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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 703 records · Page 39
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

On hairpin vortices as model of wall turbulence structure

A model of the hairpin vortex has been constructed and used in two distinct but related approaches. The first approach is kinematic in nature in which a synthesis procedure using hairpin vortices to provide a quantitative link between mean flow quantities and the statistical quantities of near wall turbulence has become developed. The second approach is dynamic in nature, and the evolution of an incipient 'representative' hairpin vortex as well as the distortion of a background laminar boundary layer flow, in which the hairpin vortex is immersed, has been simulated by numerical solution of the unsteady, three-dimensional Navier-Stokes equations.

Liu, N.-S.↗
NASA NTRS1988

Load balancing and closed chain multiple arm control

The authors give the general dynamical equations for several rigid link manipulators rigidly grasping a commonly held rigid object. It is shown that the number of arm-configuration degrees of freedom lost due to imposing the closed-loop kinematic constraints is the same as the number of degrees of freedom gained for controlling the internal forces of the closed-chain system. This number is equal to the dimension of the kernel of the Jacobian operator which transforms contact forces to the net forces acting on the held object, and it is shown that this kernel can be identified with the subspace of controllable internal forces of the closed-chain system. Control of these forces makes it possible to regulate the grasping forces imparted to the held object or to control the load taken by each arm. It is shown that the internal forces can be influenced without affecting the control of the configuration degrees of freedom. Control laws of the feedback linearization type are shown to be useful for controlling the location and attitude of a frame fixed with respect to the held object, while simultaneously controlling the internal forces of the closed-chain system. Force feedback can be used to linearize and control the system even when the held object has unknown mass properties. If saturation effects are ignored, an unconstrained quadratic optimization can be performed to distribute the load optimally among the joint actuators.

Kreutz, Kenneth↗
NASA NTRS1992

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Mann, R. C.↗
NASA NTRS1999

Inertial Mass Viewed as Reaction of the Vacuum to Accelerated Motion

Preliminary analysis of the momentum flux (or of the Poynting vector) of the classical electromagnetic version of the quantum vacuum consisting of zero-point radiation impinging on accelerated objects as viewed by an inertial observer suggests that the resistance to acceleration attributed to inertia may be a force of opposition originating in the vacuum. This analysis avoids the ad hoc modeling of particle-field interaction dynamics used previously by Haisck Rueda and Puthoff (1994) to derive a similar result. This present approach is not dependent upon what happens at the particle point but on how an external observer assesses the kinematical characteristics of the zero-point radiation impinging on the accelerated object. A relativistic form of the equation of motion results from the present analysis.

Rueda, Alfonso↗
NASA NTRS1973

A New GaAs Laser Radar for Atmospheric Measurements

A special GaAs lidar using fiber coupled diode lasers was constructed for the purpose of measuring the extinction coefficient distribution within a large atmospheric volume at a rate compatible with atmospheric kinematics. The technique is based on taking backscatter signature ratios over spatial increments after the returns are normalized by pulse integration. Essential aspects of the lidar design are beam pulse power, repetition rate, detection system dynamic range and decay linearity. It was necessary to preclude the possibility of eye hazard under any operating conditions, including directly viewing the emitting aperture at close distance with a night-adapted eye. The electronic signal processing and control circuits were built to allow versatile operations. Extinction coefficient measurements were made in fog and clouds using a low-power laboratory version of the lidar, demonstrating feasibility. Data are presented showing range squared corrected backscatter profiles converted to extinction coefficient profiles, temporal signal fluctuations, and solar induced background noise. These results aided in the design of the lidar which is described. Functional tests of this lidar and the implications relevant to the design of a prototype model are discussed. This work was jointly sponsored by Sperry Rand Corporation under its Independent Research and Development program; the Air Force Avionics Laboratory, Wright Field, Dayton, Ohio; and the Naval Ammunition Depot, Crane, Indiana.

Brown, R. T.↗
NASA NTRS2023

The Digital Astronaut Simulation

The Digital Astronaut Simulation provides a human biomechanics modeling, simulation, and analysis capability that is enabling spaceflight hardware design to incorporate the human dynamic input early in development cycles as well as characterize performance after prototypes are built. The enhanced toolset includes a modified multibody model, updated motion capture marker sets, and refined methods for scaling and inverse kinematics. These provide increased accuracy for applications in exercise and extravehicular tasks in reduced gravity, especially where upper extremity motion is involved. A core capability highlighted is the calculation of ground reaction forces, moments, and center of pressure based on motion capture. Verification and validation efforts include comparison with force platform measurements.

Human Spaceflight↗
NASA NTRS2012

SOFIA Observations of S106: Dynamics of the Warm Gas

Context The H II region/PDR/molecular cloud complex S106 is excited by a single O-star. The full extent of the warm and dense gas close to the star has not been mapped in spectrally resolved high-J CO or [C II] lines, so the kinematics of the warm. partially ionized gas, are unknown. Whether the prominent dark lane bisecting the hourglass-shaped nebula is due solely to the shadow cast by a small disk around the exciting star or also to extinction in high column foreground gas was an open question until now. Aims. To disentangle the morphology and kinematics of warm neutral and ionized gas close to the star, study their relation to the bulk of the molecular gas. and to investigate the nature of the dark lane. Methods. We use the heterodyne receiver GREAT on board SOFIA to observe velocity resolved spectral lines of [C II] and CO 11 yields 10 in comparison with so far unpublished submm continuum data at 350 micron (8HARC-Il) and complementary molecular line data. Results. The high angular and spectral resolution observations show a very complex morphology and kinematics of the inner S106 region, with many different components at different excitation conditions contributing to the observed emission. The [C II] lines are found to be bright and very broad. tracing high velocity gas close to the interface of molecular cloud and H II region. CO 11 yields 10 emission is more confined.. both spatially and in velocity, to the immediate surroundings of S 106 IR showing the presence of warm, high density (clumpy) gas. Our high angular resolution submm continuum observations rule out the scenario where the dark lane separating the two lobes is due solely to the shadow cast by a small disk close to the star. The lane is clearly seen also as warm, high column density gas at the boundary of the molecular cloud and H II region.

Simon, R.↗
DOE OSTI2021

Dark matter haloes of massive elliptical galaxies at z ∼ 0.2 are well described by the Navarro–Frenk–White profile

ABSTRACT We investigate the internal structure of elliptical galaxies at z ∼ 0.2 from a joint lensing–dynamics analysis. We model Hubble Space Telescope images of a sample of 23 galaxy–galaxy lenses selected from the Sloan Lens ACS (SLACS) survey. Whereas the original SLACS analysis estimated the logarithmic slopes by combining the kinematics with the imaging data, we estimate the logarithmic slopes only from the imaging data. We find that the distribution of the lensing-only logarithmic slopes has a median 2.08c ± 0.03 and intrinsic scatter 0.13 ± 0.02, consistent with the original SLACS analysis. We combine the lensing constraints with the stellar kinematics and weak lensing measurements, and constrain the amount of adiabatic contraction in the dark matter (DM) haloes. We find that the DM haloes are well described by a standard Navarro–Frenk–White halo with no contraction on average for both of a constant stellar mass-to-light ratio (M/L) model and a stellar M/L gradient model. For the M/L gradient model, we find that most galaxies are consistent with no M/L gradient. Comparison of our inferred stellar masses with those obtained from the stellar population synthesis method supports a heavy initial mass function (IMF) such as the Salpeter IMF. We discuss our results in the context of previous observations and simulations, and argue that our result is consistent with a scenario in which active galactic nucleus feedback counteracts the baryonic-cooling-driven contraction in the DM haloes.

Shajib, Anowar J.↗
NASA NTRS1989

Obstacle avoidance for redundant robots using configuration control

The article presents a new and simple solution to the obstacle avoidance problem for redundant robots. In the proposed approach, called configuraiton control, the redundancy is utilized to configure the robot so as to satisfy a set of kinematic inequality constraints representing obstacle avoidance, while the end-effector is tracking a desired trajectory. The robot control scheme is very simple, and uses on-line adaptation to eliminate the need for the complex dynamic model and parameter values of the robot. Several simulation results for a four-link planar robot are presented to illustrate the versatility of the approach. These include reaching around a stationary obstacle, simultaneous avoidance of two obstacles, robot reconfiguration to avoid a moving obstacle, and avoidance of rectangular obstacles.

Colbaugh, R.↗
NASA NTRS2004

Echo Mapping of Active Galactic Nuclei

Echo mapping makes use of the intrinsic variability of the continuum source in active galactic nuclei to map out the distribution and kinematics of line-emitting gas from its light travel time-delayed response to continuum changes. Echo mapping experiments have yielded sizes for the broad line-emitting region in about three dozen AGNs. The dynamics of the line-emitting gas seem to be dominated by the gravity of the central black hole, enabling measurement of the black-hole masses in AGNs. We discuss requirements for future echo-mapping experiments that will yield the high quality velocity-delay maps of the broad-line region that are needed to determine its physical nature.

Peterson, B. M.↗
NASA NTRSDate not supplied

Risk Assessment of Obstacle Collision for UAVs under off-nominal conditions

Enabling operations of unmanned aerial vehicles (UAVs) in low-altitude airspace, demands the need of robust risk monitoring framework for assessing the safety of airspace, ground-structures and people. As widespread applications emerge, the need of risk assessment becomes increasingly important for UAV flights beyond visual line-of-sight, especially subjected to off-nominal conditions introduced by component failures, degraded controllability or environmental disturbances such as wind gusts in an urban canyon. From a safety perspective, collision with obstacles can be detrimental not only to the vehicle and payload, but also to the structure and people on ground. Although it is safe to assume that approved UAVs would be equipped with collision avoidance systems, risk of collision which can be predicted for a flight trajectory even before the UAV encounters any obstacle is beneficial to resolve contingencies in its decision-making under off-nominal conditions. In this paper, a framework is presented for computing the risk of collision with obstacle based on a UAV's predicted trajectory, proximity to static and dynamic obstacles, sub-system state-of-health and external wind conditions. The conditional probability of trajectory deviation is generated using a Bayesian Belief Network (BBN) based on on-board sensor measurements. Further, a kinematic 3-DOF model is implemented to compute deviation in UAV's trajectory subjected to one case study of off-nominal condition i.e. wind gusts. Finally, the integrated risk factor is demonstrated on real data from experimental flights of an octocopter at NASA Langley Research Center, in presence of simulated obstacles and wind conditions. The proposed approach would enable risk-informed decision making process for timely mitigation of current and future unsafe events.

Portia Banerjee↗
NASA NTRSDate not supplied

Risk Assessment of Obstacle Collision for UAVs under Off-nominal Conditions

Enabling operations of unmanned aerial vehicles (UAVs) in low-altitude airspace demands the need of robust risk monitoring framework for assessing the safety of airspace, ground structures and people. As widespread applications emerge, the need of risk assessment becomes increasingly important for UAV flights beyond visual line-of-sight, especially subjected to off-nominal conditions introduced by component failures, degraded controllability or environmental disturbances such as wind gusts in an urban canyon. From a safety perspective, collision with obstacles can be detrimental not only to the vehicle and payload, but also to the structure and people on ground. Although it is safe to assume that approved UAVs would be equipped with collision avoidance systems, risk of collision which can be predicted for a flight trajectory even before the UAV encounters any obstacle is beneficial to resolve contingencies in its decision-making under off-nominal conditions. In this paper, a framework is presented for computing the risk of collision with obstacle based on a UAV’s predicted trajectory, proximity to static and dynamic obstacles, sub-system state-of-health and external wind conditions. The conditional probability of trajectory deviation is generated using a Bayesian Belief Network (BBN) based on on-board sensor measurements. Further, a kinematic 3-DOF model is implemented to compute deviation in UAV’s trajectory subjected to one case study of off-nominal condition i.e. wind gusts. Finally, the integrated risk factor is demonstrated on real data from experimental flights of an octocopter at NASA Langley Research Center, in presence of simulated obstacles and wind conditions. The proposed approach would enable risk-informed decision making process for timely mitigation of current and future unsafe events.

Bayesian network↗
DOE OSTI2026

Development and Validation of the Near-Miss Safety Score (NMSS) Framework for Heavy-Duty Vehicle Safety Assessment

Heavy-duty commercial vehicles present unique safety challenges due to their size, articulation dynamics, and operational complexity. As Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) become more common in Class 8 tractor-trailers, traditional crash-based metrics are no longer sufficient to evaluate safety performance. This study introduces the Near-Miss Safety Score (NMSS)—a quantitative, physics-informed framework developed as a leading indicator of safety for advanced commercial vehicle technologies. NMSS quantifies how close a vehicle or operator comes to a collision or safety-critical event by integrating vehicle kinematics (relative distance, velocity, and acceleration) with driver or system response latency and time-to-collision. A modifier function adjusts the base score for vehicle-specific and environmental factors such as trailer articulation, load distribution, braking condition, and roadway environment. The framework enables systematic evaluation of ADAS/ADS performance under a range of operational and degraded conditions. By capturing near-miss dynamics rather than relying on crash data, NMSS provides a proactive approach to risk assessment, accelerates technology validation, and enhances interpretability for regulators and fleet operators. The proposed NMSS was validated using data collected from a motorcoach platform, demonstrating the framework’s applicability to heavy-duty safety evaluation and performance benchmarking. Results and key insights are presented in this paper.

Siekmann, Adam [ORNL] (ORCID:0000000284653935)↗
NASA NTRS2018

Modeling Principles Using the Relation Between Lagrange Multipliers and Bond Graphs

Final document is attached. Modeling dynamic systems by bond graphs has become state of the art technology since hundreds of researchers around the world have incorporated the technology in many fields of engineering and science. The legacy of its invertor Prof. Henry Paynter at MIT in 1959 is now a fundamental and practical technique to understand reality by building computer models. This paper addresses a particular aspect of this technology when modeling of mechanical systems require relaxation of constraints by means of Lagrange principles. Lagrange's equations are a useful means of describing and solving systems with kinematic constraints. Lagrange multipliers are variables used in equations to find the extremes of multivariate functions. Here we explore the relation of Lagrange multipliers to solve modeling difficulties of a space vehicle with equations with dependent derivatives. Lagrange multipliers were used in conjunction with bond graphs to simulate a system where joints of kinematic linkages produce dependent derivatives. NASA's Morpheus Project lunar lander was used as a case study. The Morpheus Project is a terrestrial test vehicle designed to fly the terminal descent trajectory of a lunar lander to advance the Autonomous Landing Hazard Avoidance Technology (ALHAT). An objective of this study is to apply the modeling approach herein to capture the dynamic movement of the lander as the propellant is sloshed and consumed. This paper expands further the analysis presented by (Granda, J J. Nguyen, L, Carlson, T, Sahragard-Monfared, G., Fornalski, E., Brocker 2016). Using an automated approach bond graph models of state space equations were generated using the Computer Aided Modeling Program (CAMPG). Integral causality models and derivative causality models were considered in order to find the simpler solution for the mathematical dependencies produced in modeling this vehicle.

Granda, Jose J.↗
DOE OSTI2025

Microstructure and CPO evolution of dynamically recrystallized olivine during complex deformation conditions: a full-field numerical modeling approach

The rheological properties of mantle rocks are strongly dependent on their crystallographic preferred orientation (CPO). Olivine CPO, defined by the orientation of seismically fast [100] axes parallel to flow direction, is also thought to be a dominant contributor to seismic anisotropy in the Earth's upper mantle. However, the amount of deformation needed to overprint a new CPO on a pre-existing fabric and the impact of the inherited CPOs on the transient microstructure evolution, remain unknown. This study employs a full-field numerical approach (VPFFT-ELLE) to explore the dynamic recrystallization and microstructural evolution of olivine polycrystalline aggregates under complex deformation conditions. We test four combinations of successive pure shear and simple shear boundary conditions. Findings indicate that inherited CPOs influence subsequent deformation in a manner dependent on the kinematic relationship between successive stages. In all cases, a minor strain increment (ε ∼0.3–0.6) is sufficient to erase the previous microstructure and CPO. However, when deformation conditions change dramatically (e.g., stretching direction changes orthogonally), the intensity of the new CPO developed is significantly lower and strain distribution are specially altered. During a transient strain stage, pre-existing microstructures undergo extensive reworking, especially when deformation conditions are changed dramatically, such as switching from simple shear to a pure shear condition with a parallel shortening direction relative to the stretching direction. We estimate the significance of these results in interpreting observations of seismic velocity anisotropy, concluding that P-wave seismic anisotropy is significantly and positively correlated with the evolution of olivine CPO with deformation history. This research underscores the transient nature of microstructural rearrangement in olivine aggregates and the necessity for caution in interpreting seismic anisotropy in regions with complex deformation histories, as inherited CPOs can influence current fabric development and induce deviation to the present deformation conditions.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Imaging the wakes of jets with energy-energy-energy correlators

As the partons in a high energy jet propagate through the droplet of quark-gluon plasma (QGP) produced in a heavy-ion collision they lose energy to, kick, and are kicked by the medium. The resulting modifications to the parton shower encode information about the microscopic nature of QGP. A direct consequence, however, is that the momentum and energy lost by the parton shower are gained by the medium and, since QGP is a strongly coupled liquid, this means that the jet excites a wake in the droplet of QGP. After freezeout, this wake becomes soft hadrons with net momentum in the jet direction meaning that what an experimentalist later reconstructs as a jet includes hadrons originating from both the modified parton shower and its wake. This has made it challenging to find experimental observables that provide an unambiguous view of the dynamical response of a droplet of QGP to a jet shooting through it. Recent years have seen significant substantial advances in the theoretical and experimental understanding of the substructure of jets, in particular, using correlation functions, $\langle$ ($\vec{n}$ 1 )•••$\mathcal{E}$($\vec{n}$ k ) $\rangle$, of the energy flux operator in proton-proton collisions and, recently, in heavy-ion collisions. So far, such studies have focused primarily on the two-point correlator, which allows for the identification of the angular scale of the underlying dynamics. Higher-point correlators hold the promise of mapping out the dynamics themselves. In this paper we perform the first study of the shape-dependent three-point energy-energy-energy correlator in heavy-ion collisions. Using the Hybrid Model to simulate the interactions of high energy jets with the QGP medium, we show that the three-point correlator presents us with a striking new opportunity. We find that hadrons originating from wakes are the dominant contribution to the three-point correlator in the kinematic regime in which the three points are well-separated in angle, forming a roughly equilateral triangle. This equilateral region of the correlator is far from the region populated by collinear vacuum emissions, making it a canvas on which jet wakes are laid out, where experimentalists can map their shapes. Our work provides a key step towards the systematic use of energy correlators to image and unravel the dynamical response of a droplet of QGP that has been probed by a passing jet, and motivates numerous experimental and theoretical studies.

Jets and Jet Substructure↗
DOE OSTI2023

Semirelativistic antisymmetrized molecular dynamics for the production of energetic neutrons in intermediate-energy heavy-ion reactions

Relativistic corrections have been made in the nonrelativistic antisymmetrized molecular dynamics (amd) simulations to apply to the high-energy neutron production in the 12 C + 12 C and 16 O + 12 C collisions at incident energies of 290 and 400 MeV/nucleon. The corrections are made in kinematics alone and neither nucleon-nucleon inelastic scatterings nor meson productions are taken into account, and amd with the relativistic corrections is called semirelativistic amd. The three-nucleon collision (3NC) and Fermi boost in the collision processes are taken into account in the nonrelativistic AMD. Since the relativistic corrections tend to compensate in each other, the difference between the semirelativistic and nonrelativistic results become small. High-energy tails of the available experimental neutron double-differential cross sections, especially at larger angles, are well reproduced by amd with the 3NC term both with nonrelativistic and semirelativistic simulations. Furthermore, these results indicate that the high-energy neutrons are dominantly produced by the 3NC process in this incident energy range.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
NASA NTRS1994

Dynamics of cD clusters of galaxies. II: Analysis of seven Abell clusters

We have investigated the dynamics of the seven Abell clusters A193, A399, A401, A1795, A1809, A2063, and A2124, based on redshift data reported previously by us (Hill & Oegerle, (1993)). These papers present the initial results of a survey of cD cluster kinematics, with an emphasis on studying the nature of peculiar velocity cD galaxies and their parent clusters. In the current sample, we find no evidence for significant peculiar cD velocities, with respect to the global velocity distribution. However, the cD in A2063 has a significant (3 sigma) peculiar velocity with respect to galaxies in the inner 1.5 Mpc/h, which is likely due to the merger of a subcluster with A2063. We also find significant evidence for subclustering in A1795, and a marginally peculiar cD velocity with respect to galaxies within approximately 200 kpc/h of the cD. The available x-ray, optical, and galaxy redshift data strongly suggest that a subcluster has merged with A1795. We propose that the subclusters which merged with A1795 and A2063 were relatively small, with shallow potential wells, so that the cooling flows in these clusters were not disrupted. Two-body gravitational models of the A399/401 and A2063/MKW3S systems indicate that A399/401 is a bound pair with a total virial mass of approximately 4 x 10(exp 15) solar mass/h, while A2063 and MKW3S are very unlikely to be bound.

Oegerle, William R.↗