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All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Cooperative Robotics and the Search for Extraterrestrial Life

If we think tenuous abodes of life may be hiding in remote extraterrestrial environmental niches, and if we want to assess the biological status of a given locale or entire planet before sending humans (perhaps because of contamination concerns or other motivations) then we face the challenge of robotically exploring a large space efficiently and in enough detail to have confidence in our assessment of the biological status of the environment in question. On our present schedule of perhaps two or so missions per opportunity, we will likely need a different exploratory approach than singular stationary landers or singular rover missions or sample return, because there appear to be fundamental limitations in these mission profiles to-obtain the many samples we will likely need if we want to have confidence in assessing the biological status of an environment in which life could be hiding in remote environmental niches. Singular rover missions can potentially accommodate sampling over a fairly large area, but are still limited by range and can be a single point of failure. More importantly, such mission profiles have limited payload capabilities which are unlikely to meet the demanding requirements of life-detection. Sample return has the advantage of allowing sophisticated analysis of the sample, but also has the severe limitations associated with only being able to bring back a few samples. This presentation will suggest two cooperative robotic approaches for exploration that have the potential to overcome these difficulties and facilitate efficient and thorough life-detecting exploration of a large space. Given the two premises state above, it appears at least two fundamental challenges have to be met simultaneously: coverage of a large space and bringing to bear a sophisticated suite of detection and experimental payloads on any specific location in order to address a major challenge in looking for extraterrestrial life: namely, executing a wide variety of detection scenarios and in situ experiments in order to gather the required data for a confident assessment that life has been detected and to, more generally, cover a wide range of extraterrestrial life possibilities. Cooperative robotics ]ends itself to this kind of problem because cooperation among the combined capabilities of a variety of simple single function agents can give rise to fairly complex task execution such as the search for and detection of extraterrestrial life.

Lupisella, Mark L.↗
NASA NTRS2000

Higher Order Modeling In the BEM/FEM Hybrid Formulation

Hybrid formulations using low order curl-conforming bases to represent the total electric field within a finite element region and low order divergence-conforming bases to represent equivalent electric and magnetic currents on the boundary are well known. However, higher-order divergence and curl-conforming bases have been shown to provide significant benefits in convergence rates and accuracy when employed in strictly integral equation and strictly finite element formulations. In this paper, a hybrid electric field formulation employing higher order bases is presented. The paper addresses benefits and issues associated with using higher order divergence-and curl-conforming bases in the hybrid finite element/boundary element electric field formulation. The method of singularity subtraction may be used to compute the self terms of the boundary integral when the bases are of low order. But this method becomes laborious and requires great care when the divergence conforming bases are of higher order. In order to handle these singularities simply and accurately, a generalized Gaussian quadrature method is employed in which the expansion functions account for the singularity. In preliminary tests of the higher order hybrid formulation, the equivalent electric current induced by scattering of a plane wave from a square dielectric cylinder is examined. Accurate results are obtained using only a two-triangle mesh when the current basis is of order 4 or 5. Additional results are presented comparing the error obtained using higher order bases to that obtained using lower order bases when the number of unknowns is approximately equal. Also, convergence rates obtained with higher order bases are compared to those obtained with lower order bases for selected sample problems.

Fink, Patrick W.↗
NASA NTRS2000

Cooperative Robotics and the Search for Extraterrestrial Life

If we think tenuous abodes of life may be hiding in remote extraterrestrial environmental niches, and if we want to assess the biological status of a given locale or entire planet before sending humans (perhaps because of contamination concerns or other motivations) then we face the challenge of robotically exploring a large space efficiently and in enough detail to have confidence in our assessment of the biological status of the environment in question. On our present schedule of perhaps two or so missions per opportunity, we will likely need a different exploratory approach than singular stationary landers or singular rover missions or sample return, because there appear to be fundamental limitations in these mission profiles to obtain the many samples we will likely need if we want to have confidence in assessing the biological status of an environment in which life could be hiding in remote environmental niches. Singular rover missions can potentially accommodate sampling over a fairly large area, but are still limited by range and can be a single point of failure. More importantly, such mission profiles have limited payload capabilities which are unlikely to meet the demanding requirements of life-detection. Sample return has the advantage of allowing sophisticated analysis of the sample, but also has the severe limitations associated with only being able to bring back a few samples. This presentation will suggest two cooperative robotic approaches for exploration that have the potential to overcome these difficulties and facilitate efficient and thorough life-detecting exploration of a large space. Given the two premises stated above, it appears at least two fundamental challenges have to be met simultaneously: (1) coverage of a large space and (2) bringing to bear a sophisticated suite of detection and experimental payloads on any specific location in order to address a major challenge in looking for extraterrestrial life: namely, executing a wide variety of detection scenarios and in situ experiments in order to gather the required data for a confident assessment that life has been detected and to, more generally, cover a wide range of extraterrestrial life possibilities. Cooperative robotics lends itself to this kind of problem because cooperation among the combined capabilities of a variety of simple single function agents can give rise to fairly complex task execution such as the search for and detection of extraterrestrial life.

Lupisella, M. L.↗
NASA NTRS2003

Attitude Estimation or Quaternion Estimation?

The attitude of spacecraft is represented by a 3x3 orthogonal matrix with unity determinant, which belongs to the three-dimensional special orthogonal group SO(3). The fact that all three-parameter representations of SO(3) are singular or discontinuous for certain attitudes has led to the use of higher-dimensional nonsingular parameterizations, especially the four-component quaternion. In attitude estimation, we are faced with the alternatives of using an attitude representation that is either singular or redundant. Estimation procedures fall into three broad classes. The first estimates a three-dimensional representation of attitude deviations from a reference attitude parameterized by a higher-dimensional nonsingular parameterization. The deviations from the reference are assumed to be small enough to avoid any singularity or discontinuity of the three-dimensional parameterization. The second class, which estimates a higher-dimensional representation subject to enough constraints to leave only three degrees of freedom, is difficult to formulate and apply consistently. The third class estimates a representation of SO(3) with more than three dimensions, treating the parameters as independent. We refer to the most common member of this class as quaternion estimation, to contrast it with attitude estimation. We analyze the first and third of these approaches in the context of an extended Kalman filter with simplified kinematics and measurement models.

F Landis Markley↗
NASA NTRS2003

Flutter and Divergence Analysis using the Generalized Aeroelastic Analysis Method

The Generalized Aeroelastic Analysis Method (GAAM) is applied to the analysis of three well-studied checkcases: restrained and unrestrained airfoil models, and a wing model. An eigenvalue iteration procedure is used for converging upon roots of the complex stability matrix. For the airfoil models, exact root loci are given which clearly illustrate the nature of the flutter and divergence instabilities. The singularities involved are enumerated, including an additional pole at the origin for the unrestrained airfoil case and the emergence of an additional pole on the positive real axis at the divergence speed for the restrained airfoil case. Inconsistencies and differences among published aeroelastic root loci and the new, exact results are discussed and resolved. The generalization of a Doublet Lattice Method computer code is described and the code is applied to the calculation of root loci for the wing model for incompressible and for subsonic flow conditions. The error introduced in the reduction of the singular integral equation underlying the unsteady lifting surface theory to a linear algebraic equation is discussed. Acknowledging this inherent error, the solutions of the algebraic equation by GAAM are termed 'exact.' The singularities of the problem are discussed and exponential series approximations used in the evaluation of the kernel function shown to introduce a dense collection of poles and zeroes on the negative real axis. Again, inconsistencies and differences among published aeroelastic root loci and the new 'exact' results are discussed and resolved. In all cases, aeroelastic flutter and divergence speeds and frequencies are in good agreement with published results. The GAAM solution procedure allows complete control over Mach number, velocity, density, and complex frequency. Thus all points on the computed root loci can be matched-point, consistent solutions without recourse to complex mode tracking logic or dataset interpolation, as in the k and p-k solution methods.

Edwards, John W.↗
NASA NTRS2005

Micromechanics, Fracture Mechanics and Gas Permeability of Composite Laminates for Cryogenic Storage Systems

A micromechanics method is developed to investigate microcrack propagation in a liquid hydrogen composite tank at cryogenic temperature. The unit cell is modeled using square and hexagonal shapes depends on fiber and matrix layout from microscopic images of composite laminates. Periodic boundary conditions are applied to the unit cell. The temperature dependent properties are taken into account in the analysis. The laminate properties estimated by the micromechanics method are compared with empirical solutions using constituent properties. The micro stresses in the fiber and matrix phases based on boundary conditions in laminate level are calculated to predict the formation of microcracks in the matrix. The method is applied to an actual liquid hydrogen storage system. The analysis predicts micro stresses in the matrix phase are large enough to cause microcracks in the composite. Stress singularity of a transverse crack normal to a ply-interface is investigated to predict the fracture behavior at cryogenic conditions using analytical and finite element analysis. When a transverse crack touches a ply-interface of a composite layer with same fiber orientation, the stress singularity is equal to 1/2. When the transverse crack propagates to a stiffer layer normal to the ply-direction, the singularity becomes less than 1/2 and vice versa. Finite element analysis is performed to predict the fracture toughness of a laminated beam subjected to fracture loads measured by four-point bending tests at room and cryogenic temperatures. As results, the fracture load at cryogenic temperature is significantly lower than that at room temperature. However, when thermal stresses are taken into consideration, for both cases of room and cryogenic temperatures, the difference of the fracture toughness becomes insignificant. The result indicates fracture toughness is a characteristic property, which is independent to temperature changes. The experimental analysis is performed to investigate the effect of cryogenic cycling on permeability for various composite material systems. Textile composites have lower permeability than laminated composites even with increasing number of cryogenic cycle. Nano-particles dispersed in laminated composites do not show improvement on permeability. The optical inspection is performed to investigate the microcrack propagation and void content in laminated composites and compared the microscopic results before and after cryogenic cycling.

Choi, Sukjoo↗
NASA NTRS2006

Refinement of Methods for Evaluation of Near-Hypersingular Integrals in BEM Formulations

In this paper, we present advances in singularity cancellation techniques applied to integrals in BEM formulations that are nearly hypersingular. Significant advances have been made recently in singularity cancellation techniques applied to 1 R type kernels [M. Khayat, D. Wilton, IEEE Trans. Antennas and Prop., 53, pp. 3180-3190, 2005], as well as to the gradients of these kernels [P. Fink, D. Wilton, and M. Khayat, Proc. ICEAA, pp. 861-864, Torino, Italy, 2005] on curved subdomains. In these approaches, the source triangle is divided into three tangent subtriangles with a common vertex at the normal projection of the observation point onto the source element or the extended surface containing it. The geometry of a typical tangent subtriangle and its local rectangular coordinate system with origin at the projected observation point is shown in Fig. 1. Whereas singularity cancellation techniques for 1 R type kernels are now nearing maturity, the efficient handling of near-hypersingular kernels still needs attention. For example, in the gradient reference above, techniques are presented for computing the normal component of the gradient relative to the plane containing the tangent subtriangle. These techniques, summarized in the transformations in Table 1, are applied at the sub-triangle level and correspond particularly to the case in which the normal projection of the observation point lies within the boundary of the source element. They are found to be highly efficient as z approaches zero. Here, we extend the approach to cover two instances not previously addressed. First, we consider the case in which the normal projection of the observation point lies external to the source element. For such cases, we find that simple modifications to the transformations of Table 1 permit significant savings in computational cost. Second, we present techniques that permit accurate computation of the tangential components of the gradient; i.e., tangent to the plane containing the source element.

Fink, Patricia W.↗
NASA NTRS2006

Fibonacci Grids

Recent years have seen a resurgence of interest in a variety of non-standard computational grids for global numerical prediction. The motivation has been to reduce problems associated with the converging meridians and the polar singularities of conventional regular latitude-longitude grids. A further impetus has come from the adoption of massively parallel computers, for which it is necessary to distribute work equitably across the processors; this is more practicable for some non-standard grids. Desirable attributes of a grid for high-order spatial finite differencing are: (i) geometrical regularity; (ii) a homogeneous and approximately isotropic spatial resolution; (iii) a low proportion of the grid points where the numerical procedures require special customization (such as near coordinate singularities or grid edges). One family of grid arrangements which, to our knowledge, has never before been applied to numerical weather prediction, but which appears to offer several technical advantages, are what we shall refer to as "Fibonacci grids". They can be thought of as mathematically ideal generalizations of the patterns occurring naturally in the spiral arrangements of seeds and fruit found in sunflower heads and pineapples (to give two of the many botanical examples). These grids possess virtually uniform and highly isotropic resolution, with an equal area for each grid point. There are only two compact singular regions on a sphere that require customized numerics. We demonstrate the practicality of these grids in shallow water simulations, and discuss the prospects for efficiently using these frameworks in three-dimensional semi-implicit and semi-Lagrangian weather prediction or climate models.

Swinbank, Richard↗
NASA NTRS2008

Integrating the Gradient of the Thin Wire Kernel

A formulation for integrating the gradient of the thin wire kernel is presented. This approach employs a new expression for the gradient of the thin wire kernel derived from a recent technique for numerically evaluating the exact thin wire kernel. This approach should provide essentially arbitrary accuracy and may be used with higher-order elements and basis functions using the procedure described in [4].When the source and observation points are close, the potential integrals over wire segments involving the wire kernel are split into parts to handle the singular behavior of the integrand [1]. The singularity characteristics of the gradient of the wire kernel are different than those of the wire kernel, and the axial and radial components have different singularities. The characteristics of the gradient of the wire kernel are discussed in [2]. To evaluate the near electric and magnetic fields of a wire, the integration of the gradient of the wire kernel needs to be calculated over the source wire. Since the vector bases for current have constant direction on linear wire segments, these integrals reduce to integrals of the form

Champagne, Nathan J.↗
NASA NTRS2009

Magnetopause Reconnection Impact Parameters from Multiple Spacecraft Magnetic Field Measurements

We present a novel technique that exploits multiple spacecraft data to determine the impact parameters of the most general form of magnetic reconnection at the magnetopause. The method consists of a superposed epoch of multiple spacecraft magnetometer measurements that yields the instantaneous magnetic spatial gradients near a magnetopause reconnection site. The gradients establish the instantaneous positions of the spacecraft relative to the reconnection site. The analysis is well suited to evaluating the spatial scales of singular field line reconnection, which is characterized by a two-dimensional x-type topology adjacent and perpendicular to a reconnecting singular field line. Application of the method to Cluster data known to lie in the vicinity of a northward IMF reconnection site establishes a field topology consistent with singular field line reconnection and a normal magnetic field component of 20 nT. The corresponding current structure consists of a 130 km sheet possibly embedding a thinner. bifurcated sheet.

Wendel, Deirdre E.↗
DOE OSTI2023

Guidelines for predicting stress in cemented doublets undergoing temperature change

This work explores quick predictive methods for calculating potentially risky stresses and deflections in cemented doublets experiencing temperature change that agree well with finite element analysis. There are three failure modes of interest: cohesive failure of the adhesive, delamination (surface bond failure or debonding), and glass fracture. Adhesive theory, confirmed by finite element analysis, predicts stress singularities that complicate interpretation of the stress calculations. The presence of a stress singularity indicates the breakdown of linear elastic assumptions, but damage initiation and stress singularities are related. The authors find that geometry details near a bond edge can exacerbate or minimize damage initiation and stress concentrations. Because the interpretation of the stress results is complicated, the authors investigated predicted stresses in doublets that have been successfully tested between -40 and 85 °C. This study found that the product (ΔT ∙ Δα) should be less than 189 ppm, where ΔT is the temperature excursion and Δα is the difference in glass coefficient of thermal expansion. If the product (ΔT ∙ Δα) is equal to or greater than 189 ppm, further analysis and testing is warranted. But the authors also show that the fabrication process can significantly influence stress failure, particularly with large diameter doublets.

47 OTHER INSTRUMENTATION↗
DOE OSTI2023

Guidelines for predicting stress in cemented doublets undergoing temperature change

This work explores quick predictive methods for calculating potentially risky stresses and deflections in cemented doublets experiencing temperature change that agree well with finite element analysis. There are three failure modes of interest: cohesive failure of the adhesive, delamination (surface bond failure or debonding), and glass fracture. Adhesive theory, confirmed by finite element analysis, predicts stress singularities that complicate interpretation of the stress calculations. The presence of a stress singularity indicates the breakdown of linear elastic assumptions, but damage initiation and stress singularities are related. The authors find that geometry details near a bond edge can exacerbate or minimize damage initiation and stress concentrations. Because the interpretation of the stress results is complicated, the authors investigated predicted stresses in doublets that have been successfully tested between -40 and 85 °C. This study found that the product (∆T ∙ ∆α) should be less than 189 ppm, where ∆T is the temperature excursion and ∆α is the difference in glass coefficient of thermal expansion. If the product (∆T ∙ ∆α) is equal to or greater than 189 ppm, further analysis and testing is warranted. But the authors also show that the fabrication process can significantly influence stress failure, particularly with large diameter doublets

42 ENGINEERING↗
DOE OSTI2025

Verification of a Fluid-Based Plasma-Edge Model Within the Multiphysics Object-Oriented Simulation Environment (MOOSE) Framework

As the goal of achieving fusion power on the grid comes closer to fruition, fully coupled multiphysics models of fusion devices will be crucial. These models must incorporate the interconnected phenomena of these devices, including plasma physics, neutronics, first wall interactions, and tritium transport. Currently, there are two main approaches to developing these platforms: (1) loosely coupled, where one couples existing codes and solvers together through input and output parameters and data, and (2) tightly coupled, where one develops the necessary models within a singular, integrated framework. This work focuses on the latter approach for magnetically confined fusion devices by developing a fluid-based plasma-edge model within the Multiphysics Object Oriented Simulation Environment (MOOSE) Framework. This effort is coordinated with other efforts to develop, test, demonstrate, and deploy fusion relevant multiphysics capabilities including electromagnetics, particle-in-cell plasma, tritium transport, and fusion blanket design. This new model is an expansion of the MOOSE-based plasma application, Zapdos, which was originally formulated to model low-temperature, non-magnetized plasma processes. Verification studies have been conducted using newly developed magnetic plasma capabilities. These involved convergence analyses utilizing the method of manufactured solutions to verify new operators and case studies. A modular approach was taken here to demonstrate increasingly complicated simulation scenarios, which included a singular fluid with uniform magnetic field case, a singular fluid with spatially varying magnetic field case, and a coupled multifluid case.

70 - PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2015

Stabilizing oscillating universes against quantum decay

We investigate the effect of vacuum corrections, due to the trace anomaly and Casimir effect, on the stability of an oscillating universe with respect to decay by tunneling to the singularity. We find that these corrections do not generally stabilize an oscillating universe. However, stability may be achieved for some specially fine-tuned non-vacuum states.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2015

Galilean creation of the inflationary universe

It has been pointed out that the null energy condition can be violated stably in some non-canonical scalar-field theories. This allows us to consider the Galilean Genesis scenario in which the universe starts expanding from Minkowski spacetime and hence is free from the initial singularity. We use this scenario to study the early-time completion of inflation, pushing forward the recent idea of Pirtskhalava et al. We present a generic form of the Lagrangian governing the background and perturbation dynamics in the Genesis phase, the subsequent inflationary phase, and the graceful exit from inflation, as opposed to employing the effective field theory approach. Our Lagrangian belongs to a more general class of scalar-tensor theories than the Horndeski theory and Gleyzes-Langlois-Piazza-Vernizzi generalization, but still has the same number of the propagating degrees of freedom, and thus can avoid Ostrogradski instabilities. We investigate the generation and evolution of primordial perturbations in this scenario and show that one can indeed construct a stable model of inflation preceded by (generalized) Galilean Genesis.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2014

Evaluating single-scale and/or non-planar diagrams by differential equations

We apply a recently suggested new strategy to solve differential equations for Feynman integrals. We develop this method further by analyzing asymptotic expansions of the integrals. We argue that this allows the systematic application of the differential equations to single-scale Feynman integrals. Moreover, the information about singular limits significantly simplifies finding boundary constants for the differential equations. To illustrate these points we consider two families of three-loop integrals. The first are form-factor integrals with two external legs on the light cone. We introduce one more scale by taking one more leg off-shell, $p_2^2\neq 0$. We analytically solve the differential equations for the master integrals in a Laurent expansion in dimensional regularization with $\epsilon=(4-D)/2$. Then we show how to obtain analytic results for the corresponding one-scale integrals in an algebraic way. An essential ingredient of our method is to match solutions of the differential equations in the limit of small $p_2^2$ to our results at $p_2^2\neq 0$ and to identify various terms in these solutions according to expansion by regions. The second family consists of four-point non-planar integrals with all four legs on the light cone. We evaluate, by differential equations, all the master integrals for the so-called $K_4$ graph consisting of four external vertices which are connected with each other by six lines. We show how the boundary constants can be fixed with the help of the knowledge of the singular limits. We present results in terms of harmonic polylogarithms for the corresponding seven master integrals with six propagators in a Laurent expansion in $\epsilon$ up to weight six.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2017

Remarks on non-BPS string amplitudes and their all order α' contact interactions in IIB, IIA

Here, we explore the entire form of S-Matrix elements of a potential C n–1 Ramond-Ramond (RR) form field, a tachyon and two transverse scalar fields on both world volume and transverse directions of type IIB and IIA superstring theories. Apart from V C –2 V Φ 0 V Φ 0 V T 0 the other scattering amplitude, namely V C –1 V Φ –1 V Φ 0 V T 0 is also revealed. We then start to compare all singularity structures of symmetric and asymmetric analysis, generating all infinite singularity structures as well as all order α' contact interactions on the whole directions. This leads to deriving various new contact terms and several new restricted Bianchi identities in both type IIB and IIA. It is also shown that just some of the new couplings of type IIB (IIA) string theory can be re-verified in an Effective Field Theory (EFT) by pull-back of branes. To construct the rest of S-matrix elements one needs to first derive restricted world volume (or bulk) Bianchi identities and then discover new EFT couplings in both type IIB and IIA. Finally the presence of commutator of scalar fields inside the exponential of Wess-Zumino action for non-BPS branes has been confirmed as well.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2026

Unveiling horizons in quantum critical collapse

Critical gravitational collapse offers a unique window into regimes of arbitrarily high curvature, culminating in a naked singularity arising from smooth initial data — thus providing a dynamical counterexample to weak cosmic censorship. Near the critical regime, quantum effects from the collapsing matter are expected to intervene before full quantum gravity resolves the singularity. Despite its fundamental significance, a self-consistent treatment has so far remained elusive. In this work, we perform a one-loop semiclassical analysis using the robust anomaly-based method in the canonical setup of Einstein gravity minimally coupled to a free, massless scalar field. Focusing on explicitly solvable near-critical solutions in both 2 + 1 and 3 + 1 dimensions, we analytically solve the semiclassical Einstein equations and obtain controlled, quantitative results for several long-standing questions within the dominant s-wave sector. We find that regularity uniquely selects a Boulware-like quantum state, encoding genuine vacuum polarization effects from the collapsing matter. Remarkably, the resulting quantum corrections manifest as a growing mode. Horizon-tracing analyses, incorporating both classical and quantum modes, reveal the emergence of a finite mass gap, signaling a phase transition from classical Type II to quantum-modified Type I behavior, thereby providing a quantum enforcement of the weak cosmic censorship. The most non-trivial aspect of our analysis involves dealing with non-conformal matter fields in explicitly time-dependent critical spacetimes. Along the way, we uncover intriguing and previously underexplored features of quantum field theory in curved spacetime.

2D Gravity↗