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All sources NASA NTRS DOE OSTI

DOE OSTI2023

Federal Automotive Statistical Tool: Federal Vehicle Fleet Reporting Update (Combined FedFleet/FEVAR/INTERFUEL Meeting, November 2023) [Slides]

This presentation presents an overview of coming changes to how federal agencies with motor vehicles will submit required information about the electric vehicle supply equipment (EVSE) inventory and planned deployments through the Federal Automotive Statistical Tool (FAST), as well as updates on fleet reporting in general. This presentation is intended for delivery via WebEx/GoToMeeting at the November 2023 meeting of the DOE/GSA jointly-organized combined meeting of the Federal Electric Vehicle Agency Round-table (FEVAR), FedFleet, and INTERFUEL working groups. FAST is a web-based information management tool developed and maintained by Idaho National Laboratory and funded by GSA's Office of Government-wide Policy and DOE's Federal Energy Management Program.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1988

A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

Wen, John T.↗

NASA NTRS1992

Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

Wen, John T.↗

DOE OSTI2025

Modeling hydraulic fracture opening and closure with proppant transport and settlement

Hydraulic fracturing is a widely used reservoir stimulation technique for improving fluid circulation in rock formations with extremely low permeability, particularly in enhanced geothermal systems (EGS). To better understand the complex processes involved and improve hydraulic stimulation performance, we have developed ELK (ELectrical fracKing), a MOOSE-based 3D finite element application designed to model the behavior of proppant-fluid mixtures in propagating fractures. ELK integrates both the fluid and proppant components, incorporating particle-driven processes such as gravity settling, particle-particle interactions, and strong density and viscosity contracts, in addition to conventional fluid-driven fracture propagation. In this contribution, we extend ELK to model propped fracture closure, which occurs after the injection phase due to a dramatic drop in the effective stress on the fracture plane. During the shut-in, flowback, and production periods, the fracture width decreases, with the closure behavior depending on proppant concentration.. At low concentrations, closure follows a nonlinear joint law linked to the stiffness of asperities in the fracture walls. While at high concentrations, it is controlled by the properties of packed proppant bed. The extended ELK application is validated against several benchmark examples, including the propagation of an inclined frictional crack, fracture opening and sliding in response to fluid injection, and flowback analysis. We believe that ELK’s enhanced capabilities can serve as a valuable tool for the design and optimization of EGS deployment.

15 - GEOTHERMAL ENERGY↗

NASA NTRS2022

Dusty Environment Classification and Testing: Dust Mitigation Slide Wipes & Tapes

During the Apollo missions many mechanisms, equipment, and surfaces were contaminated by lunar dust and often negatively affected. The methods used to clear these devices of dust proved ineffective, which led to premature failure in some cases. Systems being designed for upcoming missions to the Moon will need to address the performance degradation risk of dust contamination. Surfaces at risk include thermal control surfaces, solar cells, camera and sensor optics, seals, metal joints and tools, and space suit assemblies. To improve state of the art dust mitigation approaches, the dust mitigation team at NASA Glenn Research Center (GRC) explored the effects imposed on substrates during cleaning activities in the presence of lunar dust. The Uniform Dust Deposition System (UDDS) was used to conduct a study of various cleaning techniques on different substrates. Test substrates and cleaning media were selected to represent a wide range of structural and functional materials. Substrates included orthofabric, thermal radiator coating, aluminum, quartz glass, silicone rubber, aluminized Mylar, and FEP. Cleaning materials included cloth wipes, tapes, a brush, and a pliable cleaner concept. Cleaning material / substrate pairs were rated on cleaning efficiency, substrate damage, cleaning material longevity, and ease of use. The best performing cleaning method varied based on application.

lunar simulant↗

NASA NTRS2001

Predicting Human Error in Air Traffic Control Decision Support Tools and Free Flight Concepts

The document is a set of briefing slides summarizing the work the Advanced Air Transportation Technologies (AATT) Project is doing on predicting air traffic controller and airline pilot human error when using new decision support software tools and when involved in testing new air traffic control concepts. Previous work in this area is reviewed as well as research being done jointly with the FAA. Plans for error prediction work in the AATT Project are discussed. The audience is human factors researchers and aviation psychologists from government and industry.

Mogford, Richard↗

NASA NTRSDate not supplied

Dusty Environment Classification and Testing: Dust Mitigation Slide Cleaning Material Study

During the Apollo missions many mechanisms, equipment, and surfaces were contaminated by lunar dust and often negatively affected. The methods used to clear these devices of dust proved ineffective, which led to premature failure in some cases. Systems being designed for upcoming missions to the Moon will need to address the performance degradation risk of dust contamination. Surfaces at risk include thermal control surfaces, solar cells, camera and sensor optics, seals, metal joints and tools, and space suit assemblies. To improve state of the art dust mitigation approaches, the dust mitigation team at NASA Glenn Re-search Center (GRC) explored the effects imposed on substrates during cleaning activities in the presence of lunar dust. The Uniform Dust Deposition System (UDDS) was used to conduct a study of various cleaning techniques on different substrates. Test substrates and cleaning media were selected to represent a wide range of structural and functional materials. Substrates included orthofabric, thermal radiator coating, aluminum, quartz glass, silicone rubber, aluminized Mylar, and FEP. Cleaning materials included cloth wipes, tapes, a brush, and a pliable cleaner concept. Cleaning material / substrate pairs were rated on cleaning efficiency, substrate damage, cleaning material longevity, and ease of use. The best performing cleaning method varied based on application.

dust mitigation↗

NASA NTRSDate not supplied

Electrostatic Regolith Interaction Experiment (ERIE) Electrometer Initial Flight Results

The Electrostatic Regolith Interaction Experiment (ERIE) is a suborbital flight payload studying electrostatically charged dust particle dynamics under microgravity, jointly developed by University of Central Florida (UCF) and NASA Kennedy Space Center (KSC). ERIE combines components from two systems, the COLLisions Into Dust Experiment (COLLIDE) from UCF and the Wheel Electrostatic Spectrometer (WES) from NASA KSC, to advance understanding of charged grain behavior on low gravity bodies such as the Moon and asteroids. ERIE slides a door containing an electrometer system monitoring various insulating disks across the surface of a regolith simulant bed. The experiment is activated when the payload enters the microgravity potion of the flight. The grains in the simulant bed tribocharge via agitation during launch as well as through frictional interactions with the door and its protruding insulators. As the retention door retracts, particles are allowed to loft into an open volume, achieving motion due to electrostatic repulsion. The electrometer system measures the charge transfer between the granular material and the insulators. As the charged grains exit the bed, they travel through an applied electric field and a camera observes the kinematics of the individual grains whose trajectories are determined by their net charges. The design of the ERIE electrometer instrument and initial results from the first flight was presented at the 2021 AGU Fall Meeting under P55E-2002. Shortly after microgravity was achieved and the retaining door began to open, the rate of charge acquisition measured by the electrometer increased, indicating the insulators were accumulating triboelectric charge. Charged grains were observed in the video data to traverse across the external electric field and become deflected from a linear path due to their charges. Pairs of grains were also observed to orbit one another as expected from two oppositely charged bodies in proximity to one another. Improvements to the design of the instrument and preliminary results obtained from the second flight scheduled for Q3 2022 will be presented at this meeting.

Electrostatics↗

NASA NTRSDate not supplied

Electrostatic Regolith Interaction Experiment (ERIE) Electrometer Initial Flight Results

Electrostatics↗

NASA NTRS1992

Development of a truss joint for robotic assembly of space structures

This report presents the results of a detailed study of mechanical fasteners which were designed to facilitate robotic assembly of structures. Design requirements for robotic structural assembly were developed, taking into account structural properties and overall system design, and four candidate fasteners were designed to meet them. These fasteners were built and evaluated in the laboratory, and the Hammer-Head joint was chosen as superior overall. It had a high reliability of fastening under misalignments of 2.54 mm (0.1 in) and 3 deg, the highest end fixity (2.18), the simplest end effector, an integral capture guide, good visual verification, and the lightest weight (782 g, 1.72 lb). The study found that a good design should incorporate chamfers sliding on chamfers, cylinders sliding on chamfers, and hard surface finishes on sliding surfaces. The study also comments on robot flexibility, sag, hysteresis, thermal expansion, and friction which were observed during the testing.

Parma, George F.↗

NASA NTRS1990

Autonomous planetary rover at Carnegie Mellon

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Whittaker, William↗

NASA NTRS2022

Vision-based Velocimetry over Unknown Terrain with a Low-Noise IMU

This paper presents a novel approach to terrain-relative navigation with a visual camera and Inertial Measurement Unit (IMU). The proposed algorithm uses an Extended Kalman Filter (EKF) to combine an IMU propagated state estimate with batch correction estimates computed over a sliding window of measurements. The batch correction algorithm follows the Maximum Likelihood Estimation (MLE) approach used in other Bundle Adjustment systems. Unlike other systems, the proposed system parameterizes the state over the entire window in terms of the state at a single epoch. By ignoring IMU error over the window duration, we obtain a state epoch MLE that jointly estimates the epoch state and terrain parameters with drastically reduced computationally cost. This paper presents the general architecture which can be adapted for various state parameterizations and measurement inputs. For space applications with high-accuracy IMUs, the reduction in computational cost comes with only a modest increase in estimation errors. The increase in error is quantified via a linear covariance analysis presented in this paper. Furthermore, we present simulation results which show the applicability of this algorithm to planetary landing problems.

San Martin, A. Miguel↗

NASA NTRS1998

NASA CORE: Central Operation of Resources for Educators-Educational Materials Catalog

The NASA Central Operation of Resources for Educators (CORE), established in cooperation with Lorain County Joint Vocational School, serves as the worldwide distribution center for NASA-produced educational materials. For a minimal charge, CORE will provide a valuable service to educators unable to visit one of the NASA Educator Resource Centers by making NASA educational audiovisual materials available through its mail order service. Through CORE's distribution network, the public has access to more than 200 videocassette, slide, and CD-ROM programs, chronicling NASA!s state-of-the-art research and technology. Through the use of these curriculum supplement materials, teachers can provide their students with the latest in aerospace information. NASAs educational materials on aeronautics and space provide a springboard for classroom discussion of life science, physical science, astronomy, energy, Earth resources, environment, mathematics, and career education.

Source record↗

NASA NTRS2018

What is EA?

An enterprise architecture (EA) is a conceptual blueprint that defines the structure and operation of an organization. The intent of an enterprise architecture is to determine how an organization can most effectively achieve its current and future objectives. A single slide PowerPoint, size 36" x 48" has been produced for printing onto a poster board for display in the Pathways Internship showcase November 2018. This poster board presentation is a display of my internship from 2014 to present, to include my NIFS (NASA Interns, Fellowships, Scholarships) internship, ITSS (Information Technology Support Services) contract, and current Pathways internship. The presentation discusses my years producing deliverables for: the ISS (International Space Station) Anomaly Project in 2014, the FJET (Frangible Joint Empirical Test) database project in 2015, the CUI (Compact Unique Identifier) project in early 2016, and various Enterprise Architecture deliverables and contributions such as the Roadmap SQL (Structured Query Language) stored procedure and architectural views of Program data elements.

MySQL↗

NASA NTRS1982

Application of a pilot control strategy identification technique to a joint FAA/NASA ground-based simulation of head-up displays for CTOL aircraft

A technique for measuring a pilot's control strategy was developed, evaluated, and applied to a joint FAA-NASA ground-based simulation of two competing concepts of head-up displays for use in conventional takeoff and landing aircraft. The technique, called the Non-Intrusive Pilot Identification Program (NIPIP), estimates the pilot's input-output describing function and combined pilot-vehicle performance parameters such as crossover frequency and phase margin by using a time domain model of the pilot and a least-squares identification algorithm. NIPIP functions in realtime and uses a sliding time window to maintain freshness in the data; thus time-varying characteristics in the pilot's control strategy can be measured.

Jewell, W. F.↗

NASA NTRSDate not supplied

EMT Project History and Overview

This is a slide set that is part of the 2021 ETM Workshop's planned technical presentations. The content of the presentation is intended to first provide an introduction to the impetus and background that led to ETM and the identified challenges that needed to be considered. Following the introduction, a presentation of early engagement with Industry and other government agencies is provided. The presentation concludes with the early work that followed engagement and the eventual project that ETM was integrated with as well as the eventual formulation of a joint NASA-FAA Research Transition Team.

Upper E Traffic Management↗

NASA NTRS2013

Microgravity Drill and Anchor System

This work is a method to drill into a rock surface regardless of the gravitational field or orientation. The required weight-on-bit (WOB) is supplied by a self-contained anchoring mechanism. The system includes a rotary percussive coring drill, forming a complete sampling instrument usable by robot or human. This method of in situ sample acquisition using micro - spine anchoring technology enables several NASA mission concepts not currently possible with existing technology, including sampling from consolidated rock on asteroids, providing a bolt network for astronauts visiting a near-Earth asteroid, and sampling from the ceilings or vertical walls of lava tubes and cliff faces on Mars. One of the most fundamental parameters of drilling is the WOB; essentially, the load applied to the bit that allows it to cut, creating a reaction force normal to the surface. In every drilling application, there is a minimum WOB that must be maintained for the system to function properly. In microgravity (asteroids and comets), even a small WOB could not be supported conventionally by the weight of the robot or astronaut. An anchoring mechanism would be needed to resist the reactions, or the robot or astronaut would push themselves off the surface and into space. The ability of the system to anchor itself to a surface creates potential applications that reach beyond use in low gravity. The use of these anchoring mechanisms as end effectors on climbing robots has the potential of vastly expanding the scope of what is considered accessible terrain. Further, because the drill is supported by its own anchor rather than by a robotic arm, the workspace is not constrained by the reach of such an arm. Yet, if the drill is on a robotic arm, it has the benefit of not reflecting the forces of drilling back to the arm s joints. Combining the drill with the anchoring feet will create a highly mobile, highly stable, and highly reliable system. The drilling system s anchor uses hundreds of microspine toes that independently find holes and ledges on a rock to create an anchor. Once the system is anchored, a linear translation mechanism moves the drill axially into the surface while maintaining the proper WOB. The linear translation mechanism is composed of a ball screw and stepper motor that can translate a carriage with high precision and applied load. The carriage slides along rails using self-aligning linear bearings that correct any axial misalignment caused by bending and torsion. The carriage then compresses a series of springs that simultaneously transmit the load to the drill along the bit axis and act as a suspension that compensates for the vibration caused by percussive drilling. The drill is a compacted, modified version of an off-the-shelf rotary percussive drill, which uses a custom carbide-tipped coring bit. By using rotary percussive drilling, the drill time is greatly reduced. The percussive action fractures the rock debris, which is removed during rotation. The final result is a 0.75-in. (.1.9- cm) diameter hole and a preserved 0.5- in. (.1.3-cm) diameter rock core. This work extends microspine technology, making it applicable to astronaut missions to asteroids and a host of robotic sampling concepts. At the time of this reporting, it is the first instrument to be demonstrated using microspine anchors, and is the first self-contained drill/anchor system to be demonstrated that is capable of drilling in inverted configurations and would be capable of drilling in microgravity.

Parness, Aaron↗

NASA NTRS1981

Electrical rotary joint apparatus for large space structures

A structural array and electrical rotary joint for transmitting an electrical power between large space structures having relative rotational movement is disclosed which includes large support framework structures which rotate relative to one another about a common axis of rotation. A rotary interface joint is defined between the structures. A cylindrical hub member is carried by one structure and a cylindrical hub member is carried by a support structure with a third hub member being concentrically within a fourth hub member for relative rotation. Tension connecting cables connect hub members with their associated outer structures whereby relative rotational movement between the structures is transmitted to the cylindrical hub members for unitary motion therewith. Electrical conductor brush members are carried by one hub and electrical contact rings are carried by another hub member in sliding electrical contact with the brushes for transmission of electrical power during relative rotational movement between the two support structures.

Belew, R. R.↗