SEARCH · Engineering Papers

Results for “Motion Planning”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 415 records · Page 23

All sources NASA NTRS DOE OSTI

NASA NTRS2014

Safe Maritime Autonomous Path Planning in a High Sea State

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

Ono, Masahiro↗

NASA NTRS1991

Spatial deadlocks in task-level planning

We will formulate the problem of resolving spatial (space occupancy and support-stability) interactions in terms of tools developed in Operating Systems for the problems of deadlocks and synchronization. We show how to construct state graphs and to detect resource contentions and deadlocks from these state graphs. We describe an algorithm, called CONTAC, to deal with deadlocks where 'processes' represent the ordered motions of parts. The algorithm is a monitor-like process using preventative preemptive protocol to resolve higher-degree deadlocks. We develop the representation for knowledge about current allocations, pending requests, and synchronization constraints, to generate a contention-free sequence of actions. In this paper we focus on modeling deadlocks which are manifestations of spatial interactions.

Doshi, Rajkumar S.↗

NASA NTRS1954

On the use of the indicial-function concept in the analysis of unsteady motions of wings and wing-tail combinations

The concept of indicial aerodynamic functions is applied to the analysis of the short-period pitching mode of aircraft. By the use of simple physical relationships associated with the indicial-function relationships concept, quantitative studies are made of the separate effects on the damping in pitch of changes in Mach number, aspect ratio, plan-form shape, and frequency. The concept is further shown to be of value in depicting physically the induced effects on a tail surface which follows in the wake of a starting forward surface. Considerable effort is devoted to the development of theoretical techniques whereby the transient response in lift at the tail to the wing wake may be estimated. Numerical results for several representative cases are presented, and these are analyzed to reassess the importance of the contribution to the rotary damping moment of the interference lift at the tail.

Tobak, Murray↗

NASA NTRS1975

Passive three-axis stabilization of the Long Duration Exposure Facility

This paper presents an analysis of the attitude dynamics of the Long Duration Exposure Facility (LDEF). LDEF is a large cylindrical gravity gradient stabilized earth satellite which is planned to be delivered to a 270-n mi circular orbit by the space shuttle. The fundamental linear stability, capture requirements, and pitch bias constraints generated by the Garber instability are discussed. Numerical simulations, based on the full nonlinear equations for the coupled orbital and attitude motion of the vehicle and the viscous magnetic damper, show stable behavior of the spacecraft and a damping time constant of 30 to 70 orbits.

Huckins, E. K., III↗

NASA NTRS1978

Comet Tempel 2: Orbit, ephemerides and error analysis

The dynamical behavior of comet Tempel 2 is investigated and the comet is found to be very well behaved and easily predictable. The nongravitational forces affecting the motion of this comet are the smallest of any comet that is affected by nongravitational forces. The sign and time history of these nongravitational forces imply (1) a direct rotation of the comet's nucleus and (2) the comet's ability to outgas has not changed substantially over its entire observational history. The well behaved dynamical motion of the comet, the well observed past apparitions, the small nongravitational forces and the excellent 1988 ground based observing conditions all contribute to relatively small position and velocity errors in 1988 -- the year of a proposed rendezvous space mission to this comet. To assist in planned ground based and earth orbital observations of this comet, ephemerides are given for the 1978-79, 1983-84 and 1988 apparitions.

Yeomans, D. K.↗

NASA NTRS1988

Helicopter trajectory planning using optimal control theory

A methodology for optimal trajectory planning, useful in the nap-of-the-earth guidance of helicopters, is presented. This approach uses an adjoint-control transformation along with a one-dimensional search scheme for generating the optimal trajectories. In addition to being useful for helicopter nap-of-the-earth guidance, the trajectory planning solution is of interest in several other contexts, such as robotic vehicle guidance and terrain-following guidance for cruise missiles and aircraft. A distinguishing feature of the present research is that the terrain constraint and the threat envelopes are incorporated in the equations of motion. Second-order necessary conditions are examined.

Menon, P. K. A.↗

NASA NTRS1994

Small-scale behavior in distorted turbulent boundary layers at low Reynolds number

During the last three years we have conducted high- and low-Reynolds-number experiments, including hot-wire measurements of the velocity fluctuations, in the test-section-ceiling boundary layer of the 80- by 120-foot Full-Scale Aerodynamics Facility at NASA Ames Research Center, to test the local-isotropy predictions of Kolmogorov's universal equilibrium theory. This hypothesis, which states that at sufficiently high Reynolds numbers the small-scale structures of turbulent motions are independent of large-scale structures and mean deformations, has been used in theoretical studies of turbulence and computational methods such as large-eddy simulation; however, its range of validity in shear flows has been a subject of controversy. The present experiments were planned to enhance our understanding of the local-isotropy hypothesis. Our experiments were divided into two sets. First, measurements were taken at different Reynolds numbers in a plane boundary layer, which is a 'simple' shear flow. Second, experiments were designed to address this question: will our criteria for the existence of local isotropy hold for 'complex' nonequilibrium flows in which extra rates of mean strain are added to the basic mean shear?

Saddoughi, Seyed G.↗

DOE OSTI2020

Model, Design, and Control for Power Conversion in Wave Energy Converter System

Wave energy, if all been harvested along the U.S. coastline, can power around 65% of the energy consumption in U.S.. Comparing to other renewable energy sources like solar or wind, ocean wave can provide up to 90% of steady uptime. With the high energy density (2-3 kW/m 2 ), it can produce more energy with the same amount of installation area comparing to the energy density of wind turbine (0.6 kW/m 2 ) and solar panel(0.2 kW/m 2 ). The predictability of wave provides advantages like planning installation, power dispatching, and maintenance activities. Although with all these advantages, wave energy converter system is still in the research stage due to its high system cost per electricity production. One of the challenges that need to be solved is the irregularity from the wave motion that leads to high instantaneous peak power into the wave energy converter, which usually reaches up to 10 - 20 times of the average power. The high peak power will not only bring high mechanical/electrical stress but also result in an overrating design of the components in the system. Another obstacle that prevents the wave energy system from moving forward is the high testing cost from the validations in wave-energy-test sites or tank-test sites. A high-fidelity multi-disciplinary system model, including hydrodynamics, mechanical dynamics, electromagnetics, and power electronics, is needed to predict the behavior of the system and reduce the cost of design validation.

16 TIDAL AND WAVE POWER↗

NASA NTRS1992

Canadian Space Agency Space Station Freedom utilization plans

Under the terms of the NASA/CSA Memorandum of Understanding, Canada will contribute the Mobile Servicing System and be entitled to use 3 percent of all Space Station utilization resources and user accommodations over the 30 year life of the Station. Equally importantly Canada, like NASA, can begin to exploit these benefits as soon as the Man-Tended Capability (MTC) phase begins, in early 1997. Canada has been preparing its scientific community to fully utilize the Space Station for the past five years; most specifically by encouraging, and providing funding, in the area of Materials Science and Applications, and in the area of Space Life Sciences. The goal has been to develop potential applications and an experienced and proficient Canadian community able to effectively utilize microgravity environment facilities such as Space Station Freedom. In addition, CSA is currently supporting four facilities; a Laser Test System, a Large Motion Isolation Mount, a Canadian Float Zone Furnace, and a Canadian Protein Crystallization Apparatus. In late April of this year CSA sent out a Solicitation of Interest (SOI) to potential Canadian user from universities, industry, and government. The intent of the SOI was to determine who was interested, and the type of payloads which the community at large intended to propose. The SOI will be followed by the release of an Announcement of Opportunity (AO) following governmental approval of the Long Term Space plan later this year, or early next year. Responses to the AO will be evaluated and prioritized in a fair and impartial payload selection process, within the guidelines set by our international partners and the Canadian Government. Payload selection is relatively simple compared to the development and qualification process. An end-to-end user support program is therefore also being defined. Much of this support will be provided at the new headquarters currently being built in St. Hubert, Quebec. It is recognized that utilizing the Space Station could be expensive for users; costing in many cases millions of dollars to get a payload from conception to retrieval. It is also recognized that some of the potential users cannot or will not invest a lot of money or effort into Space Station utilization, unless there is a perceived significant commercial potential. How best to fund Space Station payloads is under study. Space Station Freedom will provide the first opportunity for Canada to conduct experiments in a long-duration microgravity environment. CSA have been developing and funding potential users for some time, and considerable interest has been shown by the response to our SOI earlier this year. Canada can be one of the two earliest users for the Space Station, along with NASA. We hope to take full advantage of this opportunity.

Faulkner, James↗

NASA NTRS2025

Inflatable Softgoods Design of an Articulating Crew Transfer Tunnel

Future NASA exploration plans call for lunar and Martian surface systems that form a base camp of multiple, pressurized elements. These discrete components, including habitats and pressurized rovers, require interoperability to meet the Artemis Accords and standard docking systems to physically connect elements together. A pressurized, articulating crew transfer tunnel can be used between a rover and habitat to enable shirt-sleeve transfer of crew and cargo, saving valuable crew time and resources. While transfer tunnels have been described in the past, this work details the design of a structural softgoods system that has compliant capability through a proposed docking range of motion. The inflatable softgoods design is based on a zero-hoop stress shape, known as a Taylor surface, that is stacked and truncated to form a unique and flexible configuration. Analytical, non-linear models have been developed to examine and predict the behavior of the structure, and material testing was used to determine the properties that were used in the model. Finally, a sub-scale test article was constructed using the baseline design and pressurized testing is in work. Additional full-scale testing is planned for future years to fully demonstrate the capability of the system.

Tunnel↗

NASA NTRSDate not supplied

Inflatable Softgoods Design of an Articulating Crew Transfer Tunnel

Tunnel↗

NASA NTRS1973

Zero-gravity cloud physics laboratory: Candidate experiments definition and preliminary concept studies

The candidate definition studies on the zero-g cloud physics laboratory are covered. This laboratory will be an independent self-contained shuttle sortie payload. Several critical technology areas have been identified and studied to assure proper consideration in terms of engineering requirements for the final design. Areas include chambers, gas and particle generators, environmental controls, motion controls, change controls, observational techniques, and composition controls. This unique laboratory will allow studies to be performed without mechanical, aerodynamics, electrical, or other type techniques to support the object under study. This report also covers the candidate experiment definitions, chambers and experiment classes, laboratory concepts and plans, special supporting studies, early flight opportunities and payload planning data for overall shuttle payload requirements assessments.

Eaton, L. R.↗

NASA NTRS1972

Program plan to develop airworthiness standards for STOL aircraft

A program plan to develop criteria for airworthiness standards for STOL transport aircraft is presented. Initially, three different STOL concepts are to be examined with a goal to arrive at a generalized set of standards. The Breguet 941 deflected-slipstream STOL has been initially evaluated on a piloted motion simulator and in flight. Confidence in establishing criteria for airworthiness standards for STOL transport aircraft has been obtained from these studies.

Cayot, J. E.↗

NASA NTRS1974

A summary of ERTS data applications in Alaska

ERTS has proven to be an exceedingly useful tool for the preparation of urgently needed resource surveys in Alaska. For this reason the wide utilization of ERTS data by federal, state and industrial agencies in Alaska is increasingly directed toward the solution of operational problems in resource inventories, environmental surveys, and land use planning. Examples of some applications are discussed in connection with surveys of potential agricultural lands; mapping of predicted archaeological sites; permafrost terrain and aufeis mapping; snow melt enhancement from Prudhoe Bay roads; geologic interpretations correlated ith possible new petroleum fields, with earthquake activity, and with plate tectonic motion along the Denali fault system; hydrology in monitoring surging glaciers and the break-up characteristics of the Chena River watershed; sea-ice morphology correlated with marine mammal distribution; and coastal sediment plume circulation patterns.

Miller, J. M.↗

NASA NTRS1979

Application of space technology to crustal dynamics and earthquake research

In cooperation with other Federal government agencies, and the governments of other countries, NASA is undertaking a program of research in geodynamics. The present program activities and plans for extension of these activities in the time period 1979-1985 are described. The program includes operation of observatories for laser ranging to the Moon and to artificial satellites, and radio observatories for very long baseline microwave interferometry (VLBI). These observatories are used to measure polar motion, earth rotation, and tectonic plate movement, and serve as base stations for mobile facilities. The mobile laser ranging and VLBI facilities are used to measure crustal deformation in tectonically active areas.

Source record↗

NASA NTRS1981

Spaceborne radar observation of the earth surface

Seasat SAR images are being analyzed to determine the potential of spaceborne radars for earth resources and ocean surface observation. Examples are presented for a variety of applications in structural mapping, lithological classification, soil moisture detection, polar ice motion monitoring and ocean features observation. These examples are briefly discussed with emphasis on the future research needed to further the capability of radar sensors, by themselves or in combination with other sensors. A brief discussion is then given on the spaceborne sensors which are required and planned to meet these needs.

Elachi, C.↗

NASA NTRS1989

Planning robot actions under position and shape uncertainty

Geometric uncertainty may cause various failures during the execution of a robot control program. Avoiding such failures makes it necessary to reason about the effects of uncertainty in order to implement robust strategies. Researchers first point out that a manipulation program has to be faced with two types of uncertainty: those that might be locally processed using appropriate sensor based motions, and those that require a more global processing leading to insert new sensing operations. Then, they briefly describe how they solved the two related problems in the SHARP system: how to automatically synthesize a fine motion strategy allowing the robot to progressively achieve a given assembly relation despite position uncertainty, and how to represent uncertainty and to determine the points where a given manipulation program might fail.

Laugier, Christian↗

NASA NTRS2020

Solar Cruiser Technology Maturation Plans

The NASA Marshall Space Flight Center (MSFC) developed the Solar Cruiser mission concept to mature solar sail technology for use in future Heliophysics missions, as well as missions of interest across a broad user community (e.g., space weather and Earth polar observatories). Solar Cruiser will serve as a pathfinder for missions that observe the solar environment from unique vantage points such as a high inclination solar mission opening a fundamentally new range of observational capabilities for the Heliophysics Program and for space weather monitoring. Sustained observations away from the Sun-Earth line (SEL) present unique opportunities for answering the outstanding science questions of Heliophysics, improving space-weather monitoring and prediction, and revealing new information about our Sun and solar system. Propellantless solar sails can be used to create artificial equilibria and maintain indefinite station-keeping at locations sunward of L1 along the SEL, or at any desired offset from the SEL leading or trailing the Earth in its orbit. They can change the heliocentric inclination of a spacecraft from the ecliptic to as high as solar polar, stopping and remaining at any intermediate inclination orbit in between. Sails can be used to hover over the Earth’s poles, using solar photon pressure to offset the Earth’s gravitational attraction, creating functional equivalents of geostationary earth orbits. The Solar Cruiser mission would fly a small spacecraft with a large (>1,600 square meter) solar sail containing embedded reflectivity control devices (RCDs) and photovoltaic cells. The mission concept includes successful deployment of the solar sail, validation of all sail subsystems, controlled station-keeping inside of the Sun-Earth L1 point, attitude control of the sail with the RCDs (including spinning and de-spinning), demonstration of pointing performance for science imaging, and an increase in heliocentric inclination (out of the ecliptic). To demonstrate the requisite sail technology, the Solar Cruiser project will design, fabricate, deploy, and fly the Solar Sail Propulsion Element (SSPE). The SSPE incorporates the following three systems: • The Solar Sail System (SSS) provides the large propulsive surface required for acceleration and smaller reflectivity-changing surfaces for roll control. • The Active Mass Translator System (AMT) provides SSPE motion with respect to the sailcraft bus for pitch and yaw control. • The Solar Sail Attitude Determination and Control System (SSADCS) consists of embedded software to 1) provide autonomous sailcraft attitude estimation, attitude pointing control, and reaction wheel momentum management following sail deployment and 2) execute the uplinked inertial attitude pointing commands to maintain the desired sailcraft trajectory. The plans for maturing each of these technology systems to TRL 5 and beyond are described herein.

Solar Sail↗