SEARCH · Engineering Papers

Results for “Trajectory Generation”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,171 records · Page 65

All sources NASA NTRS DOE OSTI

DOE OSTI2023

Viral but not bacterial community successional patterns reflect extreme turnover shortly after rewetting dry soils

As central members of soil trophic networks, viruses have the potential to drive substantial microbial mortality and nutrient turnover. Pinpointing viral contributions to terrestrial ecosystem processes remains a challenge, as temporal dynamics are difficult to unravel in the spatially and physicochemically heterogeneous soil environment. In Mediterranean grasslands, the first rainfall after seasonal drought provides an ecosystem reset, triggering microbial activity during a tractable window for capturing short-term dynamics. In this report we simulated precipitation in microcosms from four distinct dry grassland soils and generated 144 viromes, 84 metagenomes and 84 16S ribosomal RNA gene amplicon datasets to characterize viral, prokaryotic and relic DNA dynamics over 10 days. Vastly different viral communities in each soil followed remarkably similar successional trajectories. Wet-up triggered a significant increase in viral richness, followed by extensive compositional turnover. Temporal succession in prokaryotic communities was much less pronounced, perhaps suggesting differences in the scales of activity captured by viromes (representing recently produced, ephemeral viral particles) and total DNA. Still, differences in the relative abundances of Actinobacteria (enriched in dry soils) and Proteobacteria (enriched in wetted soils) matched those of their predicted phages, indicating viral predation of dominant bacterial taxa. Rewetting also rapidly depleted relic DNA, which subsequently reaccumulated, indicating substantial new microbial mortality in the days after wet-up, particularly of the taxa putatively under phage predation. Production of abundant, diverse viral particles via microbial host cell lysis appears to be a conserved feature of the early response to soil rewetting, and results suggest the potential for ‘Cull-the-Winner’ dynamics, whereby viruses infect and cull but do not decimate dominant host populations.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Probabilistic error estimation for non-intrusive reduced models learned from data of systems governed by linear parabolic partial differential equations

This work derives a residual-based a posteriori error estimator for reduced models learned with non-intrusive model reduction from data of high-dimensional systems governed by linear parabolic partial differential equations with control inputs. It is shown that quantities that are necessary for the error estimator can be either obtained exactly as the solutions of least-squares problems in a non-intrusive way from data such as initial conditions, control inputs, and high-dimensional solution trajectories or bounded in a probabilistic sense. Here, the computational procedure follows an offline/online decomposition. In the offline (training) phase, the high-dimensional system is judiciously solved in a black-box fashion to generate data and to set up the error estimator. In the online phase, the estimator is used to bound the error of the reduced-model predictions for new initial conditions and new control inputs without recourse to the high-dimensional system. Numerical results demonstrate the workflow of the proposed approach from data to reduced models to certified predictions.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2020

Data-driven Alignment of the Tracker for the Mu2e Experiment

An alignment of the Mu2e Tracker is investigated using the Mu2e Offline Software and Millepede-II. Simulated misalignments of Tracker planes were inserted between Monte-Carlo event generation and before reconstruction using randomly generated $(x,y,z)$-translations and rotations of the rigid-body planes in the detector model. Cosmic ray muons, with no magnetic field present in the Detector Solenoid, will follow a straight-line trajectory. A maximum-likelihood fit is used to reconstruct a track and determine its parameters. Tracks traversing at least four planes, with ten registered straw hits, and a maximum time residual of $20$ ns are selected to be used in an alignment sample. The cuts were chosen to discard tracks with low information content, such as those with high levels of multiple scattering or those with low numbers of measurements contributing to a single track fit. Millepede-II produces the resulting alignment constants according to a simultaneous least-squares fit of the alignment parameters and the track parameters for all input tracks. The improved alignment constants are used to repeat the process and recover an increased number of suitable tracks, further improving the estimate of the alignment constants in subsequent iterations. A performance study of the process was conducted on a misaligned Tracker in the case of translation-only, and translation plus rotational misalignments. In both cases, the correct alignment constants were recovered to within statistical error after three global fit iterations. Additionally, a continuous integration system was developed for the \texttt{Mu2e/Offline} GitHub repository, introducing a convenient automated testing process for all proposed changes (``pull requests"). The tests developed included a full build of the software, followed by tests of the validation routines, geometry overlap checking, and multi-threading mode. Additionally, code quality checks and low-statistics physics comparison checks a re also available.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS1975

Graphical derivations of radar, sonar, and communication signals

The designer of a communication system often has knowledge concerning the changes in distance between transmitter and receiver as a function of time. This information can be exploited to reduce multipath interference via proper signal design. A radar or sonar may also have good a priori information about possible target trajectories. Such knowledge can again be used to reduce the receiver's response to clutter (MTI), to enhance signal-to-noise ratio, or to simplify receiver design. There are also situations in which prior knowledge about trajectories is lacking. The system should then utilize a single-filter pair which is insensitive to the effects induced by relative motion between transmitter, receiver, and reflectors. For waveforms with large time-bandwidth products, such as long pulse trains, it is possible to graphically derive signal formats for both situations (trajectory known and unknown). Although the exact form of the signal is sometimes not specified by the graphical procedure, the problem in such cases is reduced to one which has already been solved, i.e., the generation of an impulse equivalent code.

Altes, R. A.↗

NASA NTRS1980

Computer coordination of limb motion for a three-legged walking robot

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Klein, C. A.↗

NASA NTRS1985

Flight test trajectory controller synthesis with constrained eigenstructure assignment

The design of a maneuver autopilot for flight test trajectory control using constrained eigenvalue/eigenvector assignment is examined. The aircraft considered was a high-performance fighter with a command augmentation system engaged in all three axes. Attention is given to difficulties encountered in the generation of the desired eigenvalues and eigenvectors. It is found that this approach demands several iterations to converge to a satisfactory result, and does not appear to easily yield suitable insight for the output feedback design of high-order multivariable systems which will be used at other operating points. It is concluded that this technique could be made more attractive by generating gradients of the eigensystem between flight conditions, and including this information in the single-point design technique.

Menon, P. K. A.↗

NASA NTRS1988

Optimal guidance with obstacle avoidance for nap-of-the-earth flight

The development of automatic guidance is discussed for helicopter Nap-of-the-Earth (NOE) and near-NOE flight. It deals with algorithm refinements relating to automated real-time flight path planning and to mission planning. With regard to path planning, it relates rotorcraft trajectory characteristics to the NOE computation scheme and addresses real-time computing issues and both ride quality issues and pilot-vehicle interfaces. The automated mission planning algorithm refinements include route optimization, automatic waypoint generation, interactive applications, and provisions for integrating the results into the real-time path planning software. A microcomputer based mission planning workstation was developed and is described. Further, the application of Defense Mapping Agency (DMA) digital terrain to both the mission planning workstation and to automatic guidance is both discussed and illustrated.

Pekelsma, Nicholas J.↗

NASA NTRS1993

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.

Gettman, Chang-Ching L.↗

NASA NTRS1994

Numerical simulations of particle orbits around 2060 Chiron

Scattered light from orbiting or coorbiting dust is a primary signature by which Earth-based observers study the activity and atmosphere of the unusual outer solar system object 2060 Chiron. Therefore, it is important to understand the lifetime, dynamics, and loss rates of dust in its coma. We report here dynamical simulations of particles in Chiron's collisionless coma. The orbits of 17,920 dust particles were numerically integrated under the gravitational influence of Chiron, the Sun, and solar radiation pressure. These simulations show that particles ejected from Chiron are more likely to follow suborbital trajectories, or to escape altogether, than to enter quasistable orbits. Significant orbital lifetimes can only be achieved for very specific launch conditions. These results call into question models of a long-term, bound coma generated by discrete outbursts, and instead suggest that Chiron's coma state is closely coupled to the nearly instantaneous level of Chiron's surface activity.

Stern, S. A.↗

NASA NTRS2000

Calcaneal loading during walking and running

PURPOSE: This study of the foot uses experimentally measured kinematic and kinetic data with a numerical model to evaluate in vivo calcaneal stresses during walking and running. METHODS: External ground reaction forces (GRF) and kinematic data were measured during walking and running using cineradiography and force plate measurements. A contact-coupled finite element model of the foot was developed to assess the forces acting on the calcaneus during gait. RESULTS: We found that the calculated force-time profiles of the joint contact, ligament, and Achilles tendon forces varied with the time-history curve of the moment about the ankle joint. The model predicted peak talocalcaneal and calcaneocuboid joint loads of 5.4 and 4.2 body weights (BW) during walking and 11.1 and 7.9 BW during running. The maximum predicted Achilles tendon forces were 3.9 and 7.7 BW for walking and running. CONCLUSIONS: Large magnitude forces and calcaneal stresses are generated late in the stance phase, with maximum loads occurring at approximately 70% of the stance phase during walking and at approximately 60% of the stance phase during running, for the gait velocities analyzed. The trajectories of the principal stresses, during both walking and running, corresponded to each other and qualitatively to the calcaneal trabecular architecture.

NASA Center ARC↗

NASA NTRS2009

Extending Newtonian Dynamics to Include Stochastic Processes

A paper presents further results of continuing research reported in several previous NASA Tech Briefs articles, the two most recent being Stochastic Representations of Chaos Using Terminal Attractors (NPO-41519), [Vol. 30, No. 5 (May 2006), page 57] and Physical Principle for Generation of Randomness (NPO-43822) [Vol. 33, No. 5 (May 2009), page 56]. This research focuses upon a mathematical formalism for describing post-instability motions of a dynamical system characterized by exponential divergences of trajectories leading to chaos (including turbulence as a form of chaos). The formalism involves fictitious control forces that couple the equations of motion of the system with a Liouville equation that describes the evolution of the probability density of errors in initial conditions. These stabilizing forces create a powerful terminal attractor in probability space that corresponds to occurrence of a target trajectory with probability one. The effect in configuration space (ordinary three-dimensional space as commonly perceived) is to suppress exponential divergences of neighboring trajectories without affecting the target trajectory. As a result, the post-instability motion is represented by a set of functions describing the evolution of such statistical quantities as expectations and higher moments, and this representation is stable.

Zak, Michail↗

NASA NTRS2011

Lidar Systems for Precision Navigation and Safe Landing on Planetary Bodies

The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of robotic and manned vehicles with a high degree of precision. Currently, NASA is developing novel lidar sensors aimed at needs of future planetary landing missions. These lidar sensors are a 3-Dimensional Imaging Flash Lidar, a Doppler Lidar, and a Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain that indicate hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase of a landing vehicle, at about 1 km above the ground, can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground relative velocity and distance data allowing for precision navigation to the landing site. Our Doppler lidar utilizes three laser beams pointed to different directions to measure line of sight velocities and ranges to the ground from altitudes of over 2 km. Throughout the landing trajectory starting at altitudes of about 20 km, the Laser Altimeter can provide very accurate ground relative altitude measurements that are used to improve the vehicle position knowledge obtained from the vehicle navigation system. At altitudes from approximately 15 km to 10 km, either the Laser Altimeter or the Flash Lidar can be used to generate contour maps of the terrain, identifying known surface features such as craters, to perform Terrain relative Navigation thus further reducing the vehicle s relative position error. This paper describes the operational capabilities of each lidar sensor and provides a status of their development. Keywords: Laser Remote Sensing, Laser Radar, Doppler Lidar, Flash Lidar, 3-D Imaging, Laser Altimeter, Precession Landing, Hazard Detection

Amzajerdian, Farzin↗

DOE OSTI2021

Validation and Demonstration of Control System Functional Capabilities within the IES Plug-and-Play Simulation Environment

The concept of an integrated energy system (IES) is meant to combine different energy technologies in synergistic ways to achieve a more secure and economical energy supply. The RAVEN-based HYBRID framework is used to find the optimal installed capacity and the optimal economical dispatch of each component of the IES. The new RAVEN plugin for grid and capacity optimization (HERON) only addresses the limits that affect the production variables and the corresponding rates of variation (explicit constraints). However, other variables are subject to constraints, and the associated limits should be accounted for (implicit constraints). In particular, for the power dispatch problem, the optimization algorithm takes into account the limits on the electrical power output and the corresponding hourly power variations but does not consider other constraints on process variables whose response affects the service life of the IES. This report describes a scheme that allows accounting for implicit constraints without increasing the size of the optimization problem. To obtain a more accurate approximation of the nonlinear dynamic behavior, a parametric version of the dynamic mode decomposition with control (DMDc) algorithm was developed to derive the state-space representation matrices of the IES components at different scheduling parameter. Thanks to this approach, a more accurate approximation of the system response can be obtained, the limits imposed by thermal mechanical implicit constraints can be translated into power dispatch limits, and the feedbacks to HERON power dispatcher can be provided. To assess the developed methodology, a power dispatching test case composed of three power generating and storage units (Balance of Plant, Secondary Energy Source, Thermal Energy Storage) was developed. The power output of each one of the three units was optimized to meet the imposed time-dependent load demand trajectory and to maximize the IES profitability by meeting both the explicit and implicit constraints.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2021

Toward a Generalizable Framework of Disturbance Ecology Through Crowdsourced Science

Disturbances fundamentally alter ecosystem functions, yet predicting their impacts remains a key scientific challenge. While the study of disturbances is ubiquitous across many ecological disciplines, there is no agreed-upon, cross-disciplinary foundation for discussing or quantifying the complexity of disturbances, and no consistent terminology or methodologies exist. This inconsistency presents an increasingly urgent challenge due to accelerating global change and the threat of interacting disturbances that can destabilize ecosystem responses. By harvesting the expertise of an interdisciplinary cohort of contributors spanning 42 institutions across 15 countries, we identified an essential limitation in disturbance ecology: the word ‘disturbance’ is used interchangeably to refer to both the events that cause, and the consequences of, ecological change, despite fundamental distinctions between the two meanings. In response, we developed a generalizable framework of ecosystem disturbances, providing a well-defined lexicon for understanding disturbances across perspectives and scales. The framework results from ideas that resonate across multiple scientific disciplines and provides a baseline standard to compare disturbances across fields. This framework can be supplemented by discipline-specific variables to provide maximum benefit to both inter- and intra-disciplinary research. To support future syntheses and meta-analyses of disturbance research, we also encourage researchers to be explicit in how they define disturbance drivers and impacts, and we recommend minimum reporting standards that are applicable regardless of scale. Finally, we discuss the primary factors we considered when developing a baseline framework and propose four future directions to advance our interdisciplinary understanding of disturbances and their social-ecological impacts: integrating across ecological scales, understanding disturbance interactions, establishing baselines and trajectories, and developing process-based models and ecological forecasting initiatives. Our experience through this process motivates us to encourage the wider scientific community to continue to explore new approaches for leveraging Open Science principles in generating creative and multidisciplinary ideas.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1979

VTOL controls for shipboard landing

The problem of landing a VTOL aircraft on a small ship in rough seas using an automatic controller is examined. The controller design uses the linear quadratic Gaussian results of modern control theory. Linear time invariant dynamic models are developed for the aircraft, ship, and wave motions. A hover controller commands the aircraft to track position and orientation of the ship deck using only low levels of control power. Commands for this task are generated by the solution of the steady state linear quadratic gaussian regulator problem. Analytical performance and control requirement tradeoffs are obtained. A landing controller commands the aircraft from stationary hover along a smooth, low control effort trajectory, to a touchdown on a predicted crest of ship motion. The design problem is formulated and solved as an approximate finite-time linear quadratic stochastic regulator. Performance and control results are found by Monte Carlo simulations.

Mcmuldroch, C. G.↗

NASA NTRS1980

To encounter a star - The Solar Probe mission

Trajectory and technology requirements for the Solar Probe mission, whereby a spacecraft will attain a perihelion of a few solar radii, are discussed. Planetary gravity assist trajectories are considered that use Jupiter and possibly the earth, and that are needed for large payloads to be carried. Hardware technology development includes a lightweight thermal shield, a high energy propulsion module, and new power generation capability. Also discussed are a drag compensation system making the spacecraft drag free to a level of 10 to the -10th g, and a telecommunications system with doppler tracking accuracy of 0.1 mm/sec.

Randolph, J. E.↗

NASA NTRS1987

Types of planetary tori

While satellite tori are morphologically similar, they divide into dynamically distinct groups whose global balances of ions and neutrals are presently modeled in order to determine how a torus behaves as a consequence of whether it generates itself and whether it disperses or recombines in place. Six possible types of behavior result; attention is given to the equilibrium and stability of each type. The behavior of a perturbation is characterized by a trajectory in the two-dimensional space formed by the ion density and neutral density perturbations. The equilibrium is stable if a perturbation follows its trajectory toward the origin, but is unstable if the motion is away from it. An attempt is made to classify the Jupiter and Saturn tori in this light.

Huang, T. S.↗

NASA NTRS1988

Tracking and stationkeeping for free-flying robots using sliding surfaces

The authors use the concept of sliding surfaces for generating two types of tracking control laws for a free-flying robot engaged in zero-gravity assembly tasks. Suction control, developed elsewhere for controlling manipulators with stationary bases, is used here to track workspace trajectories for manipulators mounted on mobile platforms. Zone control is formulated for the purpose of stationkeeping a robot maneuvering unit during payload manipulation. Experimental results are described for tests performed on an air-bearing robot tracking payload trajectories along a glass surface.

Carignan, Craig R.↗