Unmanned lunar roving vehicle remote guidance study
Unmanned lunar roving vehicle remote guidance, discussing onboard vs on-earth steering and velocity control, imaging system, obstacle detection and avoidance
Filetti, K. A.↗
SEARCH · Engineering Papers
Results for “velocity obstacles”
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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Energy-Optimized Path Planning for Uas in Varying Winds Via Reinforcement Learning
In this paper we propose a reinforcement learning (RL) algorithm for path planning of Unmanned Aviation Vehicles (UAVs) under varying wind conditions. Solutions to UAV path planning problems are becoming increasingly necessary as autonomous UAVs continue to enter commercial and government spaces. Path-planning is inherently challenging, as UAVs need to account for dynamically changing flying conditions such as weather, obstacle or no-fly zones, degraded vehicle health, and off-nominal battery power consumption. Machine learning methods such as reinforcement learning (RL) have the potential to revolutionize how vehicles navigate in such uncertain environments. In this study, we compute UAV trajectories from a pre-determined starting position to a target cell within a 7X7 grid environment by optimizing parameters for mission assurance and safety limits in addition to the energy consumption and operation time. The UAV navigates the grid by taking actions to move in any of the eight cardinal and inter-cardinal directions, under constant thrust profile. The resultant UAV state is sampled from a probability distribution which accounts for the UAV’s action, local wind velocity, and the presence of obstacles or boundaries. As the unmanned airspace gets more complex due to multiple vehicles and environmental uncertainties, trade-offs between energy consumption, operation time, risk tolerance, and mission assurance need to be made. Our Markov Decision Process (MDP) environment model can capture any combination of these in the optimization objective, making it novel compared to other work in the field.
trajectory planning↗
Starprobe - Coronal plasma turbulence effects on tracking and telemetry
The telemetry and tracking problems expected for Starprobe, a solar flyby with a perihelion of 4 solar radii, are discussed. The Starprobe is intended to obtain measurements of the solar quadrupole moment within an accuracy of 1/100,000,000, allowing more accurate modelling of the solar interior. Obstacles are perceived for Doppler velocity measurements due to RF signal amplitude and phase scintillations created by the solar corona. Model calculations are presented for the propagation effects in the maximum disturbance area, and an open loop two-way Doppler system is described. The system comprises X-band and S-band uplinks and downlinks to eliminate the plasma-induced phase scintillations, means of correcting unfolding errors caused by S-band amplitude scintillations, and a new method of estimating the Doppler frequency.
Armstrong, J. W.↗
Flow formed by spanwise gaps between roughness elements
Measurements of the three mean velocity components and the three Reynolds shear stresses were made in the region downstream of gaps between wall-mounted roughness elements of square cross section and high aspect ratio in a thick turbulent boundary layer. The effect of small and large gaps was studied in a wind tunnel at a Reynolds number of 3600, based on obstacle height and free-stream velocity. The small gap produces retardation of the gap flow as with a two-dimensional roughness element, but a definite interaction between gap and wake flows is observed. The interaction is more intense for the large gap than for the small. Both gaps generate a secondary crossflow which moves fluid away from the centerline in the wall region and toward the centerline in the outer (y greater than 1.5H) region.
Logan, E.↗
Electron observations and ion flows from the Pioneer Venus Orbiter plasma analyzer experiment
Additional plasma measurements in the vicinity of Venus are presented. It is shown that (1) there are three distinct plasma electron populations - solar wind electrons, ionosheath electrons, and nightside ionosphere electrons; (2) the plasma ion flow pattern in the ionosheath is consistent with deflected flow around a blunt obstacle; (3) the plasma ion flow velocities near the downstream wake may, at times, be consistent with the deflection of plasma into the tail, closing the solar wind cavity downstream from Venus at a relatively close distance (within 5 Venus radii) to the planet; (4) there is a separation between the inner boundary of the downstream ionosheath and the upper boundary of the nightside ionosphere; and (5) during the first 4.5 months in orbit the measured solar wind plasma speed continued to vary, showing a number of high-speed, but generally nonrecurrent, streams.
Intriligator, D. S.↗
Distorted turbulence in axisymmetric flow
A solution to the rapid-distortion theory for small-scale turbulence in flow round an axisymmetric obstacle is derived. General formulae for velocity covariances and Eulerian time scales are obtained and are evaluated for the particular case of flow round a sphere. The large-scale limit for this flow is also discussed.
Durbin, P. A.↗
The use of holographic interferometry for measurements of temperature in a rectangular heat pipe
Holographic interferometry is a nonintrusive method and as such possesses considerable advantages such as not disturbing the velocity and temperature field by creating obstacles which would alter the flow field. These optical methods have disadvantages as well. Holography, as one of the interferometry methods, retains the accuracy of older methods, and at the same time eliminates the system error of participating components. The holographic interferometry consists of comparing the objective beam with the reference beam and observing the difference in lengths of optical paths, which can be observed during the propagation of the light through a medium with locally varying refractive index. Thus, change in refractive index can be observed as a family of nonintersecting surfaces in space (wave fronts). The object of the investigation was a rectangular heat pipe. The goal was to measure temperatures in the heat pipe, which yields data for computer code or model assessment. The results were obtained by calculating the temperatures by means of finite fringes.
Marn, Jure↗
Numerical algorithms for water waves with background flow over obstacles and topography
Abstract We present two accurate and efficient algorithms for solving the incompressible, irrotational Euler equations with a free surface in two dimensions with background flow over a periodic, multiply connected fluid domain that includes stationary obstacles and variable bottom topography. One approach is formulated in terms of the surface velocity potential while the other evolves the vortex sheet strength. Both methods employ layer potentials in the form of periodized Cauchy integrals to compute the normal velocity of the free surface, are compatible with arbitrary parameterizations of the free surface and boundaries, and allow for circulation around each obstacle, which leads to multiple-valued velocity potentials but single-valued stream functions. We prove that the resulting second-kind Fredholm integral equations are invertible, possibly after a physically motivated finite-rank correction. In an angle-arclength setting, we show how to avoid curve reconstruction errors that are incompatible with spatial periodicity. We use the proposed methods to study gravity-capillary waves generated by flow around several elliptical obstacles above a flat or variable bottom boundary. In each case, the free surface eventually self-intersects in a splash singularity or collides with a boundary. We also show how to evaluate the velocity and pressure with spectral accuracy throughout the fluid, including near the free surface and solid boundaries. To assess the accuracy of the time evolution, we monitor energy conservation and the decay of Fourier modes and compare the numerical results of the two methods to each other. We implement several solvers for the discretized linear systems and compare their performance. The fastest approach employs a graphics processing unit (GPU) to construct the matrices and carry out iterations of the generalized minimal residual method (GMRES).
Ambrose, David M.↗
A time-dependent incompressible viscous BEM for moderate Reynolds numbers
The boundary element method is applied to transient viscous incompressible flow. The time-domain formulation allows a boundary-only solution for linear Stokes flow. For higher speed flows in which the nonlinear convective effects cannot be ignored, a volume integral must be retained. However, the introduction of reference velocities often limits the nonlinear region to the vicinity of obstacles or boundary surfaces. Additionally, the volume terms are rewritten to eliminate the need for the calculation of velocity gradients. A general purpose numerical implementation of this new formulation then produces a very attractive tool for engineering analysis. This implementation includes a Newton-Raphson algorithm, permitting accurate solutions up to the moderate Reynolds number range. Several numerical examples are provided to validate the present approach.
Dargush, G. F.↗
A physics-informed data-driven low order model for the wind velocity deficit at the wake of isolated buildings
Detailed simulations of the Atmospheric boundary layer (ABL) provides information on wind velocity, direction and turbulence for optimizing the design of wind turbines and wind farms and their operations. Distributed wind turbines have been considered for use in urban or suburban areas for covering energy needs using a sustainable energy solution. Simulations of high Reynolds number turbulent ABL flows past obstacles can be used for the prediction of the velocity deficit and turbulence characteristics in the leeward side of building-like obstacles, allowing for the estimation of power losses and fatigue loads in wind turbines. However, fully three-dimensional simulations of high Reynolds number ABL flows using Large Eddy Simulation (LES) or Reynolds Average Navier-Stokes Simulations (RANS) continue to require large computational/ execution times. As a result, these 3D simulations may not be ideal tools for the rapid assessment of wind energy potential. In the present study, 3D numerical results from wall resolved RANS simulations were used for the development of a low order model that allows the rapid assessment of wind velocity and turbulence in the leeward side of an isolated building.
17 WIND ENERGY↗
Heuristic search in robot configuration space using variable metric
A method to generate obstacle free trajectories for both mobile robots and linked robots is proposed. The approach generates the shortest paths in a configuration space. The metric in the configuration space can be adjusted to obtain a tradeoff between safety and velocity by imposing extra costs on paths near obstacles.
Verwer, Ben J. H.↗
The Modeled Performance of the ORNL Matched Filter Detector for Seismic Signatures of Multi-Axle Tractor Trailers
The MINOS program seeks methods to passively monitor the transfer of special materials, which are reproducible and quantitatively defensible. To date, we have demonstrated that short-period seismometers deployed near vehicle tracks can detect and monitor signatures of multi-axle tractor trailers impacting small road obstacles as means to detect and identify some transfer activities. In this report, we model the seismic velocity signal output from a tractor-trailer impacting a small obstacle (a template waveform) to parameterize a matched filter that identifies signals with similar shapes buried in noise, and that indicate repeating events (target waveforms). We then use this model to perform thousands of synthetic experiments, in which we apply our detector to identify noisy waveforms output from a similarly modeled vehicle data set; we process all data in the same manner as we process real data collected from the Oak Ridge National Laboratory (ORNL) seismic network. Our experiments, while limited, reveal that the matched filter shows a high discrimination capability, and at very low SNR values (at visibility thresholds). This means that template waveforms can match target waveforms that are sourced by models that share the same vehicle speed (target vehicles), and have a low probability of mis-identification. In particular, a matched filter designed to detect a five-axle tractor-trailer will reliably identify that target vehicle down to an SNR of 11.25 dB, and within ±0.1 km/hr, while successfully screening target vehicles with three axles.
42 ENGINEERING↗
Fog Formation Related to Gravity Currents Interacting with Coastal Topography
An interesting mixing-fog event was identified during IOP7 of the C-FOG project, where a cold front arriving from the north-east collided with the Downs peninsula in Ferryland, Newfoundland, to produce foggy conditions. A comprehensive set of field observations suggests that this collision caused turbulent mixing of nearly saturated ambient air with an almost saturated cold front, creating conditions for mixing fog. Additionally, laboratory experiments were performed to study the interaction of lock-exchange induced gravity currents with a (rectangular) obstacle to delve into physical processes underlying this phenomenon. Instantaneous velocity and density fields were obtained using particle image velocimetry and planar laser-induced fluorescence. The observations suggest that the obstacle starts affecting the approaching gravity-current propagation at an upstream distance of 2 H and, upon collision, the mixing is taking place over a spatial scale of 0.83 H , where H is the depth of the ambient fluid layer. The time for largerscale turbulent stirring to permeate to the smallest scales of turbulence and activate the condensation nuclei was estimated as 3t * , where t* = √H/g' is the intrinsic time scale of the gravity current and g' the reduced gravity. Extrapolation of results to IOP7 showed a good agreement with observations.
54 ENVIRONMENTAL SCIENCES↗
Numerical calculations of velocity and pressure distribution around oscillating airfoils
An analytical procedure based on the Navier-Stokes equations was developed for analyzing and representing properties of unsteady viscous flow around oscillating obstacles. A variational formulation of the vorticity transport equation was discretized in finite element form and integrated numerically. At each time step of the numerical integration, the velocity field around the obstacle was determined for the instantaneous vorticity distribution from the finite element solution of Poisson's equation. The time-dependent boundary conditions around the oscillating obstacle were introduced as external constraints, using the Lagrangian Multiplier Technique, at each time step of the numerical integration. The procedure was then applied for determining pressures around obstacles oscillating in unsteady flow. The obtained results for a cylinder and an airfoil were illustrated in the form of streamlines and vorticity and pressure distributions.
Bratanow, T.↗
Clogging, dynamics, and reentrant fluid for active matter on periodic substrates
Here, we examine the collective states of run-and-tumble active matter disks driven over a periodic obstacle array. When the drive is applied along a symmetry direction of the array, we find a clog-free uniform liquid state for low activity, while at higher activity, the density becomes increasingly heterogeneous and an active clogged state emerges in which the mobility is strongly reduced. For driving along nonsymmetry or incommensurate directions, there are two different clogging behaviors consisting of a drive-dependent clogged state in the low activity thermal limit and a drive-independent clogged state at high activity. These regimes are separated by a uniform flowing liquid at intermediate activity. There is a critical activity level above which the thermal clogged state does not occur, as well as an optimal activity level that maximizes the disk mobility. Thermal clogged states are dependent on the driving direction while active clogged states are not. In the low activity regime, diluting the obstacles produces a monotonic increase in the mobility; however, for large activities, the mobility is more robust against obstacle dilution. We also examine the velocity-force curves for driving along nonsymmetry directions and find that they are linear when the activity is low or intermediate but become nonlinear at high activity and show behavior similar to that found for the plastic depinning of solids. At higher drives, the active clustering is lost. For low activity, we also find a reentrant fluid phase, where the system transitions from a high mobility fluid at low drives to a clogged state at higher drives and then back into another fluid phase at very high drives. We map the regions in which the thermally clogged, partially clogged, active uniform fluid, clustered fluid, active clogged, and directionally locked states occur as a function of disk density, drift force, and activity.
36 MATERIALS SCIENCE↗
The Measurement of Fluctuations of Air Speed by the Hot-Wire Anemometer
The hot-wire anemometer suggests itself as a promising method for measuring the fluctuating air velocities found in turbulent flow. The only obstacle is the presence of a lag due to the limited energy input which makes even a fairly small wire incapable of following rapid fluctuations with accuracy. This paper gives the theory of the lag and describes an experimental arrangement for compensating for the lag for frequencies up to 100 or more per second when the amplitude of the fluctuation is not too great. An experimental test of the accuracy of compensation and some results obtained with the apparatus in a wind-tunnel air stream are described. While the apparatus is very bulky in its present form, it is believed possible to develop a more portable arrangement. (author)
Dryden, H L↗
Algorithm for Autonomous Landing
Because of their small size, high maneuverability, and easy deployment, micro aerial vehicles (MAVs) are used for a wide variety of both civilian and military missions. One of their current drawbacks is the vast array of sensors (such as GPS, altimeter, radar, and the like) required to make a landing. Due to the MAV s small payload size, this is a major concern. Replacing the imaging sensors with a single monocular camera is sufficient to land a MAV. By applying optical flow algorithms to images obtained from the camera, time-to-collision can be measured. This is a measurement of position and velocity (but not of absolute distance), and can avoid obstacles as well as facilitate a landing on a flat surface given a set of initial conditions. The key to this approach is to calculate time-to-collision based on some image on the ground. By holding the angular velocity constant, horizontal speed decreases linearly with the height, resulting in a smooth landing. Mathematical proofs show that even with actuator saturation or modeling/ measurement uncertainties, MAVs can land safely. Landings of this nature may have a higher velocity than is desirable, but this can be compensated for by a cushioning or dampening system, or by using a system of legs to grab onto a surface. Such a monocular camera system can increase vehicle payload size (or correspondingly reduce vehicle size), increase speed of descent, and guarantee a safe landing by directly correlating speed to height from the ground.
Kuwata, Yoshiaki↗
Two-dimensional subsonic compressible flow past elliptic cylinders
The method of Poggi is used to calculate, for perfect fluids, the effect of compressibility upon the flow on the surface of an elliptic cylinder at zero angle of attack and with no circulation. The result is expressed in a closed form and represents a rigorous determination of the velocity of the fluid at the surface of the obstacle insofar as the second approximation is concerned. Comparison is made with Hooker's treatment of the same problem according to the method of Janzen and Rayleight and it is found that, for thick elliptic cylinders, the two methods agree very well. The labor of computation is considerably reduced by the present solution.
Kaplan, Carl↗