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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Dual-arm manipulators with adaptive control

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗
NASA NTRS2011

Development and Deployment of Robonaut 2 to the International Space Station

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Ambrose, Robert O.↗
NASA NTRS2011

G-DYN Multibody Dynamics Engine

G-DYN is a multi-body dynamic simulation software engine that automatically assembles and integrates equations of motion for arbitrarily connected multibody dynamic systems. The algorithm behind G-DYN is based on a primal-dual formulation of the dynamics that captures the position and velocity vectors (primal variables) of each body and the interaction forces (dual variables) between bodies, which are particularly useful for control and estimation analysis and synthesis. It also takes full advantage of the spare matrix structure resulting from the system dynamics to numerically integrate the equations of motion efficiently. Furthermore, the dynamic model for each body can easily be replaced without re-deriving the overall equations of motion, and the assembly of the equations of motion is done automatically. G-DYN proved an essential software tool in the simulation of spacecraft systems used for small celestial body surface sampling, specifically in simulating touch-and-go (TAG) maneuvers of a robotic sampling system from a comet and asteroid. It is used extensively in validating mission concepts for small body sample return, such as Comet Odyssey and Galahad New Frontiers proposals.

Acikmese, Behcet↗
DOE OSTI2024

Fluid-structure interaction solver for transient dynamics of fracturing media

Computer implemented methods include providing a numerical simulation solid mesh comprising a plurality of solid nodes and a numerical simulation fluid mesh comprising a plurality of fluid nodes, and performing a numerical simulation with the solid mesh and fluid mesh including: determining a fluid-solid interaction between the fluid mesh and the solid mesh at a time step by (i) immersing boundaries of the solid and fluid meshes, (ii) computing current corrected fluid and solid velocities using an interaction parameter applied to an intermediate fluid-solid relative velocity, and (iii) computing a fluid-solid interaction force based on the current corrected fluid and solid velocities.

Rougier, Esteban↗
NASA NTRS1984

The movement of particles in liquid metals under gravity forces and the interaction of particles with advancing solid-liquid interface

The problems of shrinkage and gas porosity are discussed. Gravity forces enhance the removal of gas bubbles from a metal melt and contribute to the feeding of shrinkage porosity in castings. Experiments are reviewed which determine how large a density difference is required for metal particles to float or sink in a metal melt and to what extent do factors not considered in Stokes Law influence particle movement in a real system. As to the interaction of particles with an advancing solid-liquid interface, the results indicate that the metal particles are not rejected in a metal melt, and that concentrations of particles in a metal following solidification are due to other factors.

Weinberg, F.↗
NASA NTRS1996

Understanding gas-surface interactions from direct force measurements using a specialized torsion balance

The first comprehensive measurements of the magnitude and direction of the forces exerted on surfaces by molecular beams are discussed and used to obtain information about the microscopic properties of the gas-surface interactions. This unique approach is not based on microscopic measurements of the scattered molecules. The reduced force coefficients are introduced as a new set of parameters that completely describe the macroscopic average momentum transfer to a surface by an incident molecular beam. By using a specialized torsion balance and molecular beams of N2, CO, CO2, and H2, the reduced force coefficients are determined from direct measurements of the force components exerted on surface of a solar panel array material, Kapton, SiO2-coated Kapton, and Z-93 as a function of the angle of incidence ranging from 0 degrees to 85 degrees. The absolute flux densities of the molecular beams were measured using a different torsion balance with a beam-stop that nullified the force of the scattered molecules. Standard time-of-flight techniques were used to determine the flux-weighted average velocities of the various molecular beams ranging from 1600 m/s to 4600 m/s. The reduced force coefficients can be used to directly obtain macroscopic average properties of the scattered molecules, such as the flux-weighted average velocity and translational energy, that can then be used to determine microscopic details concerning gas-surface interactions without the complications associated with averaging microscopic measurements.

Measuring Methods↗
NASA NTRS1994

Simulation of Tip-Sample Interaction in the Atomic Force Microscope

Recent simulations of the interaction between planar surfaces and model Atomic Force Microscope (AFM) tips have suggested that there are conditions under which the tip may become unstable and 'avalanche' toward the sample surface. Here we investigate via computer simulation the stability of a variety of model AFM tip configurations with respect to the avalanche transition for a number of fcc metals. We perform Monte-Carlo simulations at room temperature using the Equivalent Crystal Theory (ECT) of Smith and Banerjea. Results are compared with recent experimental results as well as with our earlier work on the avalanche of parallel planar surfaces. Our results on a model single-atom tip are in excellent agreement with recent experiments on tunneling through mechanically-controlled break junctions.

Good, Brian S.↗
DOE OSTI2023

Magnetogenesis from early structure formation due to Yukawa forces

Yukawa interactions can mediate relatively long-range attractive forces between fermions in the early universe. Such a globally attractive interaction creates an instability that can result in the growth of structure in the affected species even during the radiation dominated era. The formation and collapse of fermionic microhalos can create hot fireballs at the sites of the collapsing halos which inject energy into the cosmic plasma. In this paper we study a new phenomena which can take place in such models. We show that the injected energy can be partially converted into primordial magnetic fields and we estimate the correlation scale and the power spectrum of these fields. We show that they may be the seeds of the observed astrophysical magnetic fields.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2008

Analytical Model of the Nonlinear Dynamics of Cantilever Tip-Sample Surface Interactions for Various Acoustic-Atomic Force Microscopies

A comprehensive analytical model of the interaction of the cantilever tip of the atomic force microscope (AFM) with the sample surface is developed that accounts for the nonlinearity of the tip-surface interaction force. The interaction is modeled as a nonlinear spring coupled at opposite ends to linear springs representing cantilever and sample surface oscillators. The model leads to a pair of coupled nonlinear differential equations that are solved analytically using a standard iteration procedure. Solutions are obtained for the phase and amplitude signals generated by various acoustic-atomic force microscope (A-AFM) techniques including force modulation microscopy, atomic force acoustic microscopy, ultrasonic force microscopy, heterodyne force microscopy, resonant difference-frequency atomic force ultrasonic microscopy (RDF-AFUM), and the commonly used intermittent contact mode (TappingMode) generally available on AFMs. The solutions are used to obtain a quantitative measure of image contrast resulting from variations in the Young modulus of the sample for the amplitude and phase images generated by the A-AFM techniques. Application of the model to RDF-AFUM and intermittent soft contact phase images of LaRC-cp2 polyimide polymer is discussed. The model predicts variations in the Young modulus of the material of 24 percent from the RDF-AFUM image and 18 percent from the intermittent soft contact image. Both predictions are in good agreement with the literature value of 21 percent obtained from independent, macroscopic measurements of sheet polymer material.

Cantrell, John H., Jr.↗
DOE OSTI2024

Changing effects of external forcing on Atlantic–Pacific interactions

Recent studies have highlighted the increasingly dominant role of external forcing in driving Atlantic and Pacific Ocean variability during the second half of the 20th century. This paper provides insights into the underlying mechanisms driving interactions between modes of variability over the two basins. We define a set of possible drivers of these interactions and apply causal discovery to reanalysis data, two ensembles of pacemaker simulations where sea surface temperatures in either the tropical Pacific or the North Atlantic are nudged to observations, and a pre-industrial control run. We also utilize large-ensemble means of historical simulations from the Coupled Model Intercomparison Project Phase 6 (CMIP6) to quantify the effect of external forcing and improve the understanding of its impact. A causal analysis of the historical time series between 1950 and 2014 identifies a regime switch in the interactions between major modes of Atlantic and Pacific climate variability in both reanalysis and pacemaker simulations. A sliding window causal analysis reveals a decaying El Niño–Southern Oscillation (ENSO) effect on the Atlantic as the North Atlantic fluctuates towards an anomalously warm state. The causal networks also demonstrate that external forcing contributed to strengthening the Atlantic's negative-sign effect on ENSO since the mid-1980s, where warming tropical Atlantic sea surface temperatures induce a La Niña-like cooling in the equatorial Pacific during the following season through an intensification of the Pacific Walker circulation. The strengthening of this effect is not detected when the historical external forcing signal is removed in the Pacific pacemaker ensemble. The analysis of the pre-industrial control run supports the notion that the Atlantic and Pacific modes of natural climate variability exert contrasting impacts on each other even in the absence of anthropogenic forcing. The interactions are shown to be modulated by the (multi)decadal states of temperature anomalies of both basins with stronger connections when these states are “out of phase”. We show that causal discovery can detect previously documented connections and provides important potential for a deeper understanding of the mechanisms driving changes in regional and global climate variability.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Droplet collection efficiencies inferred from satellite retrievals constrain effective radiative forcing of aerosol–cloud interactions

Abstract. Process-oriented observational constraints for the anthropogenic effective radiative forcing due to aerosol–cloud interactions (ERFaci) are highly desirable because the uncertainty associated with ERFaci poses a significant challenge to climate prediction. The contoured frequency by optical depth diagram (CFODD) analysis supports the evaluation of model representation of cloud liquid-to-rain conversion processes because the slope of a CFODD, generated from joint MODerate Resolution Imaging Spectroradiometer (MODIS)-CloudSat cloud retrievals, provides an estimate of cloud droplet collection efficiency in single-layer warm liquid clouds. Here, we present an updated CFODD analysis as an observational constraint on the ERFaci due to warm rain processes and apply it to the U.S. Department of Energy's Energy Exascale Earth System Model version 2 (E3SMv2). A series of sensitivity experiments shows that E3SMv2 droplet collection efficiencies and ERFaci are highly sensitive to autoconversion, i.e., the rate of mass transfer from cloud liquid to rain, yielding a strong correlation between the CFODD slope and the shortwave component of ERFaci (ERFaciSW; Pearson's R=-0.91). E3SMv2's CFODD slope (0.20 ± 0.04) is in agreement with observations (0.20 ± 0.03). The strong sensitivity of ERFaciSW to the CFODD slope provides a useful constraint on highly uncertain warm rain processes, whereby ERFaciSW, constrained by MODIS-CloudSat, is estimated by calculating the intercept of the linear association between the ERFaciSW and the CFODD slopes, using the MODIS-CloudSat CFODD slope as a reference.

Beall, Charlotte M. (ORCID:0000000311370835)↗
DOE OSTI2023

Compressible pairwise interaction extended point-particle model for force prediction of shock-particle bed interaction

We propose a pairwise influence framework for the complex unsteady compressible particle-laden flow problem by accounting for the scattered hydrodynamic waves emitting from neighboring particles in a Euler-Lagrange simulation. It has been observed from particle-resolved (PR) simulations of randomly dispersed particle beds under a loading shock that the compressible pseudoturbulence dominates the flow system even after the primary shock has passed, which causes fluctuations observed in the forces experienced by the particle. Moreover, the fact that each particle exists in the vicinity of a random arrangement of other particles modifies the time history of the drag force experienced by each particle during and after the passage of the shock. First, the scattering flow field due to an incoming shock interacting with a single sphere is constructed using an analysis of the flow in the acoustic limit. Then we examine the validity of the compressible Maxey-Riley-Gatignol force model by comparing the force prediction against a PR simulation of two interacting particles for various particle arrangements and incoming shock strength. Subsequently, the neighboring influences are stored as a library of maps that can be used readily in the calculation of the perturbation force. Lastly, the pairwise interaction assumption is evaluated by comparing the force predicted with the model with PR simulations of a randomly packed particle bed of 10% volume fraction for both water and air as the fluid medium for an incoming shock Mach number 1.22. With a considerably lower cost for the implementation of the model compared to PR simulations, it is verified that the model is reasonably accurate in pinpointing particles whose peak force is significantly larger or smaller than the mean drag but also to capture the prolonged fluctuations after the initial shock.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
NASA NTRS2005

Global Impacts of Gas-Phase Chemistry-Aerosol Interactions on Direct Radiative Forcing by Anthropogenic Aerosols and Ozone

We present here a first global modeling study on the influence of gas-phase chemistry/aerosol interactions on estimates of anthropogenic forcing by tropospheric O3 and aerosols. Concentrations of gas-phase species and sulfate, nitrate, ammonium, black carbon, primary organic carbon, secondary organic carbon, sea salt, and mineral dust aerosols in the preindustrial, present-day, and year 2100 (IPCC SRES A2) atmospheres are simulated online in the Goddard Institute for Space Studies general circulation model II' (GISS GCM II'). With fully coupled chemistry and aerosols, the preindustrial, presentday, and year 2100 global burdens of tropospheric ozone are predicted to be 190, 319, and 519 Tg, respectively. The burdens of sulfate, nitrate, black carbon, and organic carbon are predicted respectively to be 0.32. 0.18, 0.01, 0.33 Tg in preindustrial time, 1.40, 0.48, 0.23, 1.60 Tg in presentday, and 1.37, 1.97, 0.54, 3.31 Tg in year 2100. Anthropogenic O3 is predicted to have a globally and annually averaged present-day forcing of +0.22 W m(sup -2) and year 2100 forcing of +0.57 W m(sup -2) at the top of the atmosphere (TOA). Net anthropogenic TOA forcing by internally mixed sulfate, nitrate, organic carbon, and black carbon aerosols is estimated to be virtually zero in the present-day and +0.34 W m(sup -2) in year 2100, whereas it is predicted to be -0.39 W m(sup -2) in present-day and -0.61 W m(sup -2) in year 2100 if the aerosols are externally mixed. Heterogeneous reactions are shown to be important in affecting anthropogenic forcing. When reactions of N2O5, NO3, NO2, and HO2 on aerosols are accounted for, TOA anthropogenic O3 forcing is less by 20-45% in present-day and by 20-32% in year 2100 at mid to high latitudes in the Northern Hemisphere, as compared with values predicted in the absence of heterogeneous gas aerosol reactions. Mineral dust uptake of HNO3 and O3 is shown to have practically no influence on anthropogenic O3 forcing. Heterogeneous reactions of N2Os, NO3, NO2, and HO2 are predicted to have noticeable impacts on anthropogenic aerosol forcing over industrialized areas, leading to 0-2 W m(sup -2) more anthropogenic aerosol cooling in present-day and 2-8 W m(sup -2) more cooling in year 2100 in these areas as compared with forcings calculated in the absence of heterogeneous reactions. Sea salt uptake of SO2 reduces the magnitude of TOA aerosol cooling by 0.5-1 W m(sup -2) over the oceans around 60 N in the present-day and year 2100 scenarios. Near dust sources, mineral dust uptake of SO2 and HNO3 leads to less anthropogenic aerosol cooling by 0.5-1 W m(sup -2) in the present day and 1-2 W m(sup -2) in year 2100.

Liao, Hong↗
DOE OSTI2022

Assessing effective radiative forcing from aerosol–cloud interactions over the global ocean

How clouds respond to anthropogenic sulfate aerosols is one of the largest sources of uncertainty in the radiative forcing of climate over the industrial era. This uncertainty limits our ability to predict equilibrium climate sensitivity (ECS)—the equilibrium global warming following a doubling of atmospheric CO 2 . Here, we use satellite observations to quantify relationships between sulfate aerosols and low-level clouds while carefully controlling for meteorology. We then combine the relationships with estimates of the change in sulfate concentration since about 1850 to constrain the associated radiative forcing. We estimate that the cloud-mediated radiative forcing from anthropogenic sulfate aerosols is − 1.11 ± 0.43 W m −2 over the global ocean (95% confidence). This constraint implies that ECS is likely between 2.9 and 4.5 K (66% confidence). Our results indicate that aerosol forcing is less uncertain and ECS is probably larger than the ranges proposed by recent climate assessments.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1985

Spacecraft environmental interactions: A joint Air Force and NASA research and technology program

A joint Air Force/NASA comprehensive research and technology program on spacecraft environmental interactions to develop technology to control interactions between large spacecraft systems and the charged-particle environment of space is described. This technology will support NASA/Department of Defense operations of the shuttle/IUS, shuttle/Centaur, and the force application and surveillance and detection missions, planning for transatmospheric vehicles and the NASA space station, and the AFSC military space system technology model. The program consists of combined contractual and in-house efforts aimed at understanding spacecraft environmental interaction phenomena and relating results of ground-based tests to space conditions. A concerted effort is being made to identify project-related environmental interactions of concern. The basic properties of materials are being investigated to develop or modify the materials as needed. A group simulation investigation is evaluating basic plasma interaction phenomena to provide inputs to the analytical modeling investigation. Systems performance is being evaluated by both groundbased tests and analysis.

Pike, C. P.↗