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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 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗
NASA NTRS2000

Coordinated continual planning methods for cooperating rovers

This paper compares and contrasts several coordination schemes for a system that continuously plans to control collections of rovers (or spacecraft) using collective mission goals, instead of goals or command sequences for each spacecraft.

continual planning rovers multiple agents↗
NASA NTRS2014

Human-Automation Cooperation for Separation Assurance in Future NextGen Environments

A 2012 Human-In-The-Loop air traffic control simulation investigated a gradual paradigm-shift in the allocation of functions between operators and automation. Air traffic controllers staffed five adjacent high-altitude en route sectors, and during the course of a two-week experiment, worked traffic under different function-allocation approaches aligned with four increasingly mature NextGen operational environments. These NextGen time-frames ranged from near current-day operations to nearly fully-automated control, in which the ground systems automation was responsible for detecting conflicts, issuing strategic and tactical resolutions, and alerting the controller to exceptional circumstances. Results indicate that overall performance was best in the most automated NextGen environment. Safe operations were achieved in this environment for twice todays peak airspace capacity, while being rated by the controllers as highly acceptable. However, results show that sector operations were not always safe; separation violations did in fact occur. This paper will describe in detail the simulation conducted, as well discuss important results and their implications.

air traffic control↗
NASA NTRS2012

A Computational Study for the Utilization of Jet Pulsations in Gas Turbine Film Cooling and Flow Control

This report is the second part of a three-part final report of research performed under an NRA cooperative Agreement contract. The first part is NASA/CR-2012-217415. The third part is NASA/CR-2012-217417. Jets have been utilized in various turbomachinery applications in order to improve gas turbines performance. Jet pulsation is a promising technique because of the reduction in the amount of air removed from compressor. In this work two areas of pulsed jets applications were computationally investigated using the commercial code Fluent (ANSYS, Inc.); the first one is film cooling of High Pressure Turbine (HPT) blades and second one is flow separation control over Low Pressure Turbine (LPT) airfoil using Vortex Generator Jets (VGJ). Using pulsed jets for film cooling purposes can help to improve the effectiveness and thus allow higher turbine inlet temperature. Effects of the film hole geometry, blowing ratio and density ratio of the jet, pulsation frequency and duty cycle of blowing on the film cooling effectiveness were investigated. As for the low-pressure turbine (LPT) stages, the boundary layer separation on the suction side of airfoils can occur due to strong adverse pressure gradients. The problem is exacerbated as airfoil loading is increased. Active flow control could provide a means for minimizing separation under conditions where it is most severe (low Reynolds number), without causing additional losses under other conditions (high Reynolds number). The effects of the jet geometry, blowing ratio, density ratio, pulsation frequency and duty cycle on the size of the separated region were examined in this work. The results from Reynolds Averaged Navier-Stokes and Large Eddy Simulation computational approaches were compared with the experimental data.

Kartuzova, Olga V.↗
DOE OSTI2023

Tetracopper σ‐Bound μ ‐Acetylide and ‐Diyne Units Stabilized by a Naphthyridine‐based Dinucleating Ligand

Abstract Reactions of a dicopper(I) tert ‐butoxide complex with alkynes possessing boryl or silyl capping groups resulted in formation of unprecedented tetracopper(I) μ ‐acetylide/diyne complexes that were characterized by NMR and UV/Vis spectroscopy, mass spectrometry and single‐crystal X‐ray diffraction. These compounds possess an unusual μ 4 ‐ η 1 : η 1 : η 1 : η 1 coordination mode for the bridging organic fragment, enforced by the rigid and dinucleating nature of the ligand utilized. Thus, the central π system remains unperturbed and accessible for subsequent reactivity and modification. This has been corroborated by addition of a fifth copper atom, giving rise to a pentacopper acetylide complex. This work may provide a new approach by which metal‐metal cooperativity can be exploited in the transformation of acetylide and diyne groups to a variety of substrates, or as a starting point for the controlled synthesis of copper(I) alkyne‐containing clusters.

Ríos, Pablo↗
DOE OSTI2023

Tetracopper σ‐Bound μ ‐Acetylide and ‐Diyne Units Stabilized by a Naphthyridine‐based Dinucleating Ligand

Abstract Reactions of a dicopper(I) tert ‐butoxide complex with alkynes possessing boryl or silyl capping groups resulted in formation of unprecedented tetracopper(I) μ ‐acetylide/diyne complexes that were characterized by NMR and UV/Vis spectroscopy, mass spectrometry and single‐crystal X‐ray diffraction. These compounds possess an unusual μ 4 ‐ η 1 : η 1 : η 1 : η 1 coordination mode for the bridging organic fragment, enforced by the rigid and dinucleating nature of the ligand utilized. Thus, the central π system remains unperturbed and accessible for subsequent reactivity and modification. This has been corroborated by addition of a fifth copper atom, giving rise to a pentacopper acetylide complex. This work may provide a new approach by which metal‐metal cooperativity can be exploited in the transformation of acetylide and diyne groups to a variety of substrates, or as a starting point for the controlled synthesis of copper(I) alkyne‐containing clusters.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2025

Cooperative On-Ramp Merging with Time-Varying Vehicle-to-Vehicle Communication Delay Compensation via a Model-Free Approach

Cooperative merging strategies enabled by vehicle-to-vehicle (V2V) communication have shown promise in addressing congestion, fuel inefficiency, and collision risks. However, their performance can be severely degraded by time-varying and uncertain communication delays-an issue often overlooked in existing research, which primarily focuses on merging sequence determination and trajectory planning. Furthermore, practical considerations such as heterogeneous vehicle dynamics, varying road conditions, and real-time implementation complexities are frequently neglected. This paper presents a model-free, online planning framework for cooperative on-ramp merging of connected and automated vehicles (CAVs), explicitly accounting for time-varying V2V communication delays. Without relying on detailed vehicle dynamics, the proposed method introduces a data-driven delay compensation scheme. A co-simulation platform integrating high-fidelity vehicle dynamics, traffic simulation (SUMO), and V2V communication within MATLAB/Simulink is developed to evaluate the proposed method. Simulation results demonstrate that unaddressed V2V communication delays significantly impair merging performance. In contrast, the proposed framework enhances intervehicle distance tracking and maintains low CO2 emissions and fuel consumption, under communication delay across different communication frequencies. In conclusion, its lightweight design also facilitates real-time implementation, making it well-suited for deployment in practical CAV systems.

Accounting↗
NASA NTRS1976

Apollo Soyuz mission planning and operations

The paper describes the Apollo Soyuz project from the points of view of working group organization, mission plan definition, joint operations concept, and mission preparation. The concept for joint operations considered contingency situations as well as nominal operations. Preparations for the joint flight included cooperative tracking tests and combined training of the flight crews and mission control personnel.

Frank, M. P., III↗
NASA NTRS1986

Stresses and deformations in cross-ply composite tubes subjected to a uniform temperature change

This study investigates the effects of a uniform temperature change on the stresses and deformations of composite tubes and determines the accuracy of an approximate solution based on the principle of complementary virtual work. Interest centers on tube response away from the ends and so a planar elasticity approach is used. For the approximate solution a piecewise linear variation of stresses with the radial coordinate is assumed. The results from the approximate solution are compared with the elasticity solution. The stress predictions agree well, particularly peak interlaminar stresses. Surprisingly, the axial deformations also agree well, despite the fact that the deformations predicted by the approximate solution do not satisfy the interface displacement continuity conditions required by the elasticity solution. The study shows that the axial thermal expansion coefficient of tubes with a specific number of axial and circumferential layers depends on the stacking sequence. This is in contrast to classical lamination theory, which predicts that the expansion will be independent of the stacking arrangement. As expected, the sign and magnitude of the peak interlaminar stresses depend on stacking sequence. For tubes with a specific number of axial and circumferential layers, thermally induced interlaminar stresses can be controlled by altering stacking arrangement.

Hyer, M. W.↗
NASA NTRS1991

Intelligent systems technology infrastructure for integrated systems

A system infrastructure must be properly designed and integrated from the conceptual development phase to accommodate evolutionary intelligent technologies. Several technology development activities were identified that may have application to rendezvous and capture systems. Optical correlators in conjunction with fuzzy logic control might be used for the identification, tracking, and capture of either cooperative or non-cooperative targets without the intensive computational requirements associated with vision processing. A hybrid digital/analog system was developed and tested with a robotic arm. An aircraft refueling application demonstration is planned within two years. Initially this demonstration will be ground based with a follow-on air based demonstration. System dependability measurement and modeling techniques are being developed for fault management applications. This involves usage of incremental solution/evaluation techniques and modularized systems to facilitate reuse and to take advantage of natural partitions in system models. Though not yet commercially available and currently subject to accuracy limitations, technology is being developed to perform optical matrix operations to enhance computational speed. Optical terrain recognition using camera image sequencing processed with optical correlators is being developed to determine position and velocity in support of lander guidance. The system is planned for testing in conjunction with Dryden Flight Research Facility. Advanced architecture technology is defining open architecture design constraints, test bed concepts (processors, multiple hardware/software and multi-dimensional user support, knowledge/tool sharing infrastructure), and software engineering interface issues.

Lum, Henry↗
NASA NTRS1992

Distributed project scheduling at NASA: Requirements for manual protocols and computer-based support

The increasing complexity of space operations and the inclusion of interorganizational and international groups in the planning and control of space missions lead to requirements for greater communication, coordination, and cooperation among mission schedulers. These schedulers must jointly allocate scarce shared resources among the various operational and mission oriented activities while adhering to all constraints. This scheduling environment is complicated by such factors as the presence of varying perspectives and conflicting objectives among the schedulers, the need for different schedulers to work in parallel, and limited communication among schedulers. Smooth interaction among schedulers requires the use of protocols that govern such issues as resource sharing, authority to update the schedule, and communication of updates. This paper addresses the development and characteristics of such protocols and their use in a distributed scheduling environment that incorporates computer-aided scheduling tools. An example problem is drawn from the domain of Space Shuttle mission planning.

Richards, Stephen F.↗
NASA NTRS1993

Protocols for distributive scheduling

The increasing complexity of space operations and the inclusion of interorganizational and international groups in the planning and control of space missions lead to requirements for greater communication, coordination, and cooperation among mission schedulers. These schedulers must jointly allocate scarce shared resources among the various operational and mission oriented activities while adhering to all constraints. This scheduling environment is complicated by such factors as the presence of varying perspectives and conflicting objectives among the schedulers, the need for different schedulers to work in parallel, and limited communication among schedulers. Smooth interaction among schedulers requires the use of protocols that govern such issues as resource sharing, authority to update the schedule, and communication of updates. This paper addresses the development and characteristics of such protocols and their use in a distributed scheduling environment that incorporates computer-aided scheduling tools. An example problem is drawn from the domain of space shuttle mission planning.

Richards, Stephen F.↗
NASA NTRS1993

Rapid prototyping 3D virtual world interfaces within a virtual factory environment

On-going work into user requirements analysis using CLIPS (NASA/JSC) expert systems as an intelligent event simulator has led to research into three-dimensional (3D) interfaces. Previous work involved CLIPS and two-dimensional (2D) models. Integral to this work was the development of the University of Massachusetts Lowell parallel version of CLIPS, called PCLIPS. This allowed us to create both a Software Bus and a group problem-solving environment for expert systems development. By shifting the PCLIPS paradigm to use the VEOS messaging protocol we have merged VEOS (HlTL/Seattle) and CLIPS into a distributed virtual worlds prototyping environment (VCLIPS). VCLIPS uses the VEOS protocol layer to allow multiple experts to cooperate on a single problem. We have begun to look at the control of a virtual factory. In the virtual factory there are actors and objects as found in our Lincoln Logs Factory of the Future project. In this artificial reality architecture there are three VCLIPS entities in action. One entity is responsible for display and user events in the 3D virtual world. Another is responsible for either simulating the virtual factory or communicating with the real factory. The third is a user interface expert. The interface expert maps user input levels, within the current prototype, to control information for the factory. The interface to the virtual factory is based on a camera paradigm. The graphics subsystem generates camera views of the factory on standard X-Window displays. The camera allows for view control and object control. Control or the factory is accomplished by the user reaching into the camera views to perform object interactions. All communication between the separate CLIPS expert systems is done through VEOS.

Kosta, Charles Paul↗