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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Big Sky Regional Carbon Sequestration Partnership (Phase III Final Scientific/Technical Report)

The Big Sky Carbon Sequestration Partnership (BSCSP) pursued a Phase III demonstration project at Kevin Dome in north central Montana. Kevin Dome covers approximately 700 square miles and is a naturally occurring CO 2 reservoir that is flanked by oil and gas fields. The carbon dioxide (CO 2 ) is in the upper Devonian Duperow (carbonate) formation and does not reach the spill point of the dome; therefore, the dome has potential as a CO 2 sequestration reservoir, a CO 2 supply, or as both if anthropogenic sources and enhanced oil recovery (EOR) operations are associated with the dome. Kevin Dome could potentially act as a buffer to continue accepting anthropogenic CO 2 when EOR flooding operations are interrupted or completed. The project objective was to produce one million tonnes of CO 2 from the gas cap of Kevin Dome, pipe it laterally, inject, and re-store it in the brine leg of the same formation to test the hub / buffer storage concept. This was to be accomplished by drilling up to five production wells, building a short pipeline and compression facilities, and drilling an injection well and several monitoring wells. BSCSP commenced outreach and site characterization activities including acquiring baseline data for near-surface insurance monitoring, acquiring 3-dimensional, 9-component surface seismic over the project area, drilling two test wells (one in the production area and one in the injection area), coring key intervals, and performing comprehensive logging. Well tests of those wells revealed two barriers to the project. The production (Danielson 33-17) well was perforated in multiple zones but failed to produce any significant CO 2 . This was despite being drilled in the near vicinity of a historic well that had produced 3700 MCF per day in a drill stem test. Modeling indicated that this was likely due to a phase change during production causing a temperature drop resulting in hydrate and/or water ice formation that clogged the formation. Tests of the injection zone (Wallewein 22-1) well indicated total dissolved solids (TDS) slightly below the EPA required 10,000 parts per million (ppm) for a Class VI underground injection control permit. While the project was initiated before Class VI rules were promulgated, and this was an experimental project (seemingly qualified for a Class V permit), the Environmental Protection Agency (EPA) indicated that injection would require a Class VI permit. The low salinity result was unexpected as contours plotted based on regional formation water quality data indicated an expected TDS above 20,000 ppm, and wells between the recharge zone and the Wallewein well tested above 10,000 ppm. Faced with the inability to obtain an injection permit, the demonstration project could not proceed. However, the project had generated valuable samples and data on a large natural analog including 32 sq. mi. of 3-D, 9-C seismic, 430 ft. of carbonate core covering seven different depositional environments taken from areas with, and without the presence of CO 2 , 30 ft. of core of two caprocks, a tight carbonate and an anhydrite, a full set of modern logs on both wells, and well tests. DOE decided to re-scope the project around completing studies utilizing this data. This report covers both the initial scope and the re-scope (Task / Section numbers preceded with an R). While the report covers a wide range of project activities, highlights of this work include: Development of a geostatic model using neural nets to match well logs to facies and using multi-waveform seismic to inform reservoir heterogeneity; Unique mechanical testing of permeability – stress relationship in two caprock materials; Development of full waveform inversion to generate a high resolution velocity model; Model development for dual permeability (fracture and matrix) systems to better account for matrix-matrix interactions; Joint seismic wave inversion (including the first quadr-joint inversion) exhibiting better imaging of a challenging reservoir zone in stiff rock; Core flow and core flood results on a reactive carbonate; and Innovative laboratory measurements of seismic response of fractured core as a function of fluid fill.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Exploring for Superhot Geothermal Targets in Magmatic Settings: 2022 Field Campaign at Newberry Volcano

This paper presents preliminary results from a subset of work carried out as part of a multinational research project entitled DErisking Exploration for multiple geothermal Plays in magmatic ENvironments (DEEPEN), supported by the U.S. Department of Energy (DOE) and Geothermica, a joint effort by EU member states and associated countries. The DEEPEN project will develop a customized approach to exploration for supercritical and superhot geothermal plays in magmatic systems, which will be applied to two demonstration sites. This paper summarizes field activities carried out at the U.S. demonstration site, Newberry Volcano in central Oregon. The objective of this work effort is to refine the subsurface model of Newberry Volcano, with special focus on deeper zones including the magmatic plumbing system and other key geologic elements. New data collection included gravity and wideband magnetotelluric (MT) surveys, as well as reinstallation of a seismic network. The National Renewable Energy Laboratory (NREL) and Enthalpion Energy LLC (Enthalpion) worked with the Deschutes National Forest Fort Rock District to use a low ground disturbance method of MT deployment to collect MT data inside the caldera and other restricted areas inside the National Volcanic Monument. This opened these areas to geophysical exploration for the first time in decades. Sites along and adjacent to the south rim of the volcano constituted the primary survey objectives. A team from Lawrence Berkeley National Laboratory (LBNL), the U.S. Geological Survey (USGS), and AltaRock also began the process of reinstalling the seismic network from the AltaRock enhanced geothermal system (EGS) demonstration in anticipation of further development activities at the site. The data ingestion, reduction, and analysis phase of the project is ongoing. We are currently processing the MT and gravity data and are developing a new, highly GPU-accelerated, 3D joint MT and gravity inversion to better localize the south rim/south flank conductive target and better understand its relationship to deep heat, fluid sources, and surface extrusive features. Joint inversions, which have not yet been undertaken at Newberry, will allow us to obtain constraints on the geologic model that cannot be determined from each method in isolation, improving our ability to image key geologic features at depth.

geophysics↗
NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗
NASA NTRS1992

Neural joint control for Space Shuttle Remote Manipulator System

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Atkins, Mark A.↗
NASA NTRS1993

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Bayo, Eduardo↗
NASA NTRS1990

Spatial operator approach to flexible manipulator inverse and forward dynamics

This study extends to flexible multibody manipulators the recent results of the author on the use of spatially recursive filtering and smoothing techniques for robot arm dynamics. The configuration analyzed is that of a mechanical system of flexible bodies joined together by articulated joints. The inverse and forward dynamics problems are solved using the techniques of spatially recursive Kalman filtering and smoothing. The algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. The identities are easily derived using a spatial operator algebra developed by the author.

Rodriguez, G.↗
NASA NTRS1985

Stress analysis method for a clearance fit bolt under bearing loads

In the present, simple analysis method for bolt hole clearance stresses in mechanically fastened joints, an inverse formulation is used with a finite element analysis. Conditions along the bolt hole contact arc are specified by displacement constraint equations. The method was applied to a single fastener clearance-fit joint with typical clearance values, for the cases of a rigid, frictionless bolt and a quasi-isotropic graphite/epoxy laminate. Results indicate that the contact arc, as well as the peak stresses around the hole (and their locations), were strongly influenced by the clearance. After a minor initial nonlinearity, peak stresses varied linearly with applied load. Clearance levels are found to have only a minor influence on overall joint stiffness.

Crews, J. H., Jr.↗
DOE OSTI2021

A 3D Full Stress Tensor Model for Oklahoma

Abstract The stress tensor is an important property for upper crustal studies such as those that involve pore fluids and earthquake hazards. At tectonic plate scale, plate boundary forces and mantle convection are the primary drivers of the stress field. In many local settings (10–100 s of km and <10 km depth) in tectonic plate interiors, we can simplify by assuming a constant background stress field that is perturbed by local heterogeneity in density and elasticity. Local stress orientation and sometimes magnitude can be estimated from earthquake and borehole‐based observations when available. Modeling of the local stress field often involves interpolating sparse observations. We present a new method to estimate the 3D stress field in the upper crust and demonstrate it for Oklahoma. We created a 3D material model by inverting multiple types of geophysical observations simultaneously. Integrating surface‐wave dispersion, local travel times and gravity observations produces a model of P‐wave velocity, S‐wave velocity, and density. The stress field can then be modeled using finite element simulations. The simulations are performed using our simplified view of the local stress field as the sum of a constant background stress field that is perturbed by local density and elasticity heterogeneity and gravitational body forces. An orientation of N82°E, for the maximum compressive tectonic force, best agrees with previously observed stress orientations and faulting types in Oklahoma. The gravitational contribution of the horizontal stress field has a magnitude comparable to the tectonic contribution for the upper 5 km of the subsurface.

58 GEOSCIENCES↗
DOE OSTI2023

Utah FORGE 5-2557: Fluid and Temperature in Fracture Mechanics and Coupled THMC Processes - Workshop Presentation

This is a presentation on the Role of Fluid and Temperature in Fracture Mechanics and Coupled Thermo-Hydro-Mechanical-Chemical (THMC) Processes for Enhanced Geothermal Systems project by Purdue University, presented by Distinguished Professor of Physics & Astronomy, Laura J. Pyrak-Nolte. The project's objective was to develop and validate a macroscopic model that accounts for local deformation/frictional behavior, seismic/aseismic behavior, chemical reactions, and determine the adequacy of classic Coulomb failure vs. rate-and-state friction. This presentation was featured in the Utah FORGE R&D Annual Workshop on September 8, 2023. The workshop provided a valuable opportunity to explore the progress made in each of the 17 Research and Development projects funded under Solicitation 2020-1 which aim to enhance our understanding of the crucial factors influencing the development of Enhanced Geothermal Systems (EGS) reservoirs and resources.

15 GEOTHERMAL ENERGY↗
DOE OSTI2024

Utah FORGE Project 3-2417: DAS Microseismic Event Catalog from the 16A/16B Circulation Test, 2023

This preliminary data archive includes the relocated microseismic event catalog, 1D velocity model, and methods report from DAS acquisition conducted during the Well 16A and 16B circulation test (July 19th and 20th, 2023) at Utah FORGE. The methods report describes all processing steps, including real-time event detection, hierarchical clustering, joint velocity/hypocenter inversion, and relocation. The resulting work is accepted and will be presented at IMAGE 2024. This dataset was acquired by the FOGMORE R&D project (Fiber Optic MOnitoring for Reservoir Evolution), Utah FORGE R&D Project 3-2417.

15 GEOTHERMAL ENERGY↗
DOE OSTI2023

Hydrologic Impacts of a Strike-Slip Fault Zone: Insights from Joint 3D Body-Wave Tomography of Rock Valley

The Rock Valley fault zone (RVFZ), an intraplate strike-slip fault zone in the southern Nevada National Security Site (NNSS), hosted a series of very shallow (<3 km) earthquakes in 1993. The RVFZ may also have hydrological significance within the NNSS, potentially playing a role in regional groundwater flow, but there is a lack of local hydrological data. In the Spring of 2021, we collected active-source accelerated weight drop seismic data over part of the RVFZ to better characterize the shallow subsurface. Here, we manually picked ~17,000 P-wave travel times and over 14,000 S-wave travel times, which were inverted for P-wave velocity (V P ), S-wave velocity (V S ), and V P /V S ratio in a 3D joint tomographic inversion scheme. Seismic velocities are imaged as deep as ~700 m in areas and generally align with geologic and structural expectations. V P and V S are relatively reduced near mapped and inferred faults, with the most prominent lower V P and V S zone around the densest collection of faults. We image V P /V S ratios ranging from ~1.5 to ~2.4, the extremes of which occur at a depth of ~100 m and are juxtaposed across a fault. One possible interpretation of the imaged seismic velocities is enhanced fault damage near the densest collection of faults with relatively higher porosity and/or crack density at ~100 m depth, with patches of semiperched groundwater present in the sedimentary rock in higher V P /V S areas and drier rock in lower V P /V S areas. A relatively higher V P /V S area beneath the densest faults persists at depth, which suggests percolation of groundwater via the fault damage zone to the regionally connected lower carbonate aquifer. Potentially, the presence and movement of groundwater may have played a role in the 1993 earthquake aftershocks.

58 GEOSCIENCES↗
NASA NTRS2016

Consistent Evaluation of ACOS-GOSAT, BESD-SCIAMACHY, CarbonTracker, and MACC Through Comparisons to TCCON

Consistent validation of satellite CO2 estimates is a prerequisite for using multiple satellite CO2 measurements for joint flux inversion, and for establishing an accurate long-term atmospheric CO2 data record. Harmonizing satellite CO2 measurements is particularly important since the differences in instruments, observing geometries, sampling strategies, etc. imbue different measurement characteristics in the various satellite CO2 data products. We focus on validating model and satellite observation attributes that impact flux estimates and CO2 assimilation, including accurate error estimates, correlated and random errors, overall biases, biases by season and latitude, the impact of coincidence criteria, validation of seasonal cycle phase and amplitude, yearly growth, and daily variability. We evaluate dry-air mole fraction (X(sub CO2)) for Greenhouse gases Observing SATellite (GOSAT) (Atmospheric CO2 Observations from Space, ACOS b3.5) and SCanning Imaging Absorption spectroMeter for Atmospheric CHartographY (SCIAMACHY) (Bremen Optimal Estimation DOAS, BESD v2.00.08) as well as the CarbonTracker (CT2013b) simulated CO2 mole fraction fields and the Monitoring Atmospheric Composition and Climate (MACC) CO2 inversion system (v13.1) and compare these to Total Carbon Column Observing Network (TCCON) observations (GGG2012/2014). We find standard deviations of 0.9, 0.9, 1.7, and 2.1 parts per million vs. TCCON for CT2013b, MACC, GOSAT, and SCIAMACHY, respectively, with the single observation errors 1.9 and 0.9 times the predicted errors for GOSAT and SCIAMACHY, respectively. We quantify how satellite error drops with data averaging by interpreting according to (error(sup 2) equals a(sup 2) plus b(sup 2) divided by n (with n being the number of observations averaged, a the systematic (correlated) errors, and b the random (uncorrelated) errors). a and b are estimated by satellites, coincidence criteria, and hemisphere. Biases at individual stations have year-to-year variability of 0.3 parts per million, with biases larger than the TCCON predicted bias uncertainty of 0.4 parts per million at many stations. We find that GOSAT and CT2013b under-predict the seasonal cycle amplitude in the Northern Hemisphere (NH) between 46 and 53 degrees North latitude, MACC over-predicts between 26 and 37 degrees North latitude, and CT2013b under-predicts the seasonal cycle amplitude in the Southern Hemisphere (SH). The seasonal cycle phase indicates whether a data set or model lags another data set in time. We find that the GOSAT measurements improve the seasonal cycle phase substantially over the prior while SCIAMACHY measurements improve the phase significantly for just two of seven sites. The models reproduce the measured seasonal cycle phase well except for at Lauder_125HR (CT2013b) and Darwin (MACC). We compare the variability within 1 day between TCCON and models in June-July-August; there is correlation between 0.2 and 0.8 in the NH, with models showing 10-50 percent the variability of TCCON at different stations and CT2013b showing more variability than MACC. This paper highlights findings that provide inputs to estimate flux errors in model assimilations, and places where models and satellites need further investigation, e.g., the SH for models and 45-67 degrees North latitude for GOSAT and CT2013b.

ACOS-GOSAT↗
NASA NTRS2017

Validation of OCO-2 and ACOS-GOSAT using HIPPO and TCCON

Consistent validation of satellite CO2 estimates is a prerequisite for using multiple satellite CO2measurements for joint flux inversion and establishing a long-term atmospheric CO2 data record. Wevalidate recent satellite observation of OCO-2 v7 and ACOS-GOSAT v7.3 using similar analysis as previouswork (Kulawik et al. (2016) and Frankenberg et al. (2106)) through comparisons to the HIAPER Pole-to-Pole Observations (HIPPO) and the Total Carbon Column Observing Network (TCCON) to estimate biasesand errors affecting the understanding of carbon cycle science. CarbonTracker RT is also compared tothe validation data, and additionally used to evaluate the mismatch between the HIPPO observationtimeframe and the OCO-2 record, which are offset by 3-7 years. Some key metrics that are validatedinclude the seasonal cycle phase and amplitude, latitudinal gradient by season, regional biases, anderrors with respect to averaging.

Kulawik, Susan S.↗
NASA NTRS1992

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗
NASA NTRS1994

Fault tolerant kinematic control of hyper-redundant manipulators

Hyper-redundant spatial manipulators possess fault-tolerant features because of their redundant structure. The kinematic control of these manipulators is investigated with special emphasis on fault-tolerant control. The manipulator tasks are viewed in the end-effector space while actuator commands are in joint-space, requiring an inverse kinematic algorithm to generate joint-angle commands from the end-effector ones. The rate-inverse kinematic control algorithm presented in this paper utilizes the pseudoinverse to accommodate for joint motor failures. An optimal scale factor for the robust inverse is derived.

Bedrossian, Nazareth S.↗
NASA NTRS1989

Application of recursive manipulator dynamics to hybrid software/hardware simulation

Computer simulations of robotic mechanisms have traditionally solved the dynamic equations of motion for an N degree of freedom manipulator by formulating an N dimensional matrix equation combining the accelerations and torques (forces) for all joints. The use of an alternative formulation that is strictly recursive is described. The dynamic solution proceeds on a joint by joint basis, so it is possible to perform inverse dynamics at arbitrary joints. The dynamic formulation is generalized with respect to both rotational and translational joints, and it is also directly extendable to branched manipulator chains. A hardware substitution test is described in which a servo drive motor was integrated with a simulated manipulator arm. The form of the dynamic equation permits calculation of acceleration given torque or vice versa. Computing torque as a function of acceleration is required for the hybrid software/hardware simulation test described. For this test, a joint servo motor is controlled in conjunction with the simulation, and the dynamic torque on the servo motor is provided by a load motor on a common driveshaft.

Hill, Christopher J.↗
NASA NTRS1994

Microbial community structure at the U.S.-Joint Global Ocean Flux Study Station ALOHA: Inverse methods for estimating biochemical indicator ratios

Modeling biogeochemical fluxes in the marine plankton requires the application of factors for extrapolation of biomass indicators measured in the field (chlorophyll a, adenosine triphosphate, bacterial counts) to biomass carbon or nitrogen. These are often inferred from culture studies and are poorly constrained for natural populations. At least squares inverse method with a simple linear model constrains the values of several common indicator ratios, giving self-consistent solutions that provide useful information about the structure of the microbial community at our North Pacific Ocean study site (Station ALOHA (A Long-term Oligotrophic Habitat Assessment)). These results indicate that the fraction of the microbial biomass that is autotrophic (pigmented) is greater in the mixed layer than at the deep chlorophyll maximum layer and that heterotrophic bacteria are a significant but not necessarily predominant component of the microbial community in the euphotic zone.

Christian, James R.↗
DOE OSTI2020

Efficient 3-D velocity model building using joint inline and crossline plane-wave wave-equation migration velocity analyses

SUMMARY Wave-equation migration velocity analysis (WEMVA) is an image-domain inversion method for velocity model building. Automatic plane-wave WEMVA (PWEMVA) calculates the moveouts of plane-wave common-image gathers (CIGs) by searching a best-fitting parabola with semblance analysis and backprojects residual CIG moveouts into wavefield wave paths with a reflection tomographic kernel. However, 3-D PWEMVA is very computationally expensive because 3-D reflection tomographic inversion requires at least five 3-D reverse-time migrations per iteration and stores two types of source wavefields at model boundaries. We develop a joint inline and crossline PWEMVA method for efficient 3-D velocity model building. We alternatively implement the inline and crossline PWEMVAs with a constraint for each other, in which we iteratively construct the 3-D velocity model update through 1-D spline interpolation of 2-D gradients. The inline and crossline joint inversion is practical since PWEMVA only inverts for low-wavenumber velocity perturbations along wave paths, and the method can take less than 1 per cent of the computational cost of full 3-D PWEMVA. To construct unaliased plane waves for our joint inline and crossline PWEMVA, we develop a 3-D data interpolation method in the frequency–wavenumber (FK) domain to recover regularly and randomly missing traces. The method minimizes the misfit on sufficiently localized data subsets with iterative optimal step lengths and a gradient preconditioner that iteratively selects dominant dips along different azimuths. In numerical experiments, we use a 3-D synthetic seismic data set and a land 3-D field seismic data set acquired at the Farnsworth CO2-EOR (enhanced oil recovery) field to demonstrate the efficacy of our velocity model building and data interpolation methods.

Liu, Xuejian↗