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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
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Exodus: Prime Mover

The Exodus Prime Mover is an overnight package delivery aircraft designed to serve the Northern Hemisphere of Aeroworld. The preliminary design goals originated from the desire to produce a large profit. The two main driving forces throughout the design process were first to reduce the construction man-hours by simplifying the aircraft design, thereby decreasing the total production cost of the aircraft. The second influential factor affecting the design was minimizing the fuel cost during cruise. The lowest fuel consumption occurs at a cruise velocity of 30 ft/s. Overall, it was necessary to balance the economic benefits with the performance characteristics in order to create a profitable product that meets all specified requirements and objectives.

Bauer, Nikkol↗
NASA NTRS1992

Mars Environmental Survey (MESUR): Science objectives and mission description

In-situ observations and measurements of Mars are objectives of a feasibility study beginning at the Ames Research Center for a mission called the Mars Environmental SURvey (MESUR). The purpose of the MESUR mission is to emplace a pole-to-pole global distribution of landers on the Martian surface to make both short- and long-term observations of the atmosphere and surface. The basic concept is to deploy probes which would directly enter the Mars atmosphere, provide measurements of the upper atmospheric structure, image the local terrain before landing, and survive landing to perform meteorology, seismology, surface imaging, and soil chemistry measurements. MESUR is intended to be a relatively low-cost mission to advance both Mars science and human presence objectives. Mission philosophy is to: (1) 'grow' a network over a period of years using a series of launch opportunities, thereby minimizing the peak annual costs; (2) develop a level-of-effort which is flexible and responsive to a broad set of objectives; (3) focus on science while providing a solid basis for human exploration; and (4) minimize project cost and complexity wherever possible. In order to meet the diverse scientific objectives, each MESUR lander will carry the following strawman instrument payload consisting of: (1) Atmospheric structure experiment, (2) Descent and surface imagers, (3) Meteorology package, (4) Elemental composition instrument, (5) 3-axis seismometer, and (6) Thermal analyzer/evolved gas analyzer. The feasibility study is primarily to show a practical way to design an early capability for characterizing Mars' surface and atmospheric environment on a global scale. The goals are to answer some of the most urgent questions to advance significantly our scientific knowledge about Mars, and for planning eventual exploration of the planet by robots and humans.

Hubbard, G. Scott↗
NASA NTRS1976

Rationale for structural inspections

The methods developed to predict the reliability of aircraft structures depend upon inspection effectiveness which, in turn, depends upon structural complexity, quality, and the percentage of the structure inspected. Reliability can be enhanced by choosing materials properly, designing damage-tolerant structures, and increasing inspection frequency. And, for fleet operations, costs can be minimized through proper inspection schedules, and enhanced reliability can be compatible with minimum cost. The methods are derived from a combination of probability theory and engineering equations. A discussion of these methods is presented.

Davidson, J. R.↗
NASA NTRS1989

New results concerning the use of kinematically redundant manipulators in microgravity environments

This paper is concerned with the development of control strategies for kinematically redundant manipulators to be used in Space Station laboratories. These robots must be able to conduct experiments and manufacturing processes without disturbing the microgravity environment, and thus their dynamic base reactions/motions must be nearly eliminated. Redundant degrees of freedom permit the inverse kinematics problem to be solved in conjuction with the minimization of a cost function defined as a weighted sum of the base reactions. It is shown that the weights in the cost function should be used as an additional set of parameters in the minimization problem. The actual performance of the local optimal trajectory approach is demonstrated to be not as good as was previously reported.

Quinn, R. D.↗
DOE OSTI2023

Cost optimization of low-salt-rejection reverse osmosis

Low-salt-rejection reverse osmosis (LSRRO) is an emerging membrane-based desalination technology for concentrating brines with potentially lower energy consumption and cost than thermally driven processes. We assess the technoeconomic performance of LSRRO by using an optimization model that minimizes the levelized cost of water (LCOW). We develop detailed models for the RO module and other equipment using WaterTAP (Water treatment Technoeconomic Assessment Platform), an open-source simulation and optimization software for water treatment. We improve upon previous LSRRO cost optimization studies by optimizing the salt permeability for each stage, which has significant implications for technoeconomic performance. We present the cost-optimal design, operation, and performance for three cases: 35 g/L TDS feed at 70% recovery, 70 g/L at 55%, and 125 g/L at 35%. The cost-optimal LCOW and specific energy consumption (SEC) for these cases are 0.70, 1.89, and 7.41 $/m 3 and 3.9, 8.4, and 30.4 kWh/m 3 , respectively. For each case, we use sensitivity analyses to provide guidance on key factors that impact economic viability. We also present the cost-optimal LCOW and SEC for feed concentrations between 5 and 220 g/L TDS and recoveries between 30 and 90%. So, we compare LSRRO to other high-salinity desalination technologies and find that it may be cost-competitive below feed concentrations of 125 g/L.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2012

Cis-Lunar Base Camp

Historically, when mounting expeditions into uncharted territories, explorers have established strategically positioned base camps to pre-position required equipment and consumables. These base camps are secure, safe positions from which expeditions can depart when conditions are favorable, at which technology and operations can be tested and validated, and facilitate timely access to more robust facilities in the event of an emergency. For human exploration missions into deep space, cis-lunar space is well suited to serve as such a base camp. The outer regions of cis-lunar space, such as the Earth-Moon Lagrange points, lie near the edge of Earth s gravity well, allowing equipment and consumables to be aggregated with easy access to deep space and to the lunar surface, as well as more distant destinations, such as near-Earth Asteroids (NEAs) and Mars and its moons. Several approaches to utilizing a cis-lunar base camp for sustainable human exploration, as well as some possible future applications are identified. The primary objective of the analysis presented in this paper is to identify options, show the macro trends, and provide information that can be used as a basis for more detailed mission development. Compared within are the high-level performance and cost of 15 preliminary cis-lunar exploration campaigns that establish the capability to conduct crewed missions of up to one year in duration, and then aggregate mass in cis-lunar space to facilitate an expedition from Cis-Lunar Base Camp. Launch vehicles, chemical propulsion stages, and electric propulsion stages are discussed and parametric sizing values are used to create architectures of in-space transportation elements that extend the existing in-space supply chain to cis-lunar space. The transportation options to cis-lunar space assessed vary in efficiency by almost 50%; from 0.16 to 0.68 kg of cargo in cis-lunar space for every kilogram of mass in Low Earth Orbit (LEO). For the 15 cases, 5-year campaign costs vary by only 15% from 0.36 to 0.51 on a normalized scale across all campaigns. Thus the development and first flight costs of assessed transportation options are similar. However, the cost of those options per flight beyond the initial operational capability varies by 70% from 0.3 to 1.0 on a normalized scale. The 10-year campaigns assessed begin to show the effect of this large range of cost beyond initial operational capability as they vary approximately 25% with values from 0.75 to 1.0 on the normalized campaign scale. Therefore, it is important to understand both the cost of implementation and first use as well as long term utilization. Finally, minimizing long term recurring costs is critical to the affordability of future human space exploration missions. Finally minimizing long term recurring costs is critical to the affordability of future human space exploration missions.

Merrill, Raymond G.↗
DOE OSTI2023

The Importance of Addressing Disagreements Between Nominal and Effective Treatments During Bat Mortality Minimization Validation Studies

As the wind energy industry grows, so too does our need for effective and low-cost bat mortality minimization solutions. Despite knowledge gaps in our understanding of what drives bats to collide with spinning turbines, minimization solutions have shown success during validation studies. Curtailment has been consistently effective, reducing bat mortality from 33%-79%, depending on the curtailment scenario and species present. Several validation studies have demonstrated deterrent solutions, specifically ultrasonic deterrents, to be effective, but overall, more variable compared to curtailment solutions. Further, a study combining curtailment with ultrasonic deterrents produced encouraging results, finding that adding ultrasonic deterrents to turbines that were designated to curtail, significantly reduced mortality rates compared to curtailment only turbines. Despite positive results, the strength of inference achieved with validation studies is limited by methodological constraints associated with appropriately assigning fatalities to treatments. Because of the temporal separation between when a bat collides with a turbine and when it is discovered during a ground-based carcass survey, we must assign carcasses to a treatment that ran during the prior night(s). This process may introduce errors at multiple stages. First, for studies that rotate treatments among turbines, mortality surveyors must be confident that carcasses are 'fresh' such that mortalities are correctly assigned to the treatment from the previous night(s). Second, we must reconcile any misalignments between how we assign treatments and how we implement treatments (e.g., turbines assigned with a deterrent treatment may be implemented as another treatment when deterrent devices are not operating as designed). Finally, for curtailment solutions, it is critical to recognize that measured effects are a function of not just the treatment as implemented but the proportion of the night the treatment is realized (e.g., if wind speeds are greater than the curtailment treatment cut-in speed for the entire night, we cannot expect there to me any differences in mortality reduction relative to control turbines). Using a dataset collected between June and October 2017, that rotated 3 treatments (Deterrent Only, 5 m/s Curtail only, and 5 m/s Curtail & Deterrent) and 1 control condition across 16 turbines each night, we explored the importance and implications of accounting for potential errors in assigning fatalities to treatments. We present preliminary results comparing the mortality associated with error-corrected treatments and control conditions highlighting how the measured effect of a treatment (mortality) greatly depends on site specific implementation.

bats↗
DOE OSTI2026

Carbon dioxide pipeline network transportation cost model: evaluating economic and geographic factors for efficient carbon capture, storage, and utilization

This study presents a comprehensive pipeline network modeling framework to estimate the CO 2 delivery cost for CO 2 utilization and geologic CO 2 storage across the United States. We developed a Python-based CO 2 pipeline transportation cost model leveraging Argonne National Laboratory’s pipeline engineering expertise and detailed natural gas transmission pipeline cost data across U.S. regions. Using existing road corridors as practical routing guides, the model designs pipeline networks that aggregate CO 2 from one or multiple sources and deliver it to selected destinations. It then minimizes the total transportation cost by optimizing pipeline diameters and incorporating booster pumps. A key contribution is the incorporation of up-to-date, region-specific cost factors with itemized components for materials, labor, miscellaneous construction expenses, and right-of-way acquisition. Results emphasize that regional variation and economies of scale associated with CO 2 pipeline costs are significant and should be explicitly accounted for in screening and planning studies. By combining realistic routing constraints with regionalized cost inputs, the model provides transparent design methodology and location-specific insights into source–destination delivery costs, including the effects of routing complexity along existing road networks. We demonstrate the model with two illustrative case studies – one for CO 2 storage and one for CO 2 utilization – in which the model designs pipeline networks spanning hundreds of miles across the states, collecting CO 2 from multiple sources and delivering it to designated endpoints while minimizing levelized cost of delivery via diameter and compression optimization. The model offers a practical, scalable approach for alternative design option screening and early-stage CO 2 transportation planning.

CCS↗
NASA NTRS1979

Evaluation of cellular glasses for solar mirror panel applications

An analytic technique was developed to compare the structural and environmental performance of various materials considered for backing of second surface glass solar mirrors. Cellular glass was determined to be a prime candidate due to its low cost, high stiffness-to-weight ratio, thermal expansion match to mirror glass, evident minimal environmental impact and chemical and dimensional stability under conditions of use. The current state of the art and anticipated developments in cellular glass technology are discussed; material properties are correlated to design requirements. A mathematical model is presented which suggests a design approach which allows minimization of life cost; and, a mechanical and environmental testing program is outlined, designed to provide a material property basis for development of cellular glass hardware, together with methodology for collecting lifetime predictive data. Preliminary material property data from measurements are given. Microstructure of several cellular materials is shown, and sensitivity of cellular glass to freeze-thaw degradation and to slow crack growth is discussed. The effect of surface coating is addressed.

Giovan, M.↗
NASA NTRS1997

Applied Virtual Reality in Reusable Launch Vehicle Design, Operations Development, and Training

Application of Virtual Reality (VR) technology offers much promise to enhance and accelerate the development of Reusable Launch Vehicle (RLV) infrastructure and operations while simultaneously reducing developmental and operational costs. One of the primary cost areas in the RLV concept that is receiving special attention is maintenance and refurbishment operations. To produce and operate a cost effective RLV, turnaround cost must be minimized. Designing for maintainability is a necessary requirement in developing RLVs. VR can provide cost effective methods to design and evaluate components and systems for maintenance and refurbishment operations. The National Aeronautics and Space Administration (NASA)/Marshall Space Flight Center (MSFC) is beginning to utilize VR for design, operations development, and design analysis for RLVs. A VR applications program has been under development at NASA/MSFC since 1989. The objectives of the MSFC VR Applications Program are to develop, assess, validate, and utilize VR in hardware development, operations development and support, mission operations training and science training. The NASA/MSFC VR capability has also been utilized in several applications. These include: 1) the assessment of the design of the late Space Station Freedom Payload Control Area (PCA), the control room from which onboard payload operations are managed; 2) a viewing analysis of the Tethered Satellite System's (TSS) "end-of-reel" tether marking options; 3) development of a virtual mockup of the International Space Welding Experiment for science viewing analyses from the Shuttle Remote Manipulator System elbow camera and as a trainer for ground controllers; and 4) teleoperations using VR. This presentation will give a general overview of the MSFC VR Applications Program and describe the use of VR in design analyses, operations development, and training for RLVs.

Hale, Joseph P.↗
DOE OSTI2026

Optimal Operation of Residential High Performance Water Heater for Reduction of Electricity Cost and Peak Demand Through Field Validation

Water heating accounts for about 18% of a typical US home’s energy use. Modern water heaters have enabled control options through APIs, offering customers the opportunity to reduce their energy cost and peak demand by dynamically adjusting settings. A water heater’s capacity to store energy using its storage tank makes it an asset for peak demand reduction and energy cost savings. For this reason, a mixed-integer linear programming model is proposed to minimize the energy cost of a high-performance water heater while also reducing the peak demand of the residential household under a time-of-use utility rate by dynamically changing the water heater’s running mode. Specifically, a multi-objective optimization model is formulated to determine the mode settings of the water heater considering hot water use, time-of-use rate, and peak demand limit of the residential household. The mode settings are associated with different dead bands of water temperature for triggering on/off action of the heat pump and heating element. A 66-gal hybrid electric high performance water heater was used for numerical simulation and practical experiments. The simulation results were well aligned with measurements of practical experiments, validating the soundness of the thermodynamic model. In addition, reductions of energy cost, enabling affordability, and reducing peak demand are demonstrated. The research team also developed a software framework with dashboards to automatically and continuously monitor and manage devices.

Liu, Guodong [ORNL] (ORCID:0000000213498608)↗
DOE OSTI2026

Design and optimization of processes for recovering rare earth elements from end‐of‐life permanent magnets

Recovery of rare earth elements (REEs) from end-of-life (EOL) products represents a strategic opportunity to strengthen the domestic supply chain for rare earth elements. This work presents a superstructure-based optimization framework for finding the most economical processing pathway for different EOL rare earth permanent magnets (REPMs). The framework evaluates state-of-the-art technologies across four processing stages—disassembly, demagnetization, leaching and extraction, and precipitation and calcination—using net present value (NPV) maximization and cost of recovery (COR) minimization objectives. A novel bottom-up costing framework for hydrogen decrepitation is also introduced. Two feedstocks were considered: REPMs from EOL hard disk drives (HDDs), and electric and hybrid electric vehicles (EVs and HEVs). While HDD recycling proved unprofitable due to limited feedstock availability, EVs/HEVs were profitable across a range of parameters and cost estimates. Therefore, our findings suggest that the proposed EOL EV/HEV recycling process may be economical and is worthy of further investigation.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2024

A hierarchical framework for aggregating grid-interactive buildings with thermal and battery energy storage

The behind-the-meter (BTM) thermal and battery energy storage can help improve energy efficiency, reduce energy costs, and enhance energy resilience, particularly in rural areas and for disadvantaged communities. Aggregating numerous BTM energy storage systems can act as a price influencer with a significant source of load shifting and peak demand reduction. An integrated and scalable control mechanism is required to effectively utilize energy storage systems and flexible building loads to maximize the economic benefits, considering various distribution system constraints. Here, this paper presents an innovative hierarchical coordination framework for energy storage and flexible load in buildings, considering various factors such as electricity prices, thermal comfort, and distribution system modeling and constraints. At the upper level, a distribution system operator optimizes the power flow to minimize its power procurement costs from the electricity wholesale market, while at the lower level, aggregators determine the optimal dispatch of battery and thermal energy storage systems in multiple buildings on behalf of end-users to minimize operating costs according to the power prices. These problems are solved using a game-theoretic approach through negotiations between the distribution system operator and aggregators as a bi-level decision model. Simulation case studies have been performed for a test distribution network with a number of building end-users using energy storage systems to quantify the performance of aggregators. The results demonstrate that the proposed strategy can reduce peak load for a reliable electricity distribution network while saving electricity bills for customers.

25 ENERGY STORAGE↗
NASA NTRS1998

Development of Textile Reinforced Composites for Aircraft Structures

NASA has been a leader in development of composite materials for aircraft applications during the past 25 years. In the early 1980's NASA and others conducted research to improve damage tolerance of composite structures through the use of toughened resins but these resins were not cost-effective. The aircraft industry wanted affordable, robust structures that could withstand the rigors of flight service with minimal damage. The cost and damage tolerance barriers of conventional laminated composites led NASA to focus on new concepts in composites which would incorporate the automated manufacturing methods of the textiles industry and which would incorporate through-the-thickness reinforcements. The NASA Advanced Composites Technology (ACT) Program provided the resources to extensively investigate the application of textile processes to next generation aircraft wing and fuselage structures. This paper discusses advanced textile material forms that have been developed, innovative machine concepts and key technology advancements required for future application of textile reinforced composites in commercial transport aircraft. Multiaxial warp knitting, triaxial braiding and through-the-thickness stitching are the three textile processes that have surfaced as the most promising for further development. Textile reinforced composite structural elements that have been developed in the NASA ACT Program are discussed. Included are braided fuselage frames and window-belt reinforcements, woven/stitched lower fuselage side panels, stitched multiaxial warp knit wing skins, and braided wing stiffeners. In addition, low-cost processing concepts such as resin transfer molding (RTM), resin film infusion (RFI), and vacuum-assisted resin transfer molding (VARTM) are discussed. Process modeling concepts to predict resin flow and cure in textile preforms are also discussed.

Dexter, H. Benson↗
DOE OSTI2020

Cooperative Load Scheduling for Multiple Aggregators Using Hierarchical ADMM

Demand response (DR) serves an important role in improving the efficiency and stability of power systems. In recent years, with advances in communication and smart device technologies, many aggregators have emerged to facilitate end customer participation in DR programs. These aggregators, equipped with customized optimal control algorithms, are capable of providing various grid services. Among them is load scheduling during DR events, namely following a load signal provided by the utility company while minimizing overall customer discomfort. However, as the number of aggregators keeps increasing, it becomes challenging for utility companies to conduct load scheduling for multiple aggregators and generate reference signals for each of them. This paper proposes an optimization framework using hierarchical alternating direction method of multipliers (H-ADMM) to optimally generate load following signals for multiple aggregators. Under this framework, utility and multiple aggregators work in a cooperative manner, aiming at minimizing an overall system cost from different levels of the power system hierarchy, while protecting user privacy. A case study has been conducted in a system with multiple aggregators, based on control of HVAC loads. Experimental results validate the effectiveness of the proposed algorithm.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1987

Digital robust active control law synthesis for large order systems using constrained optimization

This paper presents a direct digital control law synthesis procedure for a large order, sampled data, linear feedback system using constrained optimization techniques to meet multiple design requirements. A linear quadratic Gaussian type cost function is minimized while satisfying a set of constraints on the design loads and responses. General expressions for gradients of the cost function and constraints, with respect to the digital control law design variables are derived analytically and computed by solving a set of discrete Liapunov equations. The designer can choose the structure of the control law and the design variables, hence a stable classical control law as well as an estimator-based full or reduced order control law can be used as an initial starting point. Selected design responses can be treated as constraints instead of lumping them into the cost function. This feature can be used to modify a control law, to meet individual root mean square response limitations as well as minimum single value restrictions. Low order, robust digital control laws were synthesized for gust load alleviation of a flexible remotely piloted drone aircraft.

Mukhopadhyay, Vivek↗
DOE OSTI2024

Development of Low-Cost, High-Performance, Easy-To-Apply, Non-Flammable, Inorganic Phase Change Material (PCM) Technology (Project Final Report)

This report describes a 45-months long research program focused on the development of novel, easy-to-apply, non-flammable, and high-performance inorganic phase change materials (PCMs) for building and industrial applications. The University of Massachusetts Lowell (UML) formed a world-class team consisting of researchers form InsolCorp (only N. American manufacturer of inorganic PCM systems for building applications), and a group of industrial advisors, to develop a universal/multipurpose, simple-to-manufacture and cost-effective PCM technology. The project team expects that the results of this work will spur in the future the adoption of thermal storage materials – a key building energy saving technology as identified by DOE BTO – for a variety of building envelope applications. The main goal of this project was to demonstrate a suite of low-cost, multipurpose, and durable inorganic PCM formulations with phase transition temperatures encompassing typical building applications (between +5 o C and +55 o C). The first objective was to design, fabricate, and experimentally validate a performance of inexpensive, durable, highly efficient, non-flammable, and easy to manufacture PCMs. To allow a variety of building applications, the project team focused on formulations that exhibit repeatable phase transitions between +5 o C and +55 o C. To follow the DOE BTO cost efficiency target without compromising thermal performance, our work was based on inorganic compounds (mostly salt hydrates) and their blends, which represent a fraction of the cost of most of organic PCMs with about twice as high density as well as significantly higher thermal conductivity and phase change enthalpy. The second objective was to develop easy-to-manufacture and -install packaging/encapsulation designs that are 1) a superior barrier to current state-of-the-art macro-packaging, which significantly reduces the risk of loss of hydration water and PCM leak, and 2) optimal in enhancing the heat exchange rates with the surroundings and within the PCM core to ensure complete charging/discharging of the entire PCM within the product. Finally, the project’s intend was to scale-up the fabrication process to demonstrate installation on system-scale applications, and to validate the performance under field conditions. This work aimed at developing low-cost, high-energy storage, and reliable latent heat storage technology for building applications. This development was realized by formulating and integrating the following two technology components: 1) inorganic salt hydrate based PCMs that have high latent enthalpies and are low-cost and durable, and 2) PCM encapsulation (packaging) technology that maximizes PCM concentration and enhances heat transport characteristics in the product and with the external environment/materials. High thermal storage capacity, low cost and fire resistance are key to the building market entry for PCM technology. Therefore, the project’s focus was on salt-hydrate-based formulations which satisfy all these criteria. Packaging and/or encapsulation of PCM is a key processing step. The project team recognized that a low-cost and simple-to-manufacture salt hydrate-based PCM technology holds the best chance to be successful in the building construction market, a market which is traditionally extremely sensitive to cost and where commodity thermal insulations are the benchmark for envelope-related energy saving measures. That is why, in this project, the main intention was to minimize the production cost and maximize the product energy storage density without sacrificing the PCM performance. It was achieved through: 1. Minimizing the non-PCM components (plastics, additives, packaging/encapsulation materials, etc.) because they are significantly more expensive than salt hydrates, 2. Using highly thermally conductive and lightweight PCM carrier (packaging material) to facilitate more complete phase cycling, and 3. Optimizing the thickness and minimizing air spaces in product design (such as in pouched PCM). For this purpose, our approach was to enable an easy system design, including selection of the PCM operating temperatures, optimizing the necessary heat storage capacity (by stacking together several layers of PCM products), and if needed, a synchronized usage of PCM products of different temperatures. A specially designed, robust, highly thermally conducting and highly impermeable packaging (to retain salt hydrate water during phase transition cycles) was designed and tested to increase the overall system thermal performance and durability. All PCM products developed during this project were tested in both lab scale and in full scale field conditions. It is expected that, after further developments and commercialization, the developed PCM technologies may be also applied in space conditioning, energy storage technologies, and heat transfer applications.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRS1988

Redundant manipulators for momentum compensation in a micro-gravity environment

This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.

Quinn, R. D.↗