The algorithm computes the intercept-times for each of the occlusions and chooses the jointspace solution that provides the longest track time before encountering an occlusion. Upon encountering an occlusion, the pointing algorithm automatically switches to the other joint-space solution if it is not also occluded. The algorithm has successfully provided flop-free pointing for both rovers throughout the mission.

motion planning↗
DOE OSTI2026

Effect of magneto-mechanical synergism in the process-structure correlation in Fe–C alloys: A phase-field modeling approach

Applied magnetic fields can alter phase equilibria and kinetics in steels; however, quantitatively resolving how magnetic, chemical, and elastic driving forces jointly influence the microstructure remains challenging. We develop a quantitative magneto-mechanically coupled phase-field model for the Fe–C system that couples a CALPHAD-based chemical free energy with demagnetization-field magnetostatics and microelasticity. Here, the model reproduces single- and multi-particle evolution during the α → γ inverse transformation at 1023 K under external fields up to 20 T, including ellipsoidal morphologies observed experimentally at 8 T. Chemically driven growth is isotropic; a magnetic interaction introduces an anisotropic driving force that elongates γ precipitates along the field into ellipsoids, while elastic coherency promotes faceting, yielding elongated cuboidal or “brick-like” particles under combined magneto-elastic coupling. Growth kinetics increase with C content, and decrease with field strength and misfit strain. Multi-particle simulations reveal dipolar interaction-mediated coalescence for field-parallel neighbors and ripening for field-perpendicular neighbors. Incorporating field-dependent diffusivity from experiment slows kinetics as expected; a first-principles-motivated anisotropic diffusivity correction is estimated to be small (<2%). These results establish a process-structure link for magnetically assisted heat treatments of Fe–C alloys and provide guidance for microstructure control via chemo-magneto-mechanical synergism.

Magnetic field↗