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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS2024

A Koopman-based residual modeling approach for the control of a soft robot arm

Soft robots are challenging to model and control due to their poorly defined kinematics and nonlinear dynamics. Recently, Koopman operator theory has been shown capable of constructing control-oriented soft robot models from data. However, building these models requires extensive data collection and they do not necessarily generalize well outside of the training observations. This paper presents a more data-efficient and generalizable approach to soft robot modeling that first identifies a physics-based Koopman model then supplements it with a data-driven residual Koopman model. The resulting combined model is linear and thus compatible with real-time model-based control techniques such as Model Predictive Control (MPC). The efficacy of the approach is demonstrated on several simulated systems and on a real soft robot arm, where it is shown to generate models that are more accurate than purely physics-based models and require less data to construct than purely data-driven models. Using a model-based controller, the soft arm is able to successfully track end effector trajectories, perform a pick-and-place task, and write on a dry-erase board, showcasing the applicability of this framework to increase the capabilities of soft robotic systems.

Daniel Bruder↗
DOE OSTI2014

Response to “Comment on ‘Rethinking first-principles electron transport theories with projection operators: The problems caused by partitioning the basis set’” [J. Chem. Phys. 140, 177103 (2014)]

The thesis of Brandbyge's comment [J. Chem. Phys. 140, 177103 (2014)] is that our operator decoupling condition is immaterial to transport theories, and it appeals to discussions of nonorthogonal basis sets in transport calculations in its arguments. We maintain that the operator condition is to be preferred over the usual matrix conditions and subsequently detail problems in the existing approaches. From this operator perspective, we conclude that nonorthogonal projectors cannot be used and that the projectors must be selected to satisfy the operator decoupling condition. Because these conclusions pertain to operators, the choice of basis set is not germane.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2017

Gaseous swelling of U 3 Si 2 during steady-state LWR operation: A rate theory investigation

Rate theory simulations of fission gas behavior in U 3 Si 2 are reported for light water reactor (LWR) steady-state operation scenarios. We developed a model of U 3 Si 2 and implemented into the GRASS-SST code based on available research reactor post-irradiation examination (PIE) data, and density functional theory (DFT) calculations of key material properties. Simplified peripheral models were also introduced to capture the fuel-cladding interaction. The simulations identified three regimes of U 3 Si 2 swelling behavior between 390 K and 1190 K. Under typical steady-state LWR operating conditions where U 3 Si 2 temperature is expected to be below 1000 K, intragranular bubbles are dominant and fission gas is retained in those bubbles. The consequent gaseous swelling is low and associated degradation in the fuel thermal conductivity is also limited. Those predictions of U 3 Si 2 performance during steady-state operations in LWRs suggest that this fuel material is an appropriate LWR candidate fuel material. Fission gas behavior models established based on this work are being coupled to the thermo-mechanical simulation of the fuel behavior using the BISON fuel performance multi-dimensional finite element code.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
NASA NTRS2013

Earth-Moon Libration Point Orbit Stationkeeping: Theory, Modeling and Operations

Collinear Earth-Moon libration points have emerged as locations with immediate applications. These libration point orbits are inherently unstable and must be maintained regularly which constrains operations and maneuver locations. Stationkeeping is challenging due to relatively short time scales for divergence effects of large orbital eccentricity of the secondary body, and third-body perturbations. Using the Acceleration Reconnection and Turbulence and Electrodynamics of the Moon's Interaction with the Sun (ARTEMIS) mission orbit as a platform, the fundamental behavior of the trajectories is explored using Poincare maps in the circular restricted three-body problem. Operational stationkeeping results obtained using the Optimal Continuation Strategy are presented and compared to orbit stability information generated from mode analysis based in dynamical systems theory.

Folta, David C.↗
DOE OSTI2014

Comment on “Rethinking first-principles electron transport theories with projection operators: The problems caused by partitioning the basis set” [J. Chem. Phys. 139, 114104 (2013)]

In a recent paper Reuter and Harrison [J. Chem. Phys. 139, 114104 (2013)] question the widely used mean-field electron transport theories, which employ nonorthogonal localized basis sets. They claim these can violate an “implicit decoupling assumption,” leading to wrong results for the current, different from what would be obtained by using an orthogonal basis, and dividing surfaces defined in real-space. We argue that this assumption is not required to be fulfilled to get exact results. We show how the current/transmission calculated by the standard Greens function method is independent of whether or not the chosen basis set is nonorthogonal, and that the current for a given basis set is consistent with divisions in real space. The ambiguity known from charge population analysis for nonorthogonal bases does not carry over to calculations of charge flux.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2015

A new look at the position operator in quantum theory

The postulate that coordinate and momentum representations are related to each other by the Fourier transform has been accepted from the beginning of quantum theory by analogy with classical electrodynamics. As a consequence, an inevitable effect in standard theory is the wave packet spreading (WPS) of the photon coordinate wave function in directions perpendicular to the photon momentum. This leads to the following paradoxes: if the major part of photons emitted by stars are in wave packet states (what is the most probable scenario) then we should see not separate stars but only an almost continuous background from all stars; no anisotropy of the CMB radiation should be observable; data on gamma-ray bursts, signals from directional radio antennas (in particular, in experiments on Shapiro delay) and signals from pulsars show no signs of WPS. In addition, a problem arises why there are no signs of WPS for protons in the LHC ring. We argue that the above postulate is based neither on strong theoretical arguments nor on experimental data and propose a new consistent definition of the position operator. Then WPS in directions perpendicular to the particle momentum is absent and the paradoxes are resolved. Different components of the new position operator do not commute with each other and, as a consequence, there is no wave function in coordinate representation. Implications of the results for entanglement, quantum locality and the problem of time in quantum theory are discussed.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
NASA NTRS1973

The theory, design, and operation of the suppressed carrier data-aided tracking receiver

A viable, efficient, and easily mechanized carrier regenerating receiver for use in suppressed carrier-tracking system is described. The receiver referred to as a data-aided receiver (DAR) incorporates a data-aided loop (DAL) which provides the required carrier reference signal. The DAL employs the principle of decision feedback and as such is more efficient than other forms of suppressed carrier-tracking loops. The analysis, design, and implementation of the DAR are covered in detail. Performance comparisons and mechanization tradeoffs are made, wherever possible, with discrete carrier systems and other suppressed carrier systems presently in use. Experimental performance verification is given throughout in support of the theory presented.

Simon, M. K.↗
DOE OSTI2022

Development of theory and experimental operational framework for Coherent Thomson Scattering (Final Technical Report)

The research carried out explored and proved the feasibility and operational framework of a new diagnostic technique termed Coherent Thomson Scattering (CTS) for electrons in a low temperature plasma. The work is performed in collaboration with the Princeton Collaborative Research Facility (PCRF) at Princeton Plasma Physics Laboratory. The novel technique builds on an established and demonstrated single shot diagnostic method, called Coherent Rayleigh-Brillouin scattering, which has successfully been applied in neutral flows. The proposed novel four wave mixing diagnostic technique of CTS will allow for higher spatial resolution and lower detectable number densities for the electrons than conventional Thomson scattering. In this project we developed the theoretical framework for Coherent Thomson Scattering as well as the specification of the appropriate operational experimental parameters for successful CTS implementation in e.g. a low temperature plasma. Additionally, the mode of operation and the detection limits for a practical CTS experimental demonstration were explored. Ultimately, successful experimental demonstration of CTS can be seen as transformative in a multitude of plasma physics areas, since it will allow for detailed, non-perturbative measurements of electron density and temperature, previously unattainable by other measurement techniques. This project was the first successful step towards this direction.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS2010

The Application of Modeling and Simulation in Capacity Management within the ITIL Framework

Tightly integrating modeling and simulation techniques into Information Technology Infrastructure Library (ITIL) practices can be one of the driving factors behind a successful and cost-effective capacity management effort for any Information Technology (IT) system. ITIL is a best practices framework for managing IT infrastructure, development and operations. Translating ITIL theory into operational reality can be a challenge. This paper aims to highlight how to best integrate modeling and simulation into an ITIL implementation. For cases where the project team initially has difficulty gaining consensus on investing in modeling and simulation resources, a clear definition for M&S implementation into the ITIL framework, specifically its role in supporting Capacity Management, is critical to gaining the support required to garner these resources. This implementation should also help to clearly define M&S support to the overall system mission. This paper will describe the development of an integrated modeling approach and how best to tie M&S to definitive goals for evaluating system capacity and performance requirements. Specifically the paper will discuss best practices for implementing modeling and simulation into ITIL. These practices hinge on implementing integrated M&S methods that 1) encompass at least two or more predictive modeling techniques, 2) complement each one's respective strengths and weaknesses to support the validation of predicted results, and 3) are tied to the system's performance and workload monitoring efforts. How to structure two forms of modeling: statistical and simUlation in the development of "As Is" and "To Be" efforts will be used to exemplify the integrated M&S methods. The paper will show how these methods can better support the project's overall capacity management efforts.

Rahmani, Sonya↗
DOE OSTI2018

A one-dimensional theory for Higgs branch operators

We use supersymmetric localization to calculate correlation functions of half-BPS local operators in 3d N=4 superconformal field theories whose Lagrangian descriptions consist of vectormultiplets coupled to hypermultiplets. The operators we primarily study are certain twisted linear combinations of Higgs branch operators that can be inserted anywhere along a given line. These operators are constructed from the hypermultiplet scalars. They form a one-dimensional non-commutative operator algebra with topological correlation functions. The 2- and 3-point functions of Higgs branch operators in the full 3d N=4 theory can be simply inferred from the 1d topological algebra. After conformally mapping the 3d superconformal field theory from flat space to a round three-sphere, we preform supersymmetric localization using a supercharge that does not belong to any 3d N=2 subalgebra of the N=4 algebra. The result is a simple model that can be used to calculate correlation functions in the 1d topological algebra mentioned above. This model is a 1d Gaussian theory coupled to a matrix model, and it can be viewed as a gauge-fixed version of a topological gauged quantum mechanics. Our results generalize to non-conformal theories on S3 that contain real mass and Fayet-Iliopolous parameters. In conclusion, we also provide partial results in the 1d topological algebra associated with the Coulomb branch, where we calculate correlation functions of local operators built from the vectormultiplet scalars.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗