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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 NTRS2012

POSTMAN: Point of Sail Tacking for Maritime Autonomous Navigation

Waves apply significant forces to small boats, in particular when such vessels are moving at a high speed in severe sea conditions. In addition, small high-speed boats run the risk of diving with the bow into the next wave crest during operations in the wavelengths and wave speeds that are typical for shallow water. In order to mitigate the issues of autonomous navigation in rough water, a hybrid controller called POSTMAN combines the concept of POS (point of sail) tack planning from the sailing domain with a standard PID (proportional-integral-derivative) controller that implements reliable target reaching for the motorized small boat control task. This is an embedded, adaptive software controller that uses look-ahead sensing in a closed loop method to perform path planning for safer navigation in rough waters. State-of-the-art controllers for small boats are based on complex models of the vessel's kinematics and dynamics. They enable the vessel to follow preplanned paths accurately and can theoretically control all of the small boat s six degrees of freedom. However, the problems of bow diving and other undesirable incidents are not addressed, and it is questionable if a six-DOF controller with basically a single actuator is possible at all. POSTMAN builds an adaptive capability into the controller based on sensed wave characteristics. This software will bring a muchneeded capability to unmanned small boats moving at high speeds. Previously, this class of boat was limited to wave heights of less than one meter in the sea states in which it could operate. POSTMAN is a major advance in autonomous safety for small maritime craft.

Huntsberger, Terrance L.↗
NASA NTRS2016

Anthropomorphic Robot Design and User Interaction Associated with Motion

Though in its original concept a robot was conceived to have some human-like shape, most robots now in use have specific industrial purposes and do not closely resemble humans. Nevertheless, robots that resemble human form in some way have continued to be introduced. They are called anthropomorphic robots. The fact that the user interface to all robots is now highly mediated means that the form of the user interface is not necessarily connected to the robots form, human or otherwise. Consequently, the unique way the design of anthropomorphic robots affects their user interaction is through their general appearance and the way they move. These robots human-like appearance acts as a kind of generalized predictor that gives its operators, and those with whom they may directly work, the expectation that they will behave to some extent like a human. This expectation is especially prominent for interactions with social robots, which are built to enhance it. Often interaction with them may be mainly cognitive because they are not necessarily kinematically intricate enough for complex physical interaction. Their body movement, for example, may be limited to simple wheeled locomotion. An anthropomorphic robot with human form, however, can be kinematically complex and designed, for example, to reproduce the details of human limb, torso, and head movement. Because of the mediated nature of robot control, there remains in general no necessary connection between the specific form of user interface and the anthropomorphic form of the robot. But their anthropomorphic kinematics and dynamics imply that the impact of their design shows up in the way the robot moves. The central finding of this report is that the control of this motion is a basic design element through which the anthropomorphic form can affect user interaction. In particular, designers of anthropomorphic robots can take advantage of the inherent human-like movement to 1) improve the users direct manual control over robot limbs and body positions, 2) improve users ability to detect anomalous robot behavior which could signal malfunction, and 3) enable users to be better able to infer the intent of robot movement. These three benefits of anthropomorphic design are inherent implications of the anthropomorphic form but they need to be recognized by designers as part of anthropomorphic design and explicitly enhanced to maximize their beneficial impact. Examples of such enhancements are provided in this report. If implemented, these benefits of anthropomorphic design can help reduce the risk of Inadequate Design of Human and Automation Robotic Integration (HARI) associated with the HARI-01 gap by providing efficient and dexterous operator control over robots and by improving operator ability to detect malfunctions and understand the intention of robot movement.

automation/robotic integration↗
NASA NTRS2021

Convex Optimization Guidance for Precision Landing on Titan

Precision landing is an anticipated technology for future interplanetary missions. Autonomous spacecraft Entry, Descent and Landing (EDL) on the surface of a planetary body with a degree of precision in the order of meters is highly challenging. In this paper, a successive convexification guidance algorithm is utilized to simulate autonomous precision landing sequences on Saturn’s moon Titan. Due to its unique geophysical features, studying the science of matter within Titan’s atmosphere and beneath its surface is one of NASA’s most important planetary science objectives. As part of the Space Exploration Technology Directorate, a parafoil is proposed for landing on Titan due to its cost effectiveness, ease of deployment, low mass compared to the prospective payload and capabilities of precise autonomous delivery. This paper focuses on path optimization and guidance law development for high-fidelity dynamics parafoil tuning in the dense and adverse wind atmosphere of Titan, defined as a nonlinear and nonconvex optimal control problem. The powerful successive convexification method is used to solve the problem accordingly. The algorithm is designed such that the converged solution adheres to the nonlinear dynamics and kinematics in accordance with the original formulation, while respecting the state and control constraints. The six-degree-of-freedom (6DoF) simulations results show that this robust method is suitable for autonomous interplanetary applications.

Mooij, Edwin↗
NASA NTRSDate not supplied

Uncertainty in Servicing and Assembly Tasks for Space Robotic Manipulators

This presentation will discuss a subset of the sources of uncertainty that impact autonomous in-space servicing, assembly, and manufacturing missions. These include robotic manipulator modeling uncertainties in both kinematics and dynamics, perception error associated machine learning models for pose estimation, and sensor noise. Mitigation strategies will be discussed including the incorporation of capture envelopes in the design of robotic tools and selection of robot goal poses to minimize end-effector sensitivity in manipulators with redundant degrees of freedom.

robotics↗
NASA NTRSDate not supplied

Hardware-in-the-Loop Simulation of Modular Antenna Assembly

Robots are playing an increasing role in space exploration and in-space servicing. Robotic arms are good for performing in-space tasks such as modular assembly. The SPIDER arm (SPace Infrastructure Dexterous Robot) of the OSAM-1 mission represents an example of a system that can perform modular antenna assembly tasks in environmental conditions that would be dangerous for astronauts. One of the WVRTC activities is to perform independent verification and validation of the SPIDER assembly operations. Space robotic systems adopting large manipulators such as the SPIDER arm are complex to test and verify under normal 1-G conditions. Our work involves proof-of-principle testing of a hardware-inthe-loop (HIL) simulator operating in 1-g conditions, which replicates the motion of the space robot end-effector under the same geometric, kinematic and dynamic conditions, and in response to externally applied forces from its space environment. In particular, our software simulates in real-time the robot dynamics inclusive of flexibility, an important aspect in case of a long robotic arms operating in 0-G conditions. For example, the same oscillatory motions of the space manipulator’s end-effector can be mimicked on ground through our industrial manipulator, allowing us to test the feasibility of complex operation such as assembling modular components.

Robotic Assembly↗
DOE OSTI2023

Accelerated Aging of PV Cables - The Development of Methods Towards Combined-Accelerated Stress Testing

PV cables allow the collection and distribution of electricity from modules to the energy grid. Durable cabling allows continuous operation of PV installations. Cables with a life less than that of the modules must be replaced - reducing electricity generation and adding to the system operating expense. We have examined the durability of a variety of representative cable samples using artificial UV weathering (IEC TS 62788-7-2) and combined accelerated stress testing (C-AST). Jackets in this study include PV-rated (polyolefin), building wire (PVC/PA), and multi-conductor (rubber, as in PV trackers), with some examples of black and red cables. Characterizations at read points include appearance (camera and optical microscope), surface roughness (linear profilometry), instrumented indentation, surface morphology (SEM), chemical composition (EDS), thermal decomposition (TGA), phase transition (DSC), crystalline structure (WAXS), and polymer chemical structure (FTIR). Complimentary examinations confirm damage to the external and interior layer(s) of less durable samples, including changes in morphology (e.g., cracking), chemistry (e.g., oxidation), structure, and mechanical performance (e.g., through-thickness modulus and hardness). The results may be generally compared to other examples from the field (PV installations) or after accelerated testing (IEC 61215). The methods in this study are presently being applied in a follow-on C-AST study, incorporating both dynamic and kinematic fixtures.

balance of systems↗
DOE OSTI2023

Understanding hadronic interactions using advanced reconstruction techniques

ProtoDUNE-SP served as the prototype of the future Deep Underground Neutrino Experiment (DUNE). With a total liquid argon mass of 0.77 kt, it stood as the most extensive monolithic single-phase Liquid Argon Time Projection Chamber (LArTPC) ever constructed. Strategically located and operated at CERN, ProtoDUNE-SP benefited from a specialized charged-particle test beam, offering a momentum range of 0.3 - 7 GeV/c. This setup provided a unique opportunity to conduct in-depth studies on hadronic interactions within argon. Hadronic interactions play a fundamental role in neutrino physics, particularly in the intricacies of neutrino detection. We depend on analyzing the outcomes of these interactions to accurately determine both the flavor and energy of the interacting neutrinos. Pions, as one of the primary byproducts of neutrino interactions, are crucial for understanding the overall dynamics and kinematics of these processes. Accurately characterizing and understanding the interaction of pions with argon can significantly enhance the precision of neutrino simulations and measurements.Being a Liquid Argon Time Projection Chamber (LArTPC), ProtoDUNE-SP is distinguished by its ability to produce high-definition images of charged particles as they traverse through the detector's active volume. Yet, accurately reconstructing these particle interactions and determining their kinematic attributes remains a challenging task. The successes of deep learning in diverse domains, especially in image recognition, provide a promising approach for addressing this challenge in ProtoDUNE. This thesis discusses a measurement of the Piplus - argon inelastic cross section in the energy range of 2400 to 3000 MeV, using data taken by protoDUNE during the fall of 2018. Additionally, panoptic segmentation, a machine learning technique, is introduced and validated through its application in the reconstruction of the neutral pion rest mass. The aim is to showcase how these advanced methods can enhance the quality of event reconstruction.

Sarasty Segura, Carlos Eduardo↗
NASA NTRS1990

Some fundamentals regarding kinematics and generalized forces for multibody dynamics

In order to illustrate the various forms in which generalized forces can arise from diverse subsystem analyses in multibody dynamics, intrinsic dynamical equations for the rotational dynamics of a rigid body are derived from Hamilton's principle. Two types of generalized forces are derived: (1) those associated with the virtual rotation vector in some orthogonal basis, and (2) those associated with varying generalized coordinates. As one physical or kinematical result (such as a frequency or a specific direction cosine) cannot rely on this selection, a 'blind' coupling of two models in which generalized forces are calculated in different ways would be wrong. Both types should use the same rotational coordinates and should denote the virtual rotation on a similar basis according to method 1, or in terms of common rotational coordinates and their diversifications as in method 2. Alternatively, the generalized forces and coordinates of one model may be transformed to those of the other.

Hodges, Dewey H.↗
DOE OSTI2022

Discrete dislocation dynamics for crystal RVEs. Part 1: Periodic network kinematics

A novel implementation of the dislocation flux boundary condition in discrete dislocation dynamics is presented. The continuity of the individual dislocation loops in a periodic representative crystal volume (RVE) is enforced across the boundary of the RVE with the help of a dual topological description for representing dislocation line kinematics in two equivalent spaces representing the deforming crystal, the RVE and the unbounded crystal spaces. The former describes the motion of the dislocations in the simulated crystal RVE whereas the latter represents the motion of dislocations in an infinite space containing all replicas of the RVE. A mapping between the two spaces forms the basis of the implementation of flux boundary condition. The implementation details are discussed in the context of statistical homogeneity of bulk crystals undergoing macroscopically homogeneous plastic deformation. In this case, the boundary nodes associated with dislocation segments bear no relevance in the motion of the dislocations. Finally, some test cases are presented and discussed to establish the proposed approach.

42 ENGINEERING↗
NASA NTRS1989

Dynamical modeling of serial manipulators with flexible links and joints using the method of kinematic influence

A method of formulating the dynamical equations of a flexible, serial manipulator is presented, using the Method of Kinematic Influence. The resulting equations account for rigid body motion, structural motion due to link and joint flexibilities, and the coupling between these two motions. Nonlinear inertial loads are included in the equations. A finite order mode summation method is used to model flexibilities. The structural data may be obtained from experimental, finite element, or analytical methods. Nonlinear flexibilities may be included in the model.

Graves, Philip L.↗
NASA NTRS1987

Computational structures for robotic computations

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Lee, C. S. G.↗
NASA NTRS1990

A reduced-dynamic technique for precise orbit determination

Observations of the Global Positioning System (GPS) will enable a reduced-dynamic technique for achieving subdecimeter orbit determination of earth-orbiting satellites. With this technique, information on the transition between satellite states at different observing times is furnished by both a formal dynamic model and observed satellite positional change (which is inferred kinematically from continuous GPS carrier-phase data). The relative weighting of dynamic and kinematic information can be freely varied. Covariance studies show that in situations where observing geometry is poor and the dynamic model is good, the model dominates determination of the state transition; where the dynamic model is poor and the geometry strong, carrier phase governs the determination of the transition. When neither kinematic nor dynamic information is clearly superior, the reduced-dynamic combination of the two can substantially improve the orbit-determination solution. Guidelines are given here for selecting a near-optimal weighting for the reduced-dynamic solution, and sensitivity of solution accuracy to this weighting is examined.

Wu, S. C.↗
NASA NTRS1989

A decoupled recursive approach for constrained flexible multibody system dynamics

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Lai, Hao-Jan↗
DOE OSTI2022

High-velocity Stars in SDSS/APOGEE DR17

We report 23 stars having Galactocentric velocities larger than 450 km s -1 in the final data release of the APOGEE survey. This sample was generated using space velocities derived by complementing the high-quality radial velocities from the APOGEE project in Sloan Digital Sky Survey's Data Release 17 (DR17) with distances and proper motions from Gaia early Data Release 3 (eDR3). We analyze the observed kinematics and derived dynamics of these stars, considering different potential models for the Galaxy. We find that three stars could be unbound depending on the adopted potential, but in general all of the stars show typical kinematics of halo stars. The APOGEE DR17 spectroscopic results and Gaia eDR3 photometry are used to assess the stellar parameters and chemical properties of the stars. All of the stars belong to the red giant branch, and, in general, they follow the abundance pattern of typical halo stars. There are a few exceptions that would deserve further analysis through high-resolution spectroscopy. In particular, we identify a high-velocity Carbon-Enhanced Metal-Poor star, with a Galactocentric velocity of 482 km s -1 . We do not confirm any hypervelocity star in the sample, but this result is very sensitive to the adopted distances and less sensitive to the Galactic potential.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2025

EMPDF : inferring the Milky Way mass with data-driven distribution function in phase space

We introduce the emPDF (empirical distribution function), a novel dynamical modelling method that infers the gravitational potential from kinematic tracers with optimal statistical efficiency under the minimal assumption of steady state. emPDF determines the best-fitting potential by maximizing the similarity between instantaneous kinematics and the time-averaged phase-space distribution function (DF), which is empirically constructed from observation upon the theoretical foundation of oPDF (Han et al. 2016). This approach eliminates the need for presumed functional forms of DFs or orbit libraries required by conventional DF- or orbit-based methods. emPDF stands out for its flexibility, efficiency, and capability in handling observational effects, making it preferable to the popular Jeans equation or other minimal assumption methods, especially for the Milky Way (MW) outer halo where tracers often have limited sample size and poor data quality. We apply emPDF to infer the MW mass profile using Gaia DR3 data of satellite galaxies and globular clusters, obtaining enclosed masses of M (,r) = 26±8, 46±8, 90±13⁠, and 149±40 x 10 10 M ⊙ at r = 30, 50, 100⁠, and 200 kpc, respectively. These are consistent with the updated constraints from simulation-informed DF fitting (Li et al. 2020). While the simulation-informed DF offers superior precision owing to the additional information extracted from simulations, emPDF is independent of such supplementary knowledge and applicable to general tracer populations. emPDF is currently implemented for tracers with complete 6D kinematics within spherical potentials, but it can potentially be extended to address more general problems.

Astrophysics of Galaxies (astro-ph.GA)↗
NASA NTRS2012

Linked-List-Based Multibody Dynamics (MBDyn) Engine

This new release of MBDyn is a software engine that calculates the dynamics states of kinematic, rigid, or flexible multibody systems. An MBDyn multibody system may consist of multiple groups of articulated chains, trees, or closed-loop topologies. Transient topologies are handled through conservation of energy and momentum. The solution for rigid-body systems is exact, and several configurable levels of nonlinear term fidelity are available for flexible dynamics systems. The algorithms have been optimized for efficiency and can be used for both non-real-time (NRT) and real-time (RT) simulations. Interfaces are currently compatible with NASA's Trick Simulation Environment. This new release represents a significant advance in capability and ease of use. The two most significant new additions are an application programming interface (API) that clarifies and simplifies use of MBDyn, and a link-list infrastructure that allows a single MBDyn instance to propagate an arbitrary number of interacting groups of multibody top ologies. MBDyn calculates state and state derivative vectors for integration using an external integration routine. A Trickcompatible interface is provided for initialization, data logging, integration, and input/output.

MacLean, John↗
DOE OSTI2022

Dynamics of stellar disc tilting from satellite mergers

The Milky Way’s stellar disc can tilt in response to torques that result from infalling satellite galaxies and their associated tidal debris. In this work, we explore the dynamics of disc tilting by running N-body simulations of mergers in an isolated, isotropic Milky Way-like host galaxy, varying over satellite virial mass, initial position, and orbit. We develop and validate a first-principles understanding of the dynamics that govern how the host galaxy’s stellar disc responds to the satellite’s dark matter (DM) debris. We find that the degree of disc tilting can be large for cosmologically motivated merger histories. In particular, our results suggest that the Galactic disc may still be tilting in response to Gaia-Sausage-Enceladus, one of the most significant recent mergers in the Milky Way’s history. In conclusion, these findings have implications for terrestrial direct detection experiments as disc tilting changes the relative location of the Sun with respect to DM substructure left behind by a merging galaxy.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

The Gaia-ESO Survey: Oxygen Abundance in the Galactic Thin and Thick Disks

We analyze the oxygen abundances of a stellar sample representative of the two major Galactic populations: the thin and thick disks. The aim is to investigate the differences between members of the Galactic disks and contribute to the understanding of the origin of oxygen chemical enrichment in the Galaxy. The analysis is based on the [O i] = 6300.30 Å oxygen line in high-resolution spectra (R ∼ 52,500) obtained from the Gaia-ESO public spectroscopic Survey (GES). By comparing the observed spectra with a theoretical data set computed in LTE with the SPECTRUM synthesis and ATLAS12 codes, we derive the oxygen abundances of 516 FGK dwarfs for which we have previously measured carbon abundances. Based on kinematic, chemical, and dynamical considerations, we identify 20 thin and 365 thick disk members. We study the potential trends of both subsamples in terms of their chemistry ([O/H], [O/Fe], [O/Mg], and [C/O] versus [Fe/H] and [Mg/H]), age, and position in the Galaxy. The main results are that (a) [O/H] and [O/Fe] ratios versus [Fe/H] show systematic differences between thin and thick disk stars with an enhanced O abundance of thick disk stars with respect to thin disk members and a monotonic decrement of [O/Fe] with increasing metallicity, even at metal-rich regime; (b) there is a smooth correlation of [O/Mg] with age in both populations, suggesting that this abundance ratio can be a good proxy of stellar ages within the Milky Way; and (c) thin disk members with [Fe/H] ≃ 0 display a [C/O] ratio smaller than the solar value, suggesting a possibly outward migration of the Sun from lower Galactocentric radii.

74 ATOMIC AND MOLECULAR PHYSICS↗