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Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.
The ISEE 1 and 2 magnetometer data for 10 years between October 1977 and September 1987 were used to identify magnetopause crossings that occurred in this period in the northward, horizontal, and southward IMFs and to determine the dependence of the oscillation amplitude of surface waves with periods greater than about 2 min on latitude, local time, and the direction of the IMF. The IMP 8 and ISEE 3 data were used to determine the IMF in the geocentric solar magnetosphere coordinates during the crossings. More than 1000 magnetopause passes were identified, with half of them with multiple crossings. The number of crossings per pass and the inferred average amplitude of the oscillation under southward conditions were nearly three times higher than under northward conditions. The amplitude increased with increasing angle from the subsolar point, when under southward, but not when under northward, conditions. The results suggest that the Kelvin-Helmholtz instability plays a very minor role in causing the surface waves on the dayside magnetopause.
A method is presented for determining the transient response of a discrete coordinate model of a linear structural system composed of substructures. The method is applicable to systems consisting of any number of substructures, both determinate and indeterminate interface boundaries, and any topological arrangement of the substructures. The method is simple to implement from a computational point of view because the equations of motion of each of the substructures are solved independently, and the interface boundary compatibility conditions are enforced at each integration time step by a matrix multiplication. The method is demonstrated for a structural system consisting of two beam segments and acted upon by a time dependent force. The numerical results from the demonstration problem validates the accuracy of the method. The application of this method to structural systems with changing interface boundary conditions between substructures is discussed.
A newly developed global dynamic model was used to simulate the dynamics of a gear noise rig at NASA Lewis Research Center. Experimental results from the test rig were used to verify the analytical model. In this global dynamic model, the number of degrees of freedom of the system are reduced by transforming the system equations of motion into modal coordinates. The vibration of the individual gear-shaft system are coupled through the gear mesh forces. A three-dimensional, axial-lateral coupled, bearing model was used to couple the casing structural vibration to the gear-rotor dynamics. The coupled system of modal equations is solved to predict the resulting vibration at several locations on the test rig. Experimental vibration data was compared to the predictions of the global dynamic model. There is excellent agreement between the vibration results from analysis and experiment.
A newly developed global dynamic model was used to simulate the dynamics of a gear noise rig at NASA Lewis Research Center. Experimental results from the test rig were used to verify the analytical model. In this global dynamic model, the number of degrees of freedom of the system are reduced by transforming the system equations of motion into modal coordinates. The vibration of the individual gear-shaft system are coupled through the gear mesh forces. A three-dimensional, axial-lateral coupled, bearing model was used to couple the casing structural vibration to the gear-rotor dynamics. The coupled system of modal equations is solved to predict the resulting vibration at several locations on the test rig. Experimental vibration data was compared to the predicitions of the global dynamic model. There is excellent agreement between the vibration results from analysis and experiment.
This guide instructs users in the operation of a Proximity Operations Planning System. This system uses an interactive graphical method for planning fuel-efficient rendezvous trajectories in the multi-spacecraft environment of the space station and allows the operator to compose a multi-burn transfer trajectory between orbit initial chaser and target trajectories. The available task time (window) of the mission is predetermined and the maneuver is subject to various operational constraints, such as departure, arrival, spatial, plume impingement, and en route passage constraints. The maneuvers are described in terms of the relative motion experienced in a space station centered coordinate system. Both in-orbital plane as well as out-of-orbital plane maneuvering is considered. A number of visual optimization aids are used for assisting the operator in reaching fuel-efficient solutions. These optimization aids are based on the Primer Vector theory. The visual feedback of trajectory shapes, operational constraints, and optimization functions, provided by user-transparent and continuously active background computations, allows the operator to make fast, iterative design changes that rapidly converge to fuel-efficient solutions. The planning tool is an example of operator-assisted optimization of nonlinear cost functions.
A model has been developed to describe the dynamics and evaporation of polydisperse collections of liquid drops in an axisymmetric, infinite, cylindrical vortex. This formulation is valid both in the dense regime, where interactions between particles are important, and in the dilute regime, where interactions between particles are not important. In contrast to the standard way of discretizing polydisperse collections of particles, where the initial size distribution is partitioned into a finite number of bins and these bins are fixed during the calculation, here it is only the initial size distribution which is partitioned into a finite number of sizes. Each initial size class thus defined is followed dynamically and thermodynamically in its own system of coordinates which moves with the drops. Therefore, each initial size class develops a continuum of sizes as the drops are centrifuged towards the hotter ambient and evaporate. The gas phase is followed in its own system of coordinates.
Control of vehicles and other complex systems is a high-level integrative function of the central nervous system (CNS). It requires well-functioning subsystem performance, including good visual acuity, eye-hand coordination, spatial and geographic orientation perception, and cognitive function. Evidence from space flight research demonstrates that the function of each of these subsystems is altered by removing gravity, a fundamental orientation reference, which is sensed by vestibular, proprioceptive, and haptic receptors and used by the CNS for spatial orientation, posture, navigation, and coordination of movements. The available evidence also shows that the degree of alteration of each subsystem depends on a number of crew- and mission-related factors. There is only limited operational evidence that these alterations cause functional impacts on mission-critical vehicle (or complex system) control capabilities. Furthermore, while much of the operational performance data collected during space flight has not been available for independent analysis, those that have been reviewed are somewhat equivocal owing to uncontrolled (and/or unmeasured) environmental and/or engineering factors. Whether this can be improved by further analysis of previously inaccessible operational data or by development of new operational research protocols remains to be seen. The true operational risks will be estimable only after we have filled the knowledge gaps and when we can accurately assess integrated performance in off-nominal operational settings (Paloski et al. 2008). Thus, our current understanding of the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Space flight is limited primarily to extrapolation of scientific research findings, and, since there are limited ground-based analogs of the sensorimotor and vestibular changes associated with space flight, observation of their functional impacts is limited to studies performed in the space flight environment. Fortunately, many sensorimotor and vestibular experiments have been performed during and/or after space flight missions since 1959 (Reschke et al. 2007). While not all of these experiments were directly relevant to the question of vehicle/complex system control, most provide insight into changes in aspects of sensorimotor control that might bear on the physiological subsystems underlying this high-level integrated function.
There has been a recent trend to increase capability and drive down the Size, Weight and Power (SWAP) of satellites. NASA scientists and engineers across many of NASA's Mission Directorates and Centers are developing exciting CubeSat concepts and welcome potential partnerships for CubeSat endeavors. From a "Telemetry, Tracking and Command (TT&C) Systems and Flight Operations for Small Satellites" point of view, small satellites including CubeSats are a challenge to coordinate because of existing small spacecraft constraints, such as limited SWAP and attitude control, and the potential for high numbers of operational spacecraft. The NASA Space Communications and Navigation (SCaN) Program's Near Earth Network (NEN) and Space Network (SN) are customer driven organizations that provide comprehensive communications services for space assets including data transport between a mission's orbiting satellite and its Mission Operations Center (MOC). This paper presents how well the SCaN networks, SN and NEN, are currently positioned to support the emerging small small satellite and CubeSat market as well as planned enhancements for future support.
There has been a historical trend to increase capability and drive down the Size, Weight and Power (SWAP) of satellites and that trend continues today. NASA scientists and engineers across many of NASAs Mission Directorates and Centers are developing exciting CubeSat concepts and welcome potential partnerships for CubeSat endeavors. From a Telemetry, Tracking and Command (TTC) Systems and Flight Operations for Small Satellites point of view, small satellites including CubeSats are a challenge to coordinate because of existing small spacecraft constraints, such as limited SWAP and attitude control, and the potential for high numbers of operational spacecraft. The NASA Space Communications and Navigation (SCaN) Programs Near Earth Network (NEN) and Space Network (SN) are customer driven organizations that provide comprehensive communications services for space assets including data transport between a missions orbiting satellite and its Mission Operations Center (MOC). This paper presents how well the SCaN networks, SN and NEN, are currently positioned to support the emerging small small satellite and CubeSat market as well as planned enhancements for future support.
There has been a historical trend to increase capability and drive down the Size, Weight and Power (SWAP) of satellites and that trend continues today. Small satellites, including systems conforming to the CubeSat specification, because of their low launch and development costs, are enabling new concepts and capabilities for science investigations across multiple fields of interest to NASA. NASA scientists and engineers across many of NASAs Mission Directorates and Centers are developing exciting CubeSat concepts and welcome potential partnerships for CubeSat endeavors. From a communications and tracking point of view, small satellites including CubeSats are a challenge to coordinate because of existing small spacecraft constraints, such as limited SWAP and attitude control, low power, and the potential for high numbers of operational spacecraft. The NASA Space Communications and Navigation (SCaN) Programs Near Earth Network (NEN), Deep Space Network (DSN) and the Space Network (SN) are customer driven organizations that provide comprehensive communications services for space assets including data transport between a missions orbiting satellite and its Mission Operations Center (MOC). The NASA NEN consists of multiple ground antennas. The SN consists of a constellation of geosynchronous (Earth orbiting) relay satellites, named the Tracking and Data Relay Satellite System (TDRSS). The DSN currently makes available 13 antennas at its three tracking stations located around the world for interplanetary communication. The presentation will analyze how well these space communication networks are positioned to support the emerging small satellite and CubeSat market. Recognizing the potential support, the presentation will review the basic capabilities of the NEN, DSN and SN in the context of small satellites and will present information about NEN, DSN and SN-compatible flight radios and antenna development activities at the Goddard Space Flight Center (GSFC) and across industry. The presentation will review concepts on how the SN multiple access capability could help locate CubeSats and provide a low-latency early warning system. The presentation will also present how the DSN is evolving to maximize use of its assets for interplanetary CubeSats. The critical spectrum-related topics of available and appropriate frequency bands, licensing, and coordination will be reviewed. Other key considerations, such as standardization of radio frequency interfaces and flight and ground communications hardware systems, will be addressed as such standardization may reduce the amount of time and cost required to obtain frequency authorization and perform compatibility and end-to-end testing. Examples of standardization that exist today are the NASA NEN, DSN and SN systems which have published users guides and defined frequency bands for high data rate communication, as well as conformance to CCSDS standards. The workshop session will also seek input from the workshop participants to better understand the needs of small satellite systems and to identify key development activities and operational approaches necessary to enhance communication and navigation support using NASA's NEN, DSN and SN.
Class-Shape Transformation (CST) is a popular method for creating analytical representations of the surface coordinates of various components of aerospace vehicles. A wide variety of two- and three-dimensional shapes can be represented analytically using only a modest number of parameters, and the surface representation is smooth and continuous to as fine a degree as desired. This paper expands upon the original two-dimensional representation of airfoils to develop a generalized three-dimensional CST parametrization scheme that is suitable for a wider range of aircraft wings than previous formulations, including wings with significant non-planar shapes such as blended winglets and box wings. The method uses individual functions for the spanwise variation of airfoil shape, chord, thickness, twist, and reference axis coordinates to build up the complete wing shape. An alternative formulation parameterizes the slopes of the reference axis coordinates in order to relate the spanwise variation to the tangents of the sweep and dihedral angles. Also discussed are methods for fitting existing wing surface coordinates, including the use of piecewise equations to handle discontinuities, and mathematical formulations of geometric continuity constraints. A subsonic transport wing model is used as an example problem to illustrate the application of the methodology and to quantify the effects of piecewise representation and curvature constraints.
Receptivity and stability of hypersonic boundary layers are numerically investigated for boundary layer flows over a 5-degree straight cone at a free-stream Mach number of 6.0. To compute the shock and the interaction of shock with the instability waves, we solve the Navier-Stokes equations in axisymmetric coordinates. The governing equations are solved using the 5th-order accurate weighted essentially non-oscillatory (WENO) scheme for space discretization and using third-order total-variation-diminishing (TVD) Runge-Kutta scheme for time integration. After the mean flow field is computed, disturbances are introduced at the upstream end of the computational domain. Generation of instability waves from leading edge region and receptivity of boundary layer to slow acoustic waves are investigated. Computations are performed for a cone with nose radii of 0.001, 0.05 and 0.10 inches that give Reynolds numbers based on the nose radii ranging from 650 to 130,000. The linear stability results showed that the bluntness has a strong stabilizing effect on the stability of axisymmetric boundary layers. The transition Reynolds number for a cone with the nose Reynolds number of 65,000 is increased by a factor of 1.82 compared to that for a sharp cone. The receptivity coefficient for a sharp cone is about 4.23 and it is very small, approx.10(exp -3), for large bluntness.
Although atomically precise polyhydrido copper nanoclusters are of prime interest for a variety of applications, they have so far remained scarce. Here, we describe the synthesis of a dithiophosphate-protected copper(I) hydride-rich nanocluster (NC), [Cu 30 H 18 {S 2 P(O n Pr) 2 } 12 ] ( 1 H ), fully characterized by various spectroscopic methods and single-crystal X-ray diffraction. The X-ray structure of 1 H reveals an unprecedented central Cu 12 hollow icosahedron. Six faces of this icosahedron are capped by Cu 3 triangles, the whole Cu 30 core being wrapped by twelve dithiophosphate ligands and the whole cluster has ideal S 6 symmetry. The locations of the 18 hydrides in 1 H were ascertained by a single-crystal neutron diffraction study. They are composed of three types: capping μ 3 -H, interstitial μ 4 -H (seesaw) and μ 5 -H ligands (square pyramidal), in good agreement with the DFT simulations. The numbers of hydrides and ligand resonances in the 1 H NMR spectrum of 1 H are in line with their coordination environment in the solid state, retaining the S 6 symmetry in solution. Furthermore, two new Se-protected polyhydrido copper nanoclusters, [Cu 30 H 18 {Se 2 P(OR) 2 } 12 ] ( 2 H : R= i Pr 3 H : R= i Bu) were synthesized from their sulfur relative 1 H via ligand displacement reaction and their X-ray structures feature the exceptional case where both the NC shape and size are fully conserved during the course of ligand exchange. DFT and TD-DFT calculations allow understanding the bonding and optical properties of clusters 1 H – 3 H . In addition, the reaction of 1 H with [Pd(PPh 3 ) 2 Cl 2 ] in the presence of terminal alkynes led to the formation of new bimetallic Cu–Pd alloy clusters [PdCu 14 H 2 {S 2 P(O n Pr) 2 } 6 (C≡CR) 6 ] ( 4 : R=Ph; 5 : R = C 6 H 4 F).
We develop a new way to analytically calculate loop integrals in the Effective Field Theory of Large Scale-Structure. Previous available methods show severe limitations beyond the one-loop power spectrum due to analytical challenges and computational and memory costs. Our new method is based on fitting the linear power spectrum with cosmology-independent functions that resemble integer powers of quantum field theory massive propagators with complex masses. A remarkably small number of them is sufficient to reach enough accuracy. Similarly to former approaches, the cosmology dependence is encoded in the coordinate vector of the expansion of the linear power spectrum in our basis. We first produce cosmology-independent tensors where each entry is the loop integral evaluated on a given combination of basis vectors. For each cosmology, the evaluation of a loop integral amounts to contracting this tensor with the coordinate vector of the linear power spectrum. The 3-dimensional loop integrals for our basis functions can be evaluated using techniques familiar to particle physics, such as recursion relations and Feynman parametrization. We apply our formalism to evaluate the one-loop bispectrum of galaxies in redshift space. The final analytical expressions are quite simple and can be evaluated with little computational and memory cost. We show that the same expressions resolve the integration of all one-loop N-point function in the EFTofLSS. This method, which is originally presented here, has already been applied in the first one-loop bispectrum analysis of the BOSS data to constraint ΛCDM parameters and primordial non-Gaussianities [1, 2].
Here, a series of supported MoO x catalysts on different oxide supports (Al2O3, TiO2, ZrO2, SiO2) were synthesized and investigated for propylene metathesis, characterized with in situ spectroscopies (DRIFTS, Raman, UV-vis) and chemically probed with propylene-TPSR-MS, propylene-TPSR-IR, and ethylene/2-butene titration. Under dehydrated conditions at monolayer coverage or maximum surface dispersion, the surface MoO x sites are present as a mixture of isolated di-oxo (O=) 2 Mo(–O–Al) 2 and oligomeric mono-oxo O=Mo(–O–Al) 4/5 sites on Al 2 O 3 , primarily oligomeric mono-oxo O=Mo(–O–Ti) 4/5 on TiO 2 , isolated di-oxo (O=) 2 Mo(–O–Zr) 2 and oligomeric mono-oxo O=Mo(–O–Zr) 4/5 on ZrO 2 , and isolated di-oxo (O=) 2 Mo(–O–Si) 2 on SiO 2 . The bridged (S 2 -OH) and tri-coordinated (S 3 -OH) anchoring surface hydroxyls of the oxide supports with strong support cation electronegativity control the activation and number of active surface MoO x sites at low temperatures (<100 °C). The isolated anchoring surface hydroxyls (S-OH) of the oxide supports with strong support cation electronegativity control the activation and number of active surface MoO x sites at high temperatures (>350 °C). Olefin metathesis by the more redox active supported MoO x /TiO 2 and MoO x /ZrO 2 catalysts is retarded by the formation of stable surface acetone and acetate species that block olefin adsorption. The oxide supports are potent ligands that tune the activation and surface chemistry of the surface MoOx sites for olefin metathesis. This is the first time that the influence of oxide supports on the activation and surface chemistry of supported MoO x sites has been systematically examined.
Multifidelity modeling is a technique for fusing the information from two or more datasets into one model. It is particularly advantageous when one dataset contains few accurate results and the other contains many less accurate results. Within the context of modeling potential energy surfaces, the low-fidelity dataset can be made up of a large number of inexpensive energy computations that provide adequate coverage of the N-dimensional space spanned by the molecular internal coordinates. The high-fidelity dataset can provide fewer but more accurate electronic energies for the molecule in question. Here, we compare the performance of several neural network-based approaches to multifidelity modeling. We show that the four methods (dual, Δ-learning, weight transfer, and Meng–Karniadakis neural networks) outperform a traditional implementation of a neural network, given the same amount of training data. We also show that the Δ-learning approach is the most practical and tends to provide the most accurate model.
Floating offshore wind is a pre-commercial industry with the potential for significant market growth on the U.S. West Coast in the near future; however, significant investment in port infrastructure will be required to enable the industry to progress from demonstration projects to efficient and cost effective commercial deployment. Developing a system of ports that can enable commercial-scale floating wind development on the West Coast of the United States will require significant levels of funding and coordination between governments, industry, ports, and local communities. A critical first step to strategically planning these resources is understanding the number of ports (and associated investment) that would be required to support different phases of offshore wind projects, including manufacturing, installation, and operation. But simply tallying up these costs is not sufficient to understand how a robust network of ports could impact local communities, the environment, workforce development, the offshore wind industry, and the West Coast region as a whole. In this report, the authors present analyses and perspectives related to port development in California, Oregon, and Washington. We describe the requirements for floating offshore wind ports that conduct manufacturing, installation, and/or service activities, and estimate the investment and time frames required to construct these ports at suitable locations in West Coast states. We develop indicators for the vulnerability and workforce accessibility of coastal communities and consider the potential risks and benefits associated with port development in these locations. We model how the proximity of an offshore wind project to installation and operations ports can impact the levelized cost of energy of the project, and then consider how these costs could be affected by local or foreign supply chains. We build upon these analyses to develop scenarios with increasing levels of offshore wind deployment and port assets on the West Coast and show how these ports could enable deployment goals to be achieved. Finally, we draw upon outreach with key floating wind stakeholders to summarize five key challenges that will need to be overcome to develop a comprehensive port network, and present potential approaches that could help to address these obstacles.