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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 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Learning-Based State-Dependent Coefficient Form Task Space Tracking Control of Soft Robot

n this paper, a data-driven modeling and control framework is developed for task space control of a soft robot gripper which consists of four individual soft fingers. Each of the four fingers is modeled as a manipulator with high degrees of freedom. The corresponding task space dynamics of the manipulator are derived using a rigid-link approximation of the continuum manipulator. A neural network approach is used to learn the derived dynamics in State Dependent Coefficient (SDC) form. Using the learned SDC matrices, an asymptotically stable optimal closed-loop tracking controller which is based on solving the State Dependent Riccati Equation (SDRE) is derived. The model learning and trajectory tracking controller is implemented on an open source Soft Motion (SoMo) platform simulating the soft gripper motion and corresponding tracking results are presented.

Rounak Bhattacharya↗
NASA NTRS2024

LED Intensity Decay Particle Tracking Velocimetry

A particle tracking velocimetry (PTV) system is demonstrated that eliminates the need for expensive lasers and cameras, and encodes the particle tracks with a known intensity variation which allows for high-resolution particle velocity and directionality determination. Using a light-emitting diode (LED) as the light source significantly reduces cost and allows for eye-safe operation, in comparison to traditional laser systems. The intensity variation control is passive, being dictated by the capacitance discharge rate in the LED pulsing circuit. The decay rate can be adjusted with the LED circuit capacitors/resistors, while the duration of the decay can be adjusted with the LED trigger pulse width. Because the intensity decay illumination is controlled by the LED, a single long exposure camera image is used to acquire images of the particle streaks, and there is no need for a more complicated and costly double-pulsing camera. With the intensity coding of the light, a single-camera/ single-LED system can identify particles entering of leaving the illumination plane, but cannot discern the direction toward or away from the camera. By using a two-color system, three-dimensionality of the particle tracks can be determined.

Joshua M Weisberger↗
NASA NTRSDate not supplied

Analytical Calculation of the Energy Deposition Spectrum and Average Dose to A Spherical Target By Ion Tracks at All Impact Parameters

Microdosimetry is used to estimate quality factors for risk assessment in radiation protection [1] and to quantify relative biological effectiveness (RBE) for treatment planning of hadron radiation therapy [2]. Radiation physics has shown that energetic ions deposit energy in a complex manner: the track structure. The Local Effect Model (LEM) [3] is often used as an approximation to describe this complex track structure. We have previously calculated an analytical expression for the dose to a spherical target fully located in the penumbra of an ion track using the LEM [4]. In this work, the calculation has been extended to all impact parameters. Furthermore, using these analytical expressions, it was possible to obtain the theoretical energy deposition spectra to a sphere irradiated uniformly.

I Plante↗
NASA NTRSDate not supplied

New Tools for Automating Arcjet Sample Recession Tracking and Analysis

Arcjet Computer Vision (arcjetCV) has been significantly upgraded to enhance accuracy and performance in tracking material recession and shock-material standoff in test videos. These improvements include integrating new machine learning models, developing a specialized edge detection class, and incorporating a more comprehensive training dataset. These upgrades have refined the software’s ability to automate time-resolved recession tracking, making it more precise and reliable for analyzing complex physical processes. In parallel, a new tool called STARscan (Spatial Targeting and Alignment Rig for Scanning) is being developed to capture detailed 3D surface data before and after testing. By comparing these pre- and post-test scans with arcjetCV’s automated video analysis results, users can achieve a more comprehensive assessment of material recession. This method enables cross-validation of results, improving confidence in the analysis of tested materials. The expanded capabilities of arcjetCV have been successfully demonstrated on videos from various facilities, including the NASA Ames arcjets, UIUC’s PlasmatronX, and the VKI Plasmatron. It has been adopted as a new standard for in-situ recession tracking by the Mars Sample Return Project and Orion. ArcjetCV’s improved efficiency and accuracy are critical for reducing testing uncertainties and validating heatshield material performance under extreme conditions. The software’s user-friendly graphical interface ensures ease of use, enabling seamless processing and precise analysis of arcjet videos, providing deeper insights into material behavior in hypersonic environments. ArcjetCV is now available on both PyPI and Conda, allowing easy installation via "pip install arcjetCV" or through the Conda package manager, ensuring broad accessibility and streamlined deployment for users across various platforms.

Ablation↗
NASA NTRS2024

Lightning and Radar Measures of Mixed Phase Updraft Variability in Tracked Storms During the TRACER Field Campaign in Houston, Texas

Properties of 7488 thunderstorms are summarized for June-September 2022 during the TRACER field campaign Houston, Texas using polarimetric weather radar and VHF 3D lightning mapping array data. Automated tracking of storms linked each instrument’s measurements to a data-defined, time-evolving storm footprint. Within each storm, the depth and magnitude of episodic columns of radar differential reflectivity and specific differential phase quantified the prevalence of updrafts that activated mixed-phase precipitation pathways. Lightning measurements further distinguished the degree of rimed precipitation formation: the fraction of tracks with lightning varied from day to day, and cells with lightning had stronger polarimetric columns. Track-level correlation of lightning flash rate with radar polarimetric measures had substantial spread, showing that lightning provides an additional signal of mixed-phase precipitation processes that can complement future studies of thermodynamic and aerosol controls on cloud microphysics in the Houston region.

TRACER field campaign↗
NASA NTRS1966

Ground tracking of Apollo.

Apollo Manned Space Flight Network /MSFN/ TRACKING and communications systems for tracking lunar spacecraft

LUNAR EXCURSION MODULE /LEM/↗