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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 811 records · Page 45

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NASA NTRS1989

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.

Carignan, Craig R.↗

DOE OSTI2022

Computing the viscous effect in early-time drop impact dynamics

The impact of a liquid drop on a solid surface involves many intertwined physical effects, and is influenced by drop velocity, surface tension, ambient pressure and liquid viscosity, among others. Experiments by Kolinski et al. ( Phys. Rev. Lett. , vol. 112, no. 13, 2014 b , p. 134501) show that the liquid–air interface begins to deviate away from the solid surface even before contact. They found that the lift-off of the interface starts at a critical time that scales with the square root of the kinematic viscosity of the liquid. To understand this, we study the approach of a liquid drop towards a solid surface in the presence of an intervening gas layer. We take a numerical approach to solve the Navier–Stokes equations for the liquid, coupled to the compressible lubrication equations for the gas, in two dimensions. With this approach, we recover the experimentally captured early time effect of liquid viscosity on the drop impact, but our results show that lift-off time and liquid kinematic viscosity have a more complex dependence than the square-root scaling relationship. We also predict the effect of interfacial tension at the liquid–gas interface on the drop impact, showing that it mediates the lift-off behaviour.

42 ENGINEERING↗

DOE OSTI2025

Multiple RGB ortho-mosaics and digital surface models in 2017 and 2018 across the Lower Montane site in the East River Watershed, Colorado

Aerial imagery was collected at the Lower Montane site (Pumphouse) in the East River Watershed, Colorado during the spring, summer, and fall seasons of 2017 and 2018 to improve the understanding of seasonal vegetation dynamics and their drivers. The datasets include Red-Green-Blue (RGB) ortho-mosaics and digital surface models (DSMs) inferred from the Unoccupied Aerial System (UAS) acquired aerial RGB imagery for June 3, June 19, July 7, and August 14, 2017, and for March 14, April 26, June 1, June 18, July 6, and August 7, 2018. Real-Time Kinematic Global Positioning System (RTK-GPS) surveyed Ground control points (GCPs) were used to increase the reconstruction accuracy. The reconstructed RGB mosaics and DSMs have been trimmed to cover a similar spatial domain. The accuracy of the RGB mosaics is considered high (~10 cm). DSM accuracy is highest (~10 cm) where sufficient GCPS are available, and more difficult to assess elsewhere (see reconstruction reports for uncertainty estimates). The dataset includes a total of 20 GeoTIFF (.tif) files, 10 PDF (.pdf) files, 3 data CSV (.csv) files, and 2 metadata CSV (.csv) files. Feel free to contact the authors with any questions or collaboration interests.This work was supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1979

Aircraft identification experience

Important aspects of estimating the unknown coefficients of the aircraft equations of motion from dynamic flight data are presented. The primary topic is the application of the maximum likelihood estimation technique. Basic considerations that must be addressed in the estimation of stability and control derivatives from conventional flight maneuvers are discussed. Some complex areas of estimation (such as estimation in the presence of atmospheric turbulence, estimation of acceleration derivatives, and analysis of maneuvers where both kinematic and aerodynamic coupling are present) are also discussed.

Iliff, K. W.↗

NASA NTRS1991

Control algorithm implementation for a redundant degree of freedom manipulator

This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior. The control algorithms are subjected to a dynamic simulation before implementation.

Cohan, Steve↗

NASA NTRS1997

Multi-Body Analysis of a Tiltrotor Configuration

The paper describes the aeroelastic analysis of a tiltrotor configuration. The 1/5 scale wind tunnel semispan model of the V-22 tiltrotor aircraft is considered. The analysis is performed by means of a multi-body code, based on an original formulation. The differential equilibrium problem is stated in terms of first order differential equations. The equilibrium equations of every rigid body are written, together with the definitions of the momenta. The bodies are connected by kinematic constraints, applied in form of Lagrangian multipliers. Deformable components are mainly modelled by means of beam elements, based on an original finite volume formulation. Multi-disciplinar problems can be solved by adding user-defined differential equations. In the presented analysis the equations related to the control of the swash-plate of the model are considered. Advantages of a multi-body aeroelastic code over existing comprehensive rotorcraft codes include the exact modelling of the kinematics of the hub, the detailed modelling of the flexibility of critical hub components, and the possibility to simulate steady flight conditions as well as wind-up and maneuvers. The simulations described in the paper include: 1) the analysis of the aeroelastic stability, with particular regard to the proprotor/pylon instability that is peculiar to tiltrotors, 2) the determination of the dynamic behavior of the system and of the loads due to typical maneuvers, with particular regard to the conversion from helicopter to airplane mode, and 3) the stress evaluation in critical components, such as the pitch links and the conversion downstop spring.

Ghiringhelli, G. L.↗

NASA NTRS1997

Active Microwave Remote Sensing Observations of Weddell Sea Ice

Since July 1991, the European Space Agency's ERS-1 and ERS-2 satellites have acquired radar data of the Weddell Sea, Antarctica. The Active Microwave Instrument on board ERS has two modes; SAR and Scatterometer. Two receiving stations enable direct downlink and recording of high bit-rate, high resolution SAR image data of this region. When not in an imaging mode, when direct SAR downlink is not possible, or when a receiving station is inoperable, the latter mode allows normalized radar cross-section data to be acquired. These low bit-rate ERS scatterometer data are tape recorded, downlinked and processed off-line. Recent advances in image generation from Scatterometer backscatter measurements enable complementary medium-scale resolution images to be made during periods when SAR images cannot be acquired. Together, these combined C-band microwave image data have for the first time enabled uninterrupted night and day coverage of the Weddell Sea region at both high (25 m) and medium-scale (-20 km) resolutions. C-band ERS-1 radar data are analyzed in conjunction with field data from two simultaneous field experiments in 1992. Satellite radar signature data are compared with shipborne radar data to extract a regional and seasonal signature database for recognition of ice types in the images. Performance of automated sea-ice tracking algorithms is tested on Antarctic data to evaluate their success. Examples demonstrate that both winter and summer ice can be effectively tracked. The kinematics of the main ice zones within the Weddell Sea are illustrated, together with the complementary time-dependencies in their radar signatures. Time-series of satellite images are used to illustrate the development of the Weddell Sea ice cover from its austral summer minimum (February) to its winter maximum (September). The combination of time-dependent microwave signatures and ice dynamics tracking enable various drift regimes to be defined which relate closely to the circulation of the sea ice in response to current and wind forcing and iceberg barriers. These are closely related to continental-shelf or central basin regimes, in which tidal forcing or barotropic circulation patterns appear to influence the sea-ice motion, respectively. These regimes provide valuable information about the regions of most prolific ice growth and influence of ice conditions upon air-sea-ice exchange processes in the Weddell Sea.

Drinkwater, Mark R.↗

NASA NTRS2020

In-Time UAV Flight-Trajectory Estimation and Tracking Using Bayesian Filters

Rapid increase of UAV operation in the next decade in areas of on-demand delivery, medical transportation services, law enforcement, traffic surveillance and several others pose potential risks to the low altitude airspace above densely populated areas. Safety assessment of airspace demands the need for a novel UAV traffic management (UTM) framework for regulation and tracking of the vehicles. Particularly for low-altitude UAV operations, quality of GPS measurements feeding into the UAV is often compromised by loss of communication link caused by presence of trees or tall buildings in proximity to the UAV flight path. Inaccurate GPS locations may yield to unreliable monitoring and inaccurate prognosis of remaining battery life and other safety metrics which rely on future expected trajectory of the UAV. This work therefore proposes a generalized monitoring and prediction methodology for autonomous UAVs using in-time GPS measurements. Firstly, a typical 4D smooth trajectory generation technique from a series of waypoint locations with associated expected times-of-arrival based on B-spline curves is presented. Initial uncertainty in the vehicle's expected cruise velocity is quantified to compute confidence intervals along the entire flight trajectory using error interval propagation approach. Further, the generated planned trajectory is considered as the prior knowledge which is updated during its flight with incoming GPS measurements in order to estimate its current location and corresponding kinematic profiles. Estimation of position is denoted in dicrete state-space representation such that position at a future time step is derived from position and velocity at current time step and expected velocity at the future time step. A linear Bayesian filtering algorithm is employed to efficiently refine position estimation from noisy GPS measurements and update the confidence intervals. Further, a dynamic re-planning strategy is implemented to incorporate unexpected detour or delay scenarios. Finally, critical challenges related to uncertainty quantification in trajectory prognosis for autonomous vehicles are identified, and potential solutions are discussed at the end of the paper. The entire monitoring framework is demonstrated on real UAV flight experiments conducted at the NASA Langley Research Center.

Banerjee, Portia↗

DOE OSTI2024

Composite resonances at a 10 TeV muon collider

We investigate the reach for resonances of the composite Higgs models at a 10 TeV μ + μ – collider with up to 10 ab –1 luminosity. The strong dynamics sector is modeled by the minimal coset SO(5)/SO(4), where vector resonances are in (3, 1) of SO(4) and fermions are in (2, 2). Various production and decay channels are studied. For the spin-1 resonances, the projections are made based on the radiative return and vector boson fusion production channels. The muon collider can cover most of the kinematically allowed mass range and can measure the coupling gρ to percent level. For the fermionic resonances (i.e. the top partners), pair production easily covers the resonance mass below 5 TeV, while single production extends the reach to 6 TeV for a small ξ = 0.015.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2022

Magnetic fields in the formation of the first stars – II. Results

ABSTRACT Beginning with cosmological initial conditions at z = 100, we simulate the effects of magnetic fields on the formation of Population III stars and compare our results with the predictions of Paper I. We use gadget-2 to follow the evolution of the system while the field is weak. We introduce a new method for treating kinematic fields by tracking the evolution of the deformation tensor. The growth rate in this stage of the simulation is lower than expected for diffuse astrophysical plasmas, which have a very low resistivity (high magnetic Prandtl number); we attribute this to the large numerical resistivity in simulations, corresponding to a magnetic Prandtl number of order unity. When the magnetic field begins to be dynamically significant in the core of the minihalo at z = 27, we map it on to a uniform grid and follow the evolution in an adaptive mesh refinement, MHD simulation in orion2. The non-linear evolution of the field in the orion2 simulation violates flux-freezing and is consistent with the theory proposed by Xu & Lazarian. The fields approach equipartition with kinetic energy at densities ∼1010–1012 cm−3. When the same calculation is carried out in orion2 with no magnetic fields, several protostars form, ranging in mass from ∼1 to 30 M⊙; with magnetic fields, only a single ∼30 M⊙ protostar forms by the end of the simulation. Magnetic fields thus suppress the formation of low-mass Pop III stars, yielding a top-heavy Pop III initial mass function and contributing to the absence of observed Pop III stars.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2023

Critical magnetic Reynolds number of the turbulent dynamo in collisionless plasmas

The intracluster medium of galaxy clusters is an extremely hot and diffuse, nearly collisionless plasma, which hosts dynamically important magnetic fields of ~μG strength. Seed magnetic fields of much weaker strength of astrophysical or primordial origin can be present in the intracluster medium. In collisional plasmas, which can be approximated in the magnetohydrodynamical (MHD) limit, the turbulent dynamo mechanism can amplify weak seed fields to strong dynamical levels efficiently by converting turbulent kinetic energy into magnetic energy. However, the viability of this mechanism in weakly collisional or completely collisionless plasma is much less understood. In this study, we explore the properties of the collisionless turbulent dynamo using three-dimensional hybrid-kinetic particle-in-cell simulations. We explore the properties of the collisionless turbulent dynamo in the kinematic regime for different values of the magnetic Reynolds number, Rm, initial magnetic-to-kinetic energy ratio, (E mag /E kin ) i , and initial Larmor ratio, (r Larmor /L box ) i , i.e. the ratio of the Larmor radius to the size of the turbulent system. We find that in the ‘un-magnetized’ regime, (r Larmor /L box ) i > 1, the critical magnetic Reynolds number for the dynamo action Rm crit ≈ 107 ± 3. In the ‘magnetized’ regime, (r Larmor /L box ) i ≲ 1, we find a marginally higher Rm crit = 124 ± 8. We find that the growth rate of the magnetic energy does not depend on the strength of the seed magnetic field when the initial magnetization is fixed. We also study the distribution and evolution of the pressure anisotropy in the collisionless plasma and compare our results with the MHD turbulent dynamo.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2023

Measuring Galactic dark matter through unsupervised machine learning

ABSTRACT Measuring the density profile of dark matter in the Solar neighbourhood has important implications for both dark matter theory and experiment. In this work, we apply autoregressive flows to stars from a realistic simulation of a Milky Way-type galaxy to learn – in an unsupervised way – the stellar phase space density and its derivatives. With these as inputs, and under the assumption of dynamic equilibrium, the gravitational acceleration field and mass density can be calculated directly from the Boltzmann equation without the need to assume either cylindrical symmetry or specific functional forms for the galaxy’s mass density. We demonstrate our approach can accurately reconstruct the mass density and acceleration profiles of the simulated galaxy, even in the presence of Gaia-like errors in the kinematic measurements.

Astronomy & Astrophysics↗

NASA NTRS1985

Application of CFD techniques toward the validation of nonlinear aerodynamic models

Applications of Computational fluid dynamics (CFD) methods to determine the regimes of applicability of nonlinear models describing the unsteady aerodynamic responses to aircraft flight motions are described. The potential advantages of computational methods over experimental methods are discussed and the concepts underlying mathematical modeling are reviewed. The economic and conceptual advantages of the modeling procedure over coupled, simultaneous solutions of the gasdynamic equations and the vehicle's kinematic equations of motion are discussed. The modeling approach, when valid, eliminates the need for costly repetitive computation of flow field solutions. For the test cases considered, the aerodynamic modeling approach is shown to be valid.

Schiff, L. B.↗

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 NTRS1995

Investigation of air transportation technology at Ohio University: 1993-1994

The Joint University Program (JUP) offers students, faculty, and staff of the Avionics Engineering Center the opportunity to conduct basic research relating to the safety and efficiency of the National Airspace System. During the 1993-1994 year research was continued in a variety of GPS-related technologies and also in a hybrid data uplink system. (1) Processing techniques developed for the GPS attitude determination have been applied to centimeter-level kinematic GPS aircraft positioning for flight reference systems and aircraft autoland and taxiing operations. This resulted in the first real-time kinematic GPS autoland. (2) The fault detection and isolation (FDI) algorithm developed under the Joint University Program has been fully adopted by RTCA Special Committee 159 as the baseline algorithm for sole-means navigation of GPS integrated with GLONASS, LORAN-C, or baro-altimeter. (3) A Satellite Coverage Research Analysis Model (SCRAM) has been developed which provides outage areas, outage dynamics, and availability information for satellite-based navigation systems. RTCA Special Committee 159 has adopted this model for use in their work. (4) A basic receiver structure has been simulated and tested for use with the hybrid data uplink. This uplink utilizes the phase of an existing AM carrier to transmit digital data, thus both amplitude and phase modulation are applied, resulting in a hybrid carrier. The receiver simulation is directly applicable to real-time implementation as a result of the development platform.

Lilley, Robert W.↗

NASA NTRSDate not supplied

Segmented Hexagonal Antenna Reflector Concentrically Stacked Using Shape Memory Composite Tubular Hinges

A new architecture for solid surface reflector antennas scalable to sizes greater than 10 m is presented. The design combines the compact, lightness and simplicity characteristics of advanced deployable structures to create sub-reflectors that can be assembled in space into larger units using a robotic arm and operations under development by a related parallel project. The seven-panel hexagonal sub-reflector is divided into hexagonal panels of that efficiently stack concentrically and vertically. The central panel is connected to each side panel on the back side by a pair of tubular shape memory composite hinges that enable the required deployment kinematics. A secondary mechanism ultimately closes the interpanel gap. The focus of the paper is on the development of the sub-reflector elements, namely the tubular hinges that use embedded heaters and sensors for actuation, the actuation mechanisms, and the lightweight sandwich construction panels. A finite element analysis parametric study assessed how design features of the hinge affect its stowage and deployment dynamics. The component fabrication and testing plans for the two-panel assembly breadboard model are outlined.

deployable reflectors↗

NASA NTRSDate not supplied

Segmented Hexagonal Antenna Reflector Concentrically Stacked Using Shape Memory Composite Tubular Hinges

deployable reflectors↗

DOE OSTI2022

Beyond Galaxy Bimodality: The Complex Interplay between Kinematic Morphology and Star Formation in the Local Universe

It is generally assumed that galaxies are a bimodal population in both star formation and structure; star-forming galaxies are disks, while passive galaxies host large bulges or are entirely spheroidal. Here we test this scenario by presenting a full census of the kinematic morphologies of a volume-limited sample of galaxies in the local universe extracted from the MaNGA galaxy survey. We measure the integrated stellar line-of-sight velocity to velocity dispersion ratio (V/σ) for 4574 galaxies in the stellar mass range 9.75 < logM $\star$ [M ⊙ ] < 11.75. We show that at fixed stellar mass, the distribution of V/σ is not bimodal, and that a simple separation between fast and slow rotators is oversimplistic. Fast rotators are a mixture of at least two populations, referred to here as dynamically cold disks and intermediate systems, with disks dominating in both total stellar mass and number. When considering star-forming and passive galaxies separately, the star-forming population is almost entirely made up of disks, while the passive population is mixed, implying an array of quenching mechanisms. Passive disks represent ~30% (both in number and mass) of passive galaxies, nearly a factor of two higher than that of slow rotators, reiterating that these are an important population for understanding galaxy quenching. These results paint a picture of a local universe dominated by disky galaxies, most of which become somewhat less rotation-supported upon or after quenching. While spheroids are present to a degree, they are certainly not the evolutionary end point for the majority of galaxies.

79 ASTRONOMY AND ASTROPHYSICS↗