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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

An Algorithm for Trajectory Generation in Redundant Manipulators with Joint Transmission Accommodation

Trajectory generation for manipulators involves generating incremental updates of joint variables to achieve a desired end–effector motion. The Jacobian matrix maps incremental joint motion to incremental end–effector motion in a linear fashion and is typically used in manipulator trajectory generation algorithms. In the case of a redundant manipulator, the Jacobian matrix is not square or invertible and therefore algorithms based on pseudoinverses and their variations are commonly used for trajectory generation. These methods either are computationally not efficient or do not utilize all the joints in motion generation and therefore do not completely exploit the redundancy of the manipulator. The method presented in this paper is a simple method that maximizes transmission of all joint variables onto a desired end–effector motion trajectory. The method is based on aligning the null–space of an augmented Jacobian matrix with the path of the desired end–effector motion, from which a linear combination of joints that projects fully onto the desired end–effector trajectory is obtained. In this manner, all joints of the redundant manipulator are used to generate the end–effector trajectory accommodating the ability of each joint in terms of its motion transmission.

Ravani, Bahram↗
DOE OSTI2026

Enhanced HLW Glass Property-Composition Models – Phase 2

As a continuation of the Phase 1 HLW model development work as part of a phased approach to enhance and expand HLW glass property-composition models, additional data were collected for the HLW glass dataset and used to revise the models developed during Phase 1. These data are for glasses that are collectively referred to as ORP-2014 glasses. The sources of additional data for the Phase 2 work included: (i) actively designed glasses formulated to support various glass studies at VSL since the completion of Phase 1; and (ii) glasses from two statistically designed matrices to supplement the existing HLW compositional space. The Phase 2 matrix design was intended to augment and improve the coverage in the high aluminum region.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1975

On Similarity Transformation and Geodetic Network Distortions Based on Doppler Satellite Observations

Models used in geodesy to transform two sets of coordinates are studied and distortions in geodetic networks are investigated. Commonly used transformation models are first reviewed and most of them are interpreted. Differences between various models are discussed. Pitfalls in partial solutions are then considered. It is shown that only as many chords and/or directional elements can be used in the computation as are needed to completely determine the size or shape of the polyhedron implied in the set of Cartesian coordinates. Each additional element causes the normal matrix to be singular provided that all correlations between the chords are used. A number of tables and maps indicating distortions in the NAD 27, Precise Traverse M-R '72, AUS, and SAD 69 geodetic datums are also included. The residuals of the coordinates are scanned for systematic patterns after transforming each geodetic system to the NWL9D Doppler system. Also, an attempt is made to show scale distortions in the NAD 27.

Leick, Alfred↗
DOE OSTI2022

Assessing Cybersecurity Resilience of Distributed Ledger Technology in Energy Sector Using the MITRE ATT&CK® ICS Framework

Digitization in the power industry enables wide connectivity among multiple new entrants such as DERs, prosumers, and P2P counterparts within or outside the Distributed Ledger Technology (DLT). The use of DLT to improve resilience in the power grid has growing support, but new technology provides new opportunities for adversaries to cause harm. This work completed by the Cybersecurity- focused task force of IEEE SA P2418.5 evaluates the potential risks by applying the MITRE ATT&CK® ICS matrix to the DLT Engineering and Cybersecurity Stack designed for power systems applications

Gourisetti, Sri Nikhil Gupta↗
DOE OSTI2021

Enabling complete multichannel nonadiabatic dynamics: A global representation of the two-channel coupled, 1,2 1 A and 1 3 A states of NH 3 using neural networks

Global coupled three-state two-channel potential energy and property/interaction (dipole and spin–orbit coupling) surfaces for the dissociation of NH 3 (Ã) into NH + H 2 and NH 2 + H are reported. The permutational invariant polynomial-neural network approach is used to simultaneously fit and diabatize the electronic Hamiltonian by fitting the energies, energy gradients, and derivative couplings of the two coupled lowest-lying singlet states as well as fitting the energy and energy gradients of the lowest-lying triplet state. The key issue in fitting property matrix elements in the diabatic basis is that the diabatic surfaces must be smooth, that is, the diabatization must remove spikes in the original adiabatic property surfaces attributable to the switch of electronic wavefunctions at the conical intersection seam. Here, we employ the fit potential energy matrix to transform properties in the adiabatic representation to a quasi-diabatic representation and remove the discontinuity near the conical intersection seam. The property matrix elements can then be fit with smooth neural network functions. The coupled potential energy surfaces along with the dipole and spin–orbit coupling surfaces will enable more accurate and complete treatment of optical transitions, as well as nonadiabatic internal conversion and intersystem crossing.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS2016

Development of a Subcell Based Modeling Approach for Modeling the Architecturally Dependent Impact Response of Triaxially Braided Polymer Matrix Composites

Understanding the high velocity impact response of polymer matrix composites with complex architectures is critical to many aerospace applications, including engine fan blade containment systems where the structure must be able to completely contain fan blades in the event of a blade-out. Despite the benefits offered by these materials, the complex nature of textile composites presents a significant challenge for the prediction of deformation and damage under both quasi-static and impact loading conditions. The relatively large mesoscale repeating unit cell (in comparison to the size of structural components) causes the material to behave like a structure rather than a homogeneous material. Impact experiments conducted at NASA Glenn Research Center have shown the damage patterns to be a function of the underlying material architecture. Traditional computational techniques that involve modeling these materials using smeared homogeneous, orthotropic material properties at the macroscale result in simulated damage patterns that are a function of the structural geometry, but not the material architecture. In order to preserve heterogeneity at the highest length scale in a robust yet computationally efficient manner, and capture the architecturally dependent damage patterns, a previously-developed subcell modeling approach where the braided composite unit cell is approximated as a series of four adjacent laminated composites is utilized. This work discusses the implementation of the subcell methodology into the commercial transient dynamic finite element code LS-DYNA (Livermore Software Technology Corp.). Verification and validation studies are also presented, including simulation of the tensile response of straight-sided and notched quasi-static coupons composed of a T700/PR520 triaxially braided [0deg/60deg/-60deg] composite. Based on the results of the verification and validation studies, advantages and limitations of the methodology as well as plans for future work are discussed.

finite element method↗
DOE OSTI2023

The j and k dependencies of the line coupling and line mixing effects: Theoretical studies of the relaxation matrices of N 2 -broadened CH 3 D

Line coupling and line mixing effects in parallel and perpendicular bands of CH 3 D perturbed by N 2 have been studied. The work focuses on exhibiting the j and k dependencies of these two processes. The calculations were based on a previously reported anisotropic intermolecular potential including both the long-range multipole, induction, and dispersion forces and a short-range atom-atom model. Throughout this work, it is shown that components with L 1 = 3 of the atom-atom model are dominant contributions to the diffusion operator. As a consequence, in comparison with other molecular systems such as the CH 3 Cl-N 2 and CH 3 I-N 2 , theoretically predicted line coupling and line mixing effects exhibit completely new j and k dependencies. In general, the theoretically calculated halfwidths and intra-doublets’ off-diagonal elements of the relaxation matrix are in reasonable agreement with measurements.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1992

A multi-layer discrete-ordinate method for vector radiative transfer in a vertically-inhomogeneous, emitting and scattering atmosphere. I - Theory. II - Application

A theory is developed for discretizing the vector integro-differential radiative transfer equation including both solar and thermal radiation. A complete solution and boundary equations are obtained using the discrete-ordinate method. An efficient numerical procedure is presented for calculating the phase matrix and achieving computational stability. With natural light used as a beam source, the Stokes parameters from the model proposed here are compared with the analytical solutions of Chandrasekhar (1960) for a Rayleigh scattering atmosphere. The model is then applied to microwave frequencies with a thermal source, and the brightness temperatures are compared with those from Stamnes'(1988) radiative transfer model.

Weng, Fuzhong↗
NASA NTRS1998

Probabilistic Modeling of High-Temperature Material Properties of a 5-Harness 0/90 Sylramic Fiber/ CVI-SiC/ MI-SiC Woven Composite

An integrated probabilistic approach has been developed to assess composites for high temperature applications. This approach was used to determine thermal and mechanical properties and their probabilistic distributions of a 5-harness 0/90 Sylramic fiber/CVI-SiC/Mi-SiC woven Ceramic Matrix Composite (CMC) at high temperatures. The purpose of developing this approach was to generate quantitative probabilistic information on this CMC to help complete the evaluation for its potential application for HSCT combustor liner. This approach quantified the influences of uncertainties inherent in constituent properties called primitive variables on selected key response variables of the CMC at 2200 F. The quantitative information is presented in the form of Cumulative Density Functions (CDFs). Probability Density Functions (PDFS) and primitive variable sensitivities on response. Results indicate that the scatters in response variables were reduced by 30-50% when the uncertainties in the primitive variables, which showed the most influence, were reduced by 50%.

Nagpal, Vinod K.↗
NASA NTRS2023

The J and K Dependencies of the Line Coupling and Line Mixing Effects: Theoretical Studies of the Relaxation Matrices of N 2 -Broadened Ch 3 D

Line coupling and line mixing effects in parallel and perpendicular bands of CH 3 D perturbed by N 2 have been studied. The work focuses on exhibiting the j and k dependencies of these two processes. The calculations were based on a previously reported anisotropic intermolecular potential including both the long-range multipole, induction, and dispersion forces and a short-range atom-atom model. It is shown that components with L 1 = 3 of the atom-atom model are dominant contributions to the diffusion operator. As a consequence, in comparison with other molecular systems such as the CH 3 Cl-N 2 and CH 3 I-N 2 , theoretically predicted line coupling and line mixing effects exhibit completely new j and k dependencies. In general, the theoretically calculated halfwidths and intra-doublets’ off-diagonal elements of the relaxation matrix are in reasonable agreement with measurements.

Methane-d↗
NASA NTRS2017

Relaxation Matrix for Symmetric Tops with Inversion Symmetry: Line Coupling and Line Mixing Effects on NH3 Lines in the V4 Band

Line shape parameters including the half-widths and the off-diagonal elements of the relaxation matrix have been calculated for self-broadened NH3 lines in the perpendicular v4 band. As in the pure rotational and the parallel v1 bands, the small inversion splitting in this band causes a complete failure of the isolated line approximation. As a result, one has to use formalisms not relying on this approximation. However, due to differences between parallel and perpendicular bands of NH3, the applicability of the formalism used in our previous studies of the v1 band and other parallel bands must be carefully verified. We have found that, as long as potential models only contain components with K1 equals K2 equals 0, whose matrix elements require the selection rule delta k equals 0, the formalism is applicable for the v4 band with some minor adjustments. Based on both theoretical considerations and results from numerical calculations, the non-diagonality of the relaxation matrices in all the PP, RP, PQ, RQ, PR, and RR branches is discussed. Theoretically calculated self-broadened half-widths are compared with measurements and the values listed in HITRAN 2012. With respect to line coupling effects, we have compared our calculated intra-doublet off-diagonal elements of the relaxation matrix with reliable measurements carried out in the PP branch where the spectral environment is favorable. The agreement is rather good since our results do well reproduce the observed k and j dependences of these elements, thus validating our formalism.

Absorption coefficient↗
DOE OSTI2021

Geometry and entanglement in the scattering matrix

A formulation of nucleon–nucleon scattering is developed in which the S-matrix, rather than an effective-field theory (EFT) action, is the fundamental object. Spacetime plays no role in this description: the S-matrix is a trajectory that moves between RG fixed points in a compact theory space defined by unitarity. This theory space has a natural operator definition, and a geometric embedding of the unitarity constraints in four-dimensional Euclidean space yields a flat torus, which serves as the stage on which the S-matrix propagates. Trajectories with vanishing entanglement are special geodesics between RG fixed points on the flat torus, while entanglement is driven by an external potential. The system of equations describing S-matrix trajectories is in general complicated, however the very-low-energy S-matrix –that appears at leading-order in the EFT description– possesses a UV/IR conformal invariance which renders the system of equations integrable, and completely determines the potential. In this geometric viewpoint, inelasticity is in correspondence with the radius of a three-dimensional hyperbolic space whose two-dimensional boundary is the flat torus. This space has a singularity at vanishing radius, corresponding to maximal violation of unitarity. The trajectory on the flat torus boundary can be explicitly constructed from a bulk trajectory with a quantifiable error, providing a simple example of a holographic quantum error correcting code.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2021

Systematic Generation of Moment Invariant Bases for 2D and 3D Tensor Fields

Moment invariants have been successfully applied to pattern detection tasks in 2D and 3D scalar, vector, and matrix valued data. However so far no flexible basis of invariants exists, i.e., no set that is optimal in the sense that it is complete and independent for every input pattern. Here, we prove that a basis of moment invariants can be generated that consists of tensor contractions of not more than two different moment tensors each under the conjecture of the set of all possible tensor contractions to be complete. This result allows us to derive the first generator algorithm that produces flexible bases of moment invariants with respect to orthogonal transformations by selecting a single non-zero moment to pair with all others in these two-factor products. Since at least one non-zero moment can be found in every non-zero pattern, this approach always generates a complete set of descriptors.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Formation of uranium nitride nanoparticles via mechanical alloying of uranium-molybdenum alloy fuels in gaseous nitrogen

Uranium-molybdenum (U-Mo) alloys show promise as a nuclear fuel system due to their high thermal conductivity and fuel loading capability. However, U-Mo systems are susceptible to irradiation induced swelling ultimately affecting the cladding via mechanical and chemical interactions. To address these shortcomings, this research investigated the formation of uranium mononitride (UN) nanoparticles within a 90 wt% U/10 wt% Mo (U-10Mo) matrix to act as a prospective defect sink for fission products at nanometric hetero-interfaces. To promote the formation of UN, U-10Mo powders were mechanically alloyed under a high purity nitrogen atmosphere. Variations of the milling process investigated included media size, duration of milling, and number of times the milling jar was re-aerated with nitrogen gas. Characterization of the fuel microstructure was completed using light element analysis, X-ray diffraction, scanning and transmission-electron microscopy, electron energy loss spectroscopy, and atom probe tomography. UN nanoparticles measuring 1–5 nm in radius were observed in the U-Mo matrix as early as 1 h into the mechanical alloying process. Milling time in excess of 10 h was found to lead to deleterious effects induced by the stainless-steel milling media.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2021

Preliminary Theoretical Analysis of Mixed Precision Krylov Subspace Methods (Q3 Report)

The third quarter of the project was spent performing theoretical finite precision analysis of Krylov subspace method variants that use mixed precision. Our focus here is on the Conjugate Gradient (CG) method and the Lanczos method. We have performed an analysis of maximum attainable accuracy for the classical CG method in which 3 precisions are used: a working precision ε, a precision ε IP for the inner product computations, and a precision ε MV for the matrix-vector products. Our results show that performing inner product computations in lower precision does not affect the attainable accuracy. Further, we have performed a complete error analysis of the s-step Lanczos algorithm. In this case, we show that the numerical behavior of the algorithm can be significantly improved by using extra precision in a small part of the computation. We summarize the main theorems in the remainder of the document. Other activities include attending biweekly xSDK meetings. The subsequent quarter will be spent finalizing these results into technical reports and/or manuscripts for submission to journals, as well as identifying opportunities for future work.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1966

Matrix methods and automation in structural engineering

The partial differential equations of motion of shell structures subject to arbitrary loads may be extremely difficult or even impossible to solve. Since the digital computer is now an available tool for the structural engineer, current research has been directed toward methods which involve matrix formulation of large systems of algebraic equations and matrix solutions for discrete elements rather than the solution of the partial differential equations. These methods require rapid and accurate computer solutions. Recognizing the accuracy problems inherent in working with large matrices, a comprehensive survey of available computer programs was performed for large matrix inversion and for eigenvalue and eigenvector solutions under a Research Grant from the National Aeronautics and Space Administration and the techniques are developed in this paper for using these programs most efficiently for structural applications. The contents of the paper include: automation of matrix compilation, methods of very large matrix inversion and solution of simultaneous equation, and techniques for finding eigenvalues and vectors. In addition, a finite element stiffness matrix approach developed at the Denver Research Institute for both plates and shells subject to arbitrary dynamic loads is described as it was instrumented with complete automation on the digital computer.

Anita S West↗
NASA NTRS1984

Trace elements in rims and interiors of Chainpur chondrules

Trace elements were measured in the rims and interiors of nine chondrules separated from the Chainpur LL-3 chondrite. Whole rock samples of Chainpur and samples of separated rims were also measured. Chondrule rims are moderately enriched in siderophile and volatile elements relative to the chondrule interiors. The enriched volatile elements include the lithophilic volatile element Zn. The moderate enrichment of volatiles in chondrule rims and the lack of severe depletion in chondrules can account for the complete volatile inventory in Chainpur. These results support a three-component model of chondrite formation in which metal plus sulfide, chondrules plus rims and matrix silicates are mixed to form chondrites.

Wilkening, L. L.↗
NASA NTRS1987

Effects of the oceans on polar motion: Extended investigations

Matrix formulation of the tide equations (pole tide in nonglobal oceans); matrix formulation of the associated boundary conditions (constraints on the tide velocity at coastlines); and FORTRAN encoding of the tide equations excluding boundary conditions were completed. The need for supercomputer facilities was evident. Large versions of the programs were successfully run on the CYBER, submitting the jobs from SUNY through the BITNET network. The code was also restructured to include boundary constraints.

Dickman, Steven R.↗