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DOE OSTI2023

9. Support, Raft, Brim, and Skirt Pathing

The previous chapters discussed the primary path types in additive manufacturing: perimeter, inset, skeleton, skin, and infill. In addition to those distinct primary path types, regions of primary paths can be assigned secondary path types: support, raft, brim, and skirt. Support paths are used to enable the printing of features that would otherwise have nothing underneath to print atop, such as overhangs. Raft paths are used to level the build plate and provide a flat surface on which to construct the object. Brim toolpaths are used to increase the footprint of the object to improve bed adhesion and reduce first layer delamination. The last path type, the skirt, is used to prime the extruder at the start of the print. These four types of path regions are created using a combination of closed-loop, open-loop, and space-filling toolpaths. This chapter will discuss how to find and generate the pathing for each region.

Roschli, Alex↗

DOE OSTI2023

Integrated path planning and control through proximal policy optimization for a marine current turbine

This paper presents an integrated path planning and tracking control framework for a marine current turbine (MCT), where the MCT is treated as an energy-harvesting autonomous underwater vehicle (AUV). Considering the ocean (space of action) is continuous, the proposed framework employs two modules to address path planning and path tracking enabled by the proximal policy optimization (PPO) algorithm, which is a policy gradient deep reinforcement learning (RL) method. Further, to enable fully autonomous operation in a stochastic oceanic environment, the proposed path planning seeks a primary objective of maximizing the harvested energy; then, the path tracking module is designed to minimize the tracking error and avoid collisions with static and dynamic obstacles. Using field-collected acoustic Doppler current profiler (ADCP) data, the performance of the proposed framework is evaluated. Comparative studies with baseline algorithms in three different scenarios of path planning, path tracking without an obstacle, and path tracking with collision avoidance verify the effectiveness of our proposed approach.

16 TIDAL AND WAVE POWER↗

NASA NTRS2016

Simultaneous Water Vapor and Dry Air Optical Path Length Measurements and Compensation with the Large Binocular Telescope Interferometer

The Large Binocular Telescope Interferometer uses a near-infrared camera to measure the optical path length variations between the two AO-corrected apertures and provide high-angular resolution observations for all its science channels (1.5-13 microns). There is however a wavelength dependent component to the atmospheric turbulence, which can introduce optical path length errors when observing at a wavelength different from that of the fringe sensing camera. Water vapor in particular is highly dispersive and its effect must be taken into account for high-precision infrared interferometric observations as described previously for VLTI/MIDI or the Keck Interferometer Nuller. In this paper, we describe the new sensing approach that has been developed at the LBT to measure and monitor the optical path length fluctuations due to dry air and water vapor separately. After reviewing the current performance of the system for dry air seeing compensation, we present simultaneous H-, K-, and N-band observations that illustrate the feasibility of our feed forward approach to stabilize the path length fluctuations seen by the LBTI nuller uses a near-infrared camera to measure the optical path length variations between the two AO-corrected apertures and provide high-angular resolution observations for all its science channels (1.5-13 microns). There is however a wavelength dependent component to the atmospheric turbulence, which can introduce optical path length errors when observing at a wavelength different from that of the fringe sensing camera. Water vapor in particular is highly dispersive and its effect must be taken into account for high-precision infrared interferometric observations as described previously for VLTI MIDI or the Keck Interferometer Nuller. In this paper, we describe the new sensing approach that has been developed at the LBT to measure and monitor the optical path length fluctuations due to dry air and water vapor separately. After reviewing the current performance of the system for dry air seeing compensation, we present simultaneous H-, K-, and N-band observations that illustrate the feasibility of our feed forward approach to stabilize the path length fluctuations seen by the LBTI nuller.

which can introduce optical path length errors whe↗

DOE OSTI2021

The response field and the saddle points of quantum mechanical path integrals

Highlights: • Moyal quantum mechanics and Marinov’s path integral. • Classical and semiclassical limits of Marinov’s path integral. • Oscillating functional integrals. • Instantons of the Marinov’s path integral. In quantum statistical mechanics, Moyal’s equation governs the time evolution of Wigner functions and of more general Weyl symbols that represent the density matrix of arbitrary mixed states. A formal solution to Moyal’s equation is given by Marinov’s path integral. In this paper we demonstrate that this path integral can be regarded as the natural link between several conceptual, geometric, and dynamical issues in quantum mechanics. A unifying perspective is achieved by highlighting the pivotal role which the response field, one of the integration variables in Marinov’s integral, plays for pure states even. The discussion focuses on how the integral’s semiclassical approximation relates to its strictly classical limit; unlike for Feynman type path integrals, the latter is well defined in the Marinov case. The topics covered include a random force representation of Marinov’s integral based upon the concept of “Airy averaging”, a related discussion of positivity-violating Wigner functions describing tunneling processes, and the role of the response field in maintaining quantum coherence and enabling interference phenomena. The double slit experiment for electrons and the Bohm–Aharonov effect are analyzed as illustrative examples. Furthermore, a surprising relationship between the instantons of the Marinov path integral over an analytically continued (“Wick rotated”) response field, and the complex instantons of Feynman-type integrals is found. The latter play a prominent role in recent work towards a Picard–Lefschetz theory applicable to oscillatory path integrals and the resurgence program.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2020

Scattering using real-time path integrals

Background: Path integrals are a powerful tool for solving problems in quantum theory that are not amenable to a treatment by perturbation theory. Most path integral computations require an analytic continuation to imaginary time. While imaginary time treatments of scattering are possible, imaginary time is not a natural framework for treating scattering problems. More importantly, quantum algorithms for calculating path integrals require real-time evolution. Purpose: Here, we test a recently introduced method for performing direct calculations of scattering observables using real-time path integrals in order to understand the challenges facing real-time path integral calculations of scattering observables. Method: The computations are based on a new interpretation of the path integral as the expectation value of a potential functional on cylinder sets of continuous paths with respect to a complex probability distribution. The method can in principle be applied to arbitrary short-range potentials. Results: The method is applied to compute matrix elements of Møller wave operators applied to narrow wave packets. These are used to calculate half-shell sharp-momentum transition matrix elements for one-dimensional potential scattering. The calculations for half-shell transition operator matrix elements converge to the numerical solution of the Lippmann-Schwinger equation. Conclusions: This work presents a proof in principle that scattering observables can be computed using real-time Feynman path integrals. While the computational method is not efficient, it can be improved. It provides a laboratory for studying quantum computational algorithms that are applicable to scattering problems.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2024

Path-BigBird: An AI-Driven Transformer Approach to Classification of Cancer Pathology Reports

PURPOSE Surgical pathology reports are critical for cancer diagnosis and management. To accurately extract information about tumor characteristics from pathology reports in near real time, we explore the impact of using domain-specific transformer models that understand cancer pathology reports. METHODS We built a pathology transformer model, Path-BigBird, by using 2.7 million pathology reports from six SEER cancer registries. We then compare different variations of Path-BigBird with two less computationally intensive methods: Hierarchical Self-Attention Network (HiSAN) classification model and an offthe-shelf clinical transformer model (Clinical BigBird). We use five pathology information extraction tasks for evaluation: site, subsite, laterality, histology, and behavior. Model performance is evaluated by using macro and micro F 1 scores. RESULTS We found that Path-BigBird and Clinical BigBird outperformed the HiSAN in all tasks. Clinical BigBird performed better on the site and laterality tasks. Versions of the Path-BigBird model performed best on the two most difficult tasks: subsite (micro F 1 score of 72.53, macro F 1 score of 35.76) and histology (micro F 1 score of 80.96, macro F 1 score of 37.94). The largest performance gains over the HiSAN model were for histology, for which a Path-BigBird model increased the micro F 1 score by 1.44 points and the macro F 1 score by 3.55 points. Overall, the results suggest that a Path-BigBird model with a vocabulary derived from wellcurated and deidentified data is the best-performing model. CONCLUSION The Path-BigBird pathology transformer model improves automated information extraction from pathology reports. Although Path-BigBird outperforms Clinical BigBird and HiSAN, these less computationally expensive models still have utility when resources are constrained.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2022

Random adaptive tool path for zonal optics fabrication

Deterministic optics fabrication using sub-aperture tools has been vital for manufacturing precision optical surfaces. The fabrication process requires the tool influence function and the tool path to calculate the dwell time that guides the tool to bring surface quality within tight design tolerances. Widely used spiral and raster paths may leave excess waviness from the tool path, and the unavoidable constant removal layer is added to obtain positive dwell time. This waviness can be removed by either using smaller tools sequentially or randomizing the tool path. However, the existing tool-path solutions can hardly adapt to different surface aperture shapes and localized surface errors. Process efficiency and accuracy are also not well considered in tool-path planning. We propose an innovative zonal Random Adaptive Path (RAP) to solve these problems in this study. Firstly, RAP can be flexibly adapted to different surface aperture shapes by introducing part boundary. Secondly, an average threshold strategy is used in the RAP planning to improve efficiency, enabling the surface errors to be selectively corrected. Finally, the threshold is performed in several passes within one processing cycle, each with its RAP, until the desired residual is achieved. The performance of the proposed RAP is studied by comparing it with the conventional tool paths. The results demonstrated that RAP takes the least processing time and achieves the best surface quality, which verifies the effectiveness of RAP in deterministic optics fabrication.

36 MATERIALS SCIENCE↗

NASA NTRS1996

Experimental Study of Split-Path Transmission Load Sharing

Split-path transmissions are promising, attractive alternatives to the common planetary transmissions for helicopters. The split-path design offers two parallel paths for transmitting torque from the engine to the rotor. Ideally, the transmitted torque is shared equally between the two load paths; however, because of manufacturing tolerances, the design must be sized to allow for other than equal load sharing. To study the effect of tolerances, experiments were conducted using the NASA split-path test gearbox. Two gearboxes, nominally identical except for manufacturing tolerances, were tested. The clocking angle was considered to be a design parameter and used to adjust the load sharing of an otherwise fixed design. The torque carried in each path was measured for a matrix of input torques and clocking angles. The data were used to determine the optimal value and a tolerance for the clocking angles such that the most heavily loaded split path carried no greater than 53 percent of an input shaft torque of 367 N-m. The range of clocking angles satisfying this condition was -0.0012 +/- 0.0007 rad for box 1 and -0.0023 +/- 0.0009 rad for box 2. This study indicates that split-path gearboxes can be used successfully in rotorcraft and can be manufactured with existing technology.

Krantz, Timothy L.↗

NASA NTRS2018

Ammonia Vent of the External Active Thermal Control System (EATCS) Radiator #3 Flow Path #2 on the International Space Station (ISS)

The External Active Thermal Control System (EATCS) provides cooling for all pressurized modules and the main Power Distribution Electronics (PDE) on the International Space Station (ISS). There are 2 EATCS loops (Loop A and Loop B) which includes 3 deployable radiators. Each deployable radiator contains 2 flow paths to provide heat rejection.Telemetry monitoring identified a coolant (liquid ammonia) leak in EATCS Loop B. Robotic External Leak Locator (RELL) scans found higher concentrations of vaporous ammonia near the EATCS Loop B Radiator #3 Flow Path #2. On May 3, 2017, the EATCS Loop B Radiator #3 Flow Path #2 was isolated and vented. As of the data to date, the ammonia leak has ceased. The purpose of this presentation is to discuss the analysis for venting the EATCS Loop B Radiator #3 Flow Path #2. Venting analysis is performed to determine the worst case time to empty the flow path and maximum thrusts imposed on the ISS. Flight controllers and engineers in the Mission Control Center (MCC) uses this data to develop operational procedures and perform the vent safely. It was predicted that the worst case time to empty the EATCS Loop B Radiator #3 Flow Path #2 was ~ 60 minutes. The predicted maximum thrusts were ~ 11 lbf (49 N) at the start of the vent and ~10 lbf (45 N) after the system reaches saturation.The vent was successfully performed and took ~ 20 minutes to empty the EATCS Loop B Radiator #3 Flow Path #2. Using telemetry from the day of the vent, analysis determined the time to empty the EATCS Loop B Radiator #3 Flow Path #2 would be ~13 minutes. The predictive analysis used worst case inputs and assumptions which bounded the actual results. Telemetry is not available to correlate actual thrust with the predicted maximum thrusts. However, by using Russian Thrusters for ISS attitude control, attitude control telemetry indicated the flight attitude was maintained.

Cowan, Darnell T.↗

NASA NTRSDate not supplied

STITCHED COMPOSITES WITH THREE-DIMENSIONAL STITCH PATHS

Stitched composites have been shown to exhibit damage tolerance and to reduce weight compared to traditional layered composites through unitization of the structure by elimination of fasteners. Stitching capabilities have been incorporated into the Integrated Structural Assembly of Advanced Composites (ISAAC) system at NASA Langley Research Center with the introduction of two stitching heads. Stitching path control was initially implemented as straight lines in space, as was done for previous stitching development. However, more complex stitched structures such as a wind tunnel blade or around cutouts within a fuselage or wing skin, require that the stitching paths be implemented as three-dimensional (3D) stitching paths in space. Unfortunately, control programming output by an existing preprocessor program cannot stitch these curved paths due to problems that arise in stitch formation and the introduction of side forces on the needles using the conventional programming approach whereby the head is simultaneously controlled through translations and rotations. This lack of capability is most significant for the single-sided stitching head, where two needles are in the preform at the same time for the majority of the stitching process. A means to program 3D stitching paths in space was developed whereby the translation and rotation of each stitch were decoupled, thereby eliminating the problems associated with current control programming approach. Using this newly developed stitching path definition and control programming, complex stitching paths have successfully been stitched at the ISAAC facility. The ability to stitch general 3D stitching paths in space enables the use of stitching on more complex parts.

carbon-epoxy↗

NASA NTRSDate not supplied

Stitched Composites with Three-Dimensional Stitch Paths

carbon-epoxy↗

NASA NTRS2022

Dynamic Path Planning Automation Concept for Advanced Air Mobility

Advanced Air Mobility (AAM) aims to develop an air transportation system for novel air vehicles between local, regional, intraregional, and urban places. Safety and efficiency of increasingly complex AAM operations are expected to require extensive use of automation, ranging from controlling the revolutionary new aircraft to managing flights dynamically in the high tempo airspace and aerodrome operations. Both onboard and ground automation will play central roles in assisting AAM operators with managing the flight paths of their fleet. This document presents a concept for dynamic path planning (DPP) automation applicable to AAM and other flight operations. The role of the DPP automation system is fivefold: (1) it creates a flight path with desired qualities of being feasible, deconflicted, harmonized, flexible, and optimal; (2) it monitors the progress of flight in a dynamic operating environment; (3) it supports the user in evaluating continued acceptability of the flight path in changing conditions; (4) it revises the flight path as needed to maintain the desired flight path qualities; and (5) it coordinates the flight path with airspace users and service providers. Key users of the DPP automation system include flight planners, pilots, and airspace service providers The concept allows for the system to be installed onboard the aircraft as well as on the ground. The system responds automatically to the dynamic operating environment to ensure that a safe and operationally acceptable flight path is available throughout the flight.

Vivek Sharma↗

NASA NTRS1986

Flying complex approach paths using the microwave landing system

A piloted simulation study was conducted to examine the requirements for using electromechanical flight instrumentation to provide guidance for manually controlled flight along complex, curved approach paths within the microwave landing system signal coverage. The data from these tests indicated that flight director guidance is required for the manually controlled flight of a jet transport airplane on complex, curved approach paths. Each of the three guidance algorithms tested could be used to fly the paths. However, pilot comments indicated that the use of guidance based on capturing the next straight path segment may not be acceptable since full-scale lateral deflections normally resulted during turns. Pilot comments indicated that all the approach paths tested could be used in normal airline operations. Approach paths with both multiple, sequential turns and short final path segments were demonstrated.

Knox, Charles E.↗

NASA NTRS1988

Simulated final approach path captures using the microwave landing system

Computer simulation results are presented for intercepting final approach paths using various Microwave Landing System (MLS) path capture concepts. This study, conducted under the Advanced Transport Operating System (ATOPS) program, simulated these captures using the MD-80 aircraft as the study model. Several different capture concepts were investigated. Systems that could be retrofitted into existing aircraft with minimum hardware and software changes were considered. An enhanced ILS look-alike capture provided improved tracking performance over conventional ILS without using a full-up path computer. The other concepts used waypoint databases and path computers to provide smart captures. These captures included lateral path intercepts as well as vertical path control. Winds, turbulence, and MLS noise were included in the simulation. In all cases, acceptable tracking errors were obtained during transition to the final approach path.

Feather, J. B.↗

NASA NTRS1988

Robot path planning using a genetic algorithm

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.

Cleghorn, Timothy F.↗

NASA NTRS1989

Mechanics of the crack path formation

A detailed analysis of experimentally obtained curvilinear crack path trajectories formed in a heterogeneous stress field is presented. Experimental crack path trajectories were used as data for numerical simulations, recreating the actual stress field governing the development of the crack path. Thus, the current theories of crack curving and kinking could be examined by comparing them with the actual stress field parameters as they develop along the experimentally observed crack path. The experimental curvilinear crack path trajectories were formed in the tensile specimens with a hole positioned in the vicinity of a potential crack path. The numerical simulation, based on the solution of equivalent boundary value problems with the possible perturbations of the crack path, is presented here.

Rubinstein, Asher A.↗

NASA NTRS1991

Mechanics of the crack path formation

A detailed analysis of experimentally obtained curvilinear crack path trajectories formed in a heterogeneous stress field is presented. Experimental crack path trajectories were used as data for the numerical simulations, recreating the actual stress field governing the development of the crack path. Thus, the current theories of crack curving and kinking could be examined by comparing them with the actual stress field parameters as they develop along the experimentally observed crack path. The experimental curvilinear crack path trajectories were formed in the tensile specimens with a hole positioned in the vicinity of a potential crack path. The numerical simulation, based on the solution of equivalent boundary value problems with the possible perturbations of the crack path, is presented.

Rubinstein, Asher A.↗

NASA NTRS1990

Two arm robot path planning in a static environment using polytopes and string stretching

The two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.

Schima, Francis J., III↗