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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

CLPNets: Coupled Lie–Poisson neural networks for multi-part Hamiltonian systems with symmetries

To accurately compute data-based prediction of Hamiltonian systems, it is essential to utilize methods that preserve the structure of the equations over time. We consider a particularly challenging case of systems with interacting parts that do not reduce to pure momentum evolution. Such systems are essential in scientific computations, such as discretization of a continuum elastic rod, which can be viewed as the group of rotations and translations $SE(3)$. The evolution involves not only the momenta but also the relative positions and orientations of the particles. The presence of Lie group-valued elements, such as relative positions and orientations, poses a problem for applying previously derived methods for data-based computing. We develop a novel method of data-based computation and complete phase space learning of such systems. We follow the original framework of SympNets (Jin et al., 2020) and LPNets (Eldred et al., 2024), building the neural network from phase space mappings that preserve the Lie–Poisson structure. We derive a novel system of mappings that are built into neural networks describing the evolution of such systems. We call such networks Coupled Lie–Poisson Neural Networks, or CLPNets. We consider increasingly complex examples for the applications of CLPNets, starting with the rotation of two rigid bodies about a common axis, progressing to the free rotation of two rigid bodies, and finally to the evolution of two connected and interacting $SE(3)$ components, describing the discretization of an elastic rod into two elements. Our method preserves all Casimir invariants to machine precision, preserves energy to high accuracy, and shows good resistance to the curse of dimensionality, requiring only a few thousand data points for all cases studied (three to eighteen dimensions). Additionally, the method is highly economical in memory requirements, requiring only about 200 parameters for the most complex case considered.

Data-based modeling↗
NASA NTRS2021

Continental and Ecoregion-Specific Drivers of Atmospheric NO2 and NH3 Seasonality Over Africa Revealed by Satellite Observations

Ammonia (NH3) and nitrogen oxides (NOx: nitrogen dioxide (NO2) + nitric oxide (NO)) play important roles in atmospheric chemistry. Throughout most of Africa, emissions of these gases are predominantly from soils and biomass burning. Here we use observations of tropospheric NO2 vertical column densities (VCDs) from the Ozone Monitoring Instrument (OMI) from 2005 through 2017 and atmospheric NH3 VCDs from the Infrared Atmospheric Sounding Interferometer (IASI) from 2008 through 2017 to evaluate seasonal variation of NO2 and NH3 VCDs across Africa and in seven African ecoregions. In regions where mean annual precipitation (MAP) is under 500 mm/yr we find that NO2 and NH3 VCDs are positively related to monthly precipitation, and where MAP is between 500 and 1750 mm yr-1 or higher, NO2 VCDs are negatively related to monthly precipitation. In dry ecoregions, temperature and precipitation were important predictors of NH3 and NO2 VCDs, likely related to variation in soil emissions. In mesic ecoregions, monthly NO2 VCDs were strongly related to burned area, suggesting that biomass burning drives seasonality. NH3 VCDs in mesic ecoregions were positively related to both monthly temperature and monthly CO VCDs, suggesting that a mixture of soil and biomass burning emissions influenced NH3 seasonality. In northern mesic ecoregions monthly temperature explained most of the variance in monthly NH3 VCDs, suggesting that soil sources, including animal excreta, determined NH3 seasonality. In southern mesic ecoregions, monthly CO VCDs explained more variation in NH3 VCDs than temperature, suggesting that biomass burning may have greater influence over NH3 seasonality.

Jonathan E. Hickman↗
NASA NTRS1986

Computing Relative Joint Positions of Robot Arms

Vector-algebra method developed for extracting Denavit-Hartenberg parameters for any assembled robot arm. Method for extracting relative joint geometry of robot arms useful to researchers who need data for existing robot arms for either validation of mathematical models or for studies involving actual control of these devices. Method, does not require robot arm to be disassembled, also useful in recalibration of misalined or bent robot arm and becomes useful industrial procedure. Merit of method is errors not propagated.

Barker, L. K.↗
NASA NTRS2005

Two-Step Laser Ranging for Precise Tracking of a Spacecraft

A document proposes a two-step laser ranging technique for precise tracking of a coasting interplanetary spacecraft to determine the degree to which leakage of fuel, solar wind, and/or solar-radiation pressure causes it to deviate from a purely gravitational trajectory. Such a determination could contribute to the precision of a test of a theory of gravitation. In the technique, a proof mass would be released from the spacecraft. By use of laser ranging equipment on the spacecraft and retroreflectors attached to the proof mass, the relative position of the spacecraft and proof mass would be determined. Meanwhile, the position of the spacecraft relative to the Earth would be determined by ranging by use of a laser transponder. The vector sum of the two sets of ranging measurements would be the position of the proof mass relative to the Earth. Unlike the acceleration of the spacecraft, the acceleration of the proof mass should not include a residual component attributable to leakage of fuel. In addition, the effects of solar radiation and solar wind on the proof mass could be minimized by releasing the proof mass into the shadow of the spacecraft.

Chui, Talso↗
NASA NTRS1986

Rendezvous BET Program

Computes relative positions of two vehicles in concentric orbits. LRBET3 program best-estimate-of-trajectory (BET) calculation for postflight trajectory analysis of Shuttle orbital rendezvous maneuvers. LRBET3 produces estimated measurements for reconstructing relative positions of two vehicles. Kalman filter and smoothing filter applied to relative measurement input data to estimate state vector, reduce noise, and produce BET output. BET calculation minimizes variances of all trajectory estimation errors. LRBET3 written in FORTRAN IV for batch execution.

Lear, W. M.↗
NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗
NASA NTRS1992

Encoding spatial images: A fuzzy set theory approach

As the use of fuzzy set theory continues to grow, there is an increased need for methodologies and formalisms to manipulate obtained fuzzy subsets. Concepts involving relative position of fuzzy patterns are acknowledged as being of high importance in many areas. In this paper, we present an approach based on the concept of dominance in fuzzy set theory for modelling relative positions among fuzzy subsets of a plane. In particular, we define the following spatial relations: to the left (right), in front of, behind, above, below, near, far from, and touching. This concept has been implemented to define spatial relationships among fuzzy subsets of the image plane. Spatial relationships based on fuzzy set theory, coupled with a fuzzy segmentation, should therefore yield realistic results in scene understanding.

Sztandera, Leszek M.↗
DOE OSTI2026

Cathodic Protection Modeling for Hanford Underground Double-Shell Tank Farms

Hanford stores millions of gallons of radioactive and chemically hazardous waste from the production of weapon materials in tank farms consisting of underground carbon-steel storage tanks surrounded by reinforced concrete. Six of these Hanford tank farms use double-shell storage tanks (DSTs). The DST farms were constructed from 1968 to 1986 with a planned 40–50 year design life, so some are already operating beyond their initial life expectancy. Ultrasonic testing (UT) has indicated significant thinning on the bottom of the secondary (outer) liner of these tanks, believed to arise from groundwater intrusion driving concrete side corrosion. There is no direct access to the steel/concrete interface between the tank and the concrete pad, making it difficult to apply a chemical-based mitigation strategy or to conduct repairs, but cathodic protection (CP) is a possible method to inhibit further concrete-side corrosion. Hanford already uses CP to protect below grade steel piping within the tank farms and connected to the tanks, but this system was not designed to protect the tank bottoms. CP design must account for the structures surrounding the DSTs, including the steel reinforcing bars (rebar) within the concrete pad and vault, various process lines, and the existing CP system. In this study, finite element analysis (FEA) modeling was carried out to simulate CP protection of 1) a single tank and CP anode to develop options for modeling the rebar and to compare to a simpler circuit model and 2) the entire Hanford AN tank farm as a representative example consisting of seven tanks, associated piping, and both existing and new CP anodes. Both circuit and FEA models predict that significant protective current could be delivered to the bottoms of the tanks with the addition of tank-protection anodes below the depth of the tanks. Simulations with only the existing pipe-protection anodes active confirmed that only a very small current to the tank bottoms is predicted under present conditions. Multiple simplified representations of the dome and wall rebar were tested to reduce the computational complexity of the tank-farm simulations, resulting in modeling the rebar as edge elements with a prescribed effective circumference that matches the real rebar surface area. The geometry of the rebar is also simplified into horizontal hoops around the tank walls and radial rebar over the dome with increased effective circumference to retain the target surface area. This simplification was found to greatly reduce the complexity and solution time of the models without large changes in current distributions, especially to the tank bottom. A range of values were tested for model parameters such as soil and concrete resistivities and polarization resistance to investigate their impact on the current and electric potential distributions. Depending on the parameters used, FEA simulations predict some risk of overprotection, particularly on the piping system; since overprotection can also lead to surface damage associated with hydrogen gas generation at the interface (e.g. hydrogen embrittlement or damage to coatings), this needs to be considered when refining the design of the new CP system. Comparison between the FEA models and the circuit model representation demonstrated that the circuit model could not match the predicted FEA current distribution, even when using the exact same surface areas. This discrepancy appeared to be at least partly attributable to the impact of the relative positions of the tank components and anodes to each other and to the ground surface. The FEA model accounts for the relative positions since it solves the governing equations in three dimensions, but the circuit model cannot account for the positioning. In particular, the circuit model underpredicts the current to the tank bottom and overpredicts the current to the dome compared to FEA for the baseline geometry. The FEA models omitted the electrically isolated rebar in the bottom concrete slab. However, a circuit based stray current model estimated that only 2.1% of the total current through the slab would stray into the rebar, corresponding to ~0.21 A for a target current density of 2 mA/ft2 to the tank bottom. The estimated corrosion driven by this amount of stray current is predicted to yield a lifetime of >400 years for the minimum rebar diameter, assuming an acceptable cross-section area loss of 10%.

d'Entremont, Anna [Savannah River National Laborat↗
NASA NTRS2004

Relativistic Effects and Polarization in Three High-Energy Pulsar Models

We present the influence of the special relativistic effects of aberration and light travel time delay on pulsar high-energy lightcurves and polarization characteristics predicted by three models: the two-pole caustic model, the outer gap model, and the polar cap model. Position angle curves and degree of polarization are calculated for the models and compared with the optical data on the Crab pulsar. The relative positions of peaks in gamma-ray and radio lightcurves are discussed in detail for the models. We find that the two-pole caustic model can reproduce qualitatively the optical polarization characteristics of the Crab pulsar - fast swings of the position angle and minima in polarization degree associated with both peaks. The anticorrelation between the observed flux and the polarization degree (observed in the optical band also for B0656+14) naturally results from the caustic nature of the peaks which are produced in the model due to the superposition of radiation from many different altitudes, ie. polarized at different angles. The two-pole caustic model also provides an acceptable interpretation of the main features in the Crab's radio profile. Neither the outer gap model nor the polar cap model are able to reproduce the optical polarization data on the Crab. Although the outer gap model is very successful in reproducing the relative positions of gamma-ray and radio peaks in pulse profiles, it can reproduce the high-energy lightcurves only when photon emission from regions very close to the light cylinder is included.

Dyks, J.↗
NASA NTRS2007

Non-Parametric Collision Probability for Low-Velocity Encounters

An implicit, but not necessarily obvious, assumption in all of the current techniques for assessing satellite collision probability is that the relative position uncertainty is perfectly correlated in time. If there is any mis-modeling of the dynamics in the propagation of the relative position error covariance matrix, time-wise de-correlation of the uncertainty will increase the probability of collision over a given time interval. The paper gives some examples that illustrate this point. This paper argues that, for the present, Monte Carlo analysis is the best available tool for handling low-velocity encounters, and suggests some techniques for addressing the issues just described. One proposal is for the use of a non-parametric technique that is widely used in actuarial and medical studies. The other suggestion is that accurate process noise models be used in the Monte Carlo trials to which the non-parametric estimate is applied. A further contribution of this paper is a description of how the time-wise decorrelation of uncertainty increases the probability of collision.

Carpenter, J. Russell↗
NASA NTRS1992

Position determination of a lander and rover at Mars with Earth-based differential tracking

The presence of two or more landed or orbiting spacecraft at a planet provides the opportunity to perform extremely accurate Earth-based navigation by simultaneously acquiring Doppler data and either Same-Beam Interferometry (SBI) or ranging data. Covariance analyses were performed to investigate the accuracy with which lander and rover positions on the surface of Mars can be determined. Simultaneous acquisition of Doppler and ranging data from a lander and rover over two or more days enables determination of all components of their relative position to under 20 m. Acquiring one hour of Doppler and SBI enables three dimensional lander-rover relative position determination to better than 5 m. Twelve hours of Doppler and either SBI or ranging from a lander and a low circular or half synchronous circular Mars orbiter makes possible lander absolute position determination to tens of meters.

Kahn, R. D.↗
NASA NTRS2009

Target-Tracking Camera for a Metrology System

An analog electronic camera that is part of a metrology system measures the varying direction to a light-emitting diode that serves as a bright point target. In the original application for which the camera was developed, the metrological system is used to determine the varying relative positions of radiating elements of an airborne synthetic aperture-radar (SAR) antenna as the airplane flexes during flight; precise knowledge of the relative positions as a function of time is needed for processing SAR readings. It has been common metrology system practice to measure the varying direction to a bright target by use of an electronic camera of the charge-coupled-device or active-pixel-sensor type. A major disadvantage of this practice arises from the necessity of reading out and digitizing the outputs from a large number of pixels and processing the resulting digital values in a computer to determine the centroid of a target: Because of the time taken by the readout, digitization, and computation, the update rate is limited to tens of hertz. In contrast, the analog nature of the present camera makes it possible to achieve an update rate of hundreds of hertz, and no computer is needed to determine the centroid. The camera is based on a position-sensitive detector (PSD), which is a rectangular photodiode with output contacts at opposite ends. PSDs are usually used in triangulation for measuring small distances. PSDs are manufactured in both one- and two-dimensional versions. Because it is very difficult to calibrate two-dimensional PSDs accurately, the focal-plane sensors used in this camera are two orthogonally mounted one-dimensional PSDs.

Liebe, Carl↗
NASA NTRS1992

Position determination of spacecraft at Mars using earth-based differential tracking

The presence of two or more landed or orbiting spacecraft at a planet provides the opportunity to perform extremely accurate earth-based navigation by simultaneously acquiring Doppler data and either Same-Beam Interferometry (SBI) or ranging data. Covariance analyses were performed to investigate the accuracy with which lander and rover positions on the surface of Mars can be determined. Simultaneous acquisition of Doppler and ranging data from a lander and rover over two or more days enables determination of all components of their relative position to under 20 m. Acquiring one hour of Doppler and SBI enables three-dimensional lander-rover relative position determination to better than 5 m. Twelve hours of Doppler and either SBI or ranging from a lander and a low circular or half synchronous circular Mars orbiter makes possible lander absolute position determination to tens of meters.

Kahn, Robert D.↗
NASA NTRS1978

Application of global positioning system to determination of tectonic plate movements and crustal deformations

It is shown that pseudo-range measurements to four GPS satellites based on correlation of the pseudo random code transmissions from the satellites can be used to determine the relative position of ground stations which are separated by several hundred kilometers to a precision at the centimeter level. Carrier signal measurements during the course of passage of satellites over a pair of stations also yield centimeter precision in the relative position, but oscillator instabilities limit the accuracy. The accuracy of solutions based on either type of data is limited by unmodeled tropospheric refraction effects which would reach 5 centimeters at low elevation angles for widely separated stations.

Anderle, R. J.↗
NASA NTRS2007

Autonomous Airborne Refueling Demonstration: Phase I Flight-Test Results

The first phase of the Autonomous Airborne Refueling Demonstration (AARD) project was completed on August 30, 2006. The goal of this 15-month effort was to develop and flight-test a system to demonstrate an autonomous refueling engagement using the Navy style hose-and-drogue air-to-air refueling method. The prime contractor for this Defense Advanced Research Projects Agency (DARPA) sponsored program was Sierra Nevada Corporation (SNC), Sparks, Nevada. The responsible flight-test organization was the National Aeronautics and Space Administration (NASA) Dryden Flight Research Center (DFRC), Edwards, California, which also provided the F/A-18 receiver airplane (McDonnell Douglas, now The Boeing Company, Chicago, Illinois). The B-707-300 tanker airplane (The Boeing Company) was contracted through Omega Aerial Refueling Services, Inc., Alexandria, Virginia, and the optical tracking system was contracted through OCTEC Ltd., Bracknell, Berkshire, United Kingdom. Nine research flights were flown, testing the functionality and performance of the system in a stepwise manner, culminating in the plug attempts on the final flight. Relative position keeping was found to be very stable and accurate. The receiver aircraft was capable of following the tanker aircraft through turns while maintaining its relative position. During the last flight, six capture attempts were made, two of which were successful. The four misses demonstrated excellent characteristics, the receiver retreating from the drogue in a controlled, safe, and predictable manner that precluded contact between the drogue and the receiver aircraft. The position of the receiver aircraft when engaged and in position for refueling was found to be 5.5 to 8.5 ft low of the ideal position. The controller inputs to the F/A-18 were found to be extremely small.

Dibley, Ryan P.↗
NASA NTRS2007

Autonomous Airborne Refueling Demonstration, Phase I Flight-Test Results

The first phase of the Autonomous Airborne Refueling Demonstration (AARD) project was completed on August 30, 2006. The goal of this 15-month effort was to develop and flight-test a system to demonstrate an autonomous refueling engagement using the Navy style hose-and-drogue air-to-air refueling method. The prime contractor for this Defense Advanced Research Projects Agency (DARPA) sponsored program was Sierra Nevada Corporation (SNC), Sparks, Nevada. The responsible flight-test organization was the NASA Dryden Flight Research Center (DFRC), Edwards, California, which also provided the F/A-18 receiver airplane (McDonnell Douglas, now The Boeing Company, Chicago, Illinois). The B-707-300 tanker airplane (The Boeing Company) was contracted through Omega Aerial Refueling Services, Inc., Alexandria, Virginia, and the optical tracking system was contracted through OCTEC Ltd., Bracknell, Berkshire, United Kingdom. Nine research flights were flown, testing the functionality and performance of the system in a stepwise manner, culminating in the plug attempts on the final flight. Relative position keeping was found to be very stable and accurate. The receiver aircraft was capable of following the tanker aircraft through turns while maintaining its relative position. During the last flight, six capture attempts were made, two of which were successful. The four misses demonstrated excellent characteristics, the receiver retreating from the drogue in a controlled, safe, and predictable manner that precluded contact between the drogue and the receiver aircraft. The position of the receiver aircraft when engaged and in position for refueling was found to be 5.5 to 8.5 ft low of the ideal position. The controller inputs to the F/A-18 were found to be extremely small

Dibley, Ryan P.↗
NASA NTRS2008

Radio Ranging System for Guidance of Approaching Spacecraft

A radio communication and ranging system has been proposed for determining the relative position and orientations of two approaching spacecraft to provide guidance for docking maneuvers. On Earth, the system could be used similarly for guiding approaching aircraft and for automated positioning of large, heavy objects. In principle, the basic idea is to (1) measure distances between radio transceivers on the two spacecraft and (2) compute the relative position and orientations from the measured distances.

Manikonda, Vikram↗
NASA NTRS2001

Video-Based Sensor for Robotic Position and Attitude determination

NASA's Marshall Space Flight Center (MSFC) has, for the last ten years, developed various video-based sensors for use in automated docking systems. The latest generation of sensor will operate at rates of up to 100 Hz, determining the relative position (X, Y, and Z) and attitude (Roll, Pitch, and Yaw) between the sensor and a small 3-dimensional target, making it suitable for applications in robotic sensing. The Advanced Video Guidance Sensor (AVGS) is designed to track multiple targets at different ranges and determine the position and attitude of each one. The previous generation of video sensor, the Video Guidance Sensor (VGS), was flown twice on the Space Shuttle to test its performance on orbit. One of the tests performed was determining the relative positions and attitudes between the VGS and its target, which was moved to various positions using the Remote Manipulator System (RMS). The RMS position data and VGS measured data were analyzed after the flights, with good correlation between the position and attitude data of the two data sets. The test using the RMS gives a good idea of the ability of the use of the AVGS as a sensor for end-effector position and attitude determination.

Howard, Richard T.↗