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At least 1,261 records · Page 70

A general dynamic model of flexible robot arms for control

Hamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.

Ding, X.↗

Axially symmetric pulse propagation in semi-infinite hollow cylinders

The effects of dispersion and end conditions on axially symmetric pulse propagation in semiinfinite tubes are investigated. Numerical modeling of the dynamic response is accomplished using a stable and efficient finite element and wave propagation based method. This method yields the dispersive and modal data required to express displacements in a frequency domain modal expansion. Boundary conditions are applied to the tube end to obtain mode amplitudes. A fast Fourier transform is then used to get the time response. The specific end conditions considered are intended to give some insight into how the tube would behave as a member of a jointed truss structure.

Kohl, T.↗

Brain segmentation and the generation of cortical surfaces

This paper describes methods for white matter segmentation in brain images and the generation of cortical surfaces from the segmentations. We have developed a system that allows a user to start with a brain volume, obtained by modalities such as MRI or cryosection, and constructs a complete digital representation of the cortical surface. The methodology consists of three basic components: local parametric modeling and Bayesian segmentation; surface generation and local quadratic coordinate fitting; and surface editing. Segmentations are computed by parametrically fitting known density functions to the histogram of the image using the expectation maximization algorithm [DLR77]. The parametric fits are obtained locally rather than globally over the whole volume to overcome local variations in gray levels. To represent the boundary of the gray and white matter we use triangulated meshes generated using isosurface generation algorithms [GH95]. A complete system of local parametric quadratic charts [JWM+95] is superimposed on the triangulated graph to facilitate smoothing and geodesic curve tracking. Algorithms for surface editing include extraction of the largest closed surface. Results for several macaque brains are presented comparing automated and hand surface generation. Copyright 1999 Academic Press.

NASA Discipline Neuroscience↗

Electrical Resistance of SiC/SiC Ceramic Matrix Composites for Damage Detection and Life-Prediction

Ceramic matrix composites (CMC) are suitable for high temperature structural applications such as turbine airfoils and hypersonic thermal protection systems due to their low density high thermal conductivity. The employment of these materials in such applications is limited by the ability to accurately monitor and predict damage evolution. Current nondestructive methods such as ultrasound, x-ray, and thermal imaging are limited in their ability to quantify small scale, transverse, in-plane, matrix cracks developed over long-time creep and fatigue conditions. CMC is a multifunctional material in which the damage is coupled with the material s electrical resistance, providing the possibility of real-time information about the damage state through monitoring of resistance. Here, resistance measurement of SiC/SiC composites under mechanical load at both room temperature monotonic and high temperature creep conditions, coupled with a modal acoustic emission technique, can relate the effects of temperature, strain, matrix cracks, fiber breaks, and oxidation to the change in electrical resistance. A multiscale model can in turn be developed for life prediction of in-service composites, based on electrical resistance methods. Results of tensile mechanical testing of SiC/SiC composites at room and high temperatures will be discussed. Data relating electrical resistivity to composite constituent content, fiber architecture, temperature, matrix crack formation, and oxidation will be explained, along with progress in modeling such properties.

Smith, Craig↗

Space Flight Cable Model Development

This work concentrates the modeling efforts presented in last year's VSGC conference paper, "Model Development for Cable-Harnessed Beams." The focus is narrowed to modeling of space-flight cables only, as a reliable damped cable model is not yet readily available and is necessary to continue modeling cable-harnessed space structures. New experimental data is presented, eliminating the low-frequency noise that plagued the first year's efforts. The distributed transfer function method is applied to a single section of space flight cable for Euler-Bernoulli and shear beams. The work presented here will be developed into a damped cable model that can be incorporated into an interconnected beam-cable system. The overall goal of this work is to accurately predict natural frequencies and modal damping ratios for cabled space structures.

testing↗

A Novel and Practical Method to Quantify the Quality of Mobility: The Mobility Energy Productivity Metric: Preprint

Recent technology innovations are enabling fundamental improvements in mobility systems, including options for new travel modes, methods, and opportunities to connect people with goods, services, and employment. A desire to quantify and compare both existing and emerging transportation options motivated development of the mobility energy productivity (MEP) metric described herein. The MEP metric fundamentally measures the potential of a city's transportation system to connect a person to a variety of services and activities that define a high-quality of life, relative to the convenience, cost and energy needed to provide these connections. Fundamentally derived from accessibility theory, the MEP advances practice by using readily available travel time data (either from web-based application programming interfaces (APIs) or outputs from an urban transportation model) combined with established parameters that reflect the energy intensity and cost of various travel modes, and relative frequency of activity engagement. The construction of the MEP metric allows for aggregation and disaggregation to the appropriate spatial, modal, and trip purpose resolution, as analysis needs dictate. The MEP could be used to compare alternative futures related to technology, infrastructure investment, or policy, providing a much-needed tool for planners, researchers, and analysts.

33 ADVANCED PROPULSION SYSTEMS↗

Liapunov stability analysis of spinning flexible spacecraft.

The attitude stability of a class of spinning flexible spacecraft in a force-free environment is analyzed. The spacecraft is modeled as a rigid core having attached to it a flexible appendage idealized as a collection of elastically interconnected particles. Liapunov stability theorems are employed with the Hamiltonian of the system, constrained through the angular momentum integral so as to admit complete damping, used as a testing function. The Hamiltonian is written in terms of modal coordinates as interpreted by the hybrid coordinate formulation, thus allowing truncation to a level amenable to literal stability analysis. Testing functions are constructed for a spacecraft with an arbitrary (discretized) appendage, and closed form stability criteria are generated for the first mode of a restricted appendage model lying in a plane which contains the center of mass and is orthogonal to the spin axis. The criteria are (except for idealized cases on the stability boundary line in the parameter space) both necessary and sufficient for stability for any spacecraft characterized by the planar appendage model, such as a spacecraft containing solar panels and/or radial booms.

Barbera, F. J.↗

Modal Propellant Gauging: High-resolution and non-invasive gauging of both settled and unsettled liquids in reduced gravity.

The modal response of a liquid-filled tank to external acoustic excitation can be used to infer with high resolutionthe mass of contained liquid, the mass flow rate of liquids into and out of the tank, and changes in tank pressure.Both contained liquid mass and internal ullage pressure affect the modal response of the tank walls through fluidmass-loading of the tank walls and pressure-induced wall stiffening, respectively. Modal Propellant Gauging refersto the technology that exploits these shifts in modal frequencies to infer the mass of propellant in a tank. MPG is anon-invasive gauging technology that has demonstrated gauging resolutions of 1% for settled propellants and 2-3%for unsettled, sloshing propellants. Extensive parabolic flight testing of the MPG system on model tanks has beenconducted to validate the technology in reduced gravity. MPG testing on a qualification tank for the Orion Program'sEuropean Service Module has also been conducted and is reported here. Finite element modeling of the OrionESM "upper" tank is discussed and compared with measurement data. Three computational approaches to massdetermination, Peak Tracking, Point Sensor, and Spectral Density methods, are described here. Use cases are definedand analyzed in the context of the Orion ESM Qualification tank data, and an implementation scheme for continuousmass gauging on the Orion ESM is discussed.Keywords: Propellant Mass Gauging, Modal Analysis, Orion ESM

Propellant Mass Gauging↗

Nonlinear Interface Reduction for Time-Domain Analysis of Hurty/Craig-Bampton Superelements with Frictional Contact

Virtual prototyping in engineering design relies today on modern numerical models of contacting structures with accurate resolution of interface mechanics, which strongly affect the system-level stiffness and energy dissipation due to frictional losses. High-fidelity modeling within the localized interfaces is required to resolve local quantities of interest that may drive design decisions. The high-resolution finite element meshes necessary to resolve inter-component stresses tend to be computationally expensive, particularly when the analyst is interested in response time histories. The Hurty/Craig-Bampton (HCB) transformation is a widely used method in structural dynamics for reducing the interior portion of a finite element model while having the ability to retain all nonlinear contact degrees of freedom (DOF) in physical coordinates. These models may still require many DOF to adequately resolve the kinematics of the interface, leading to inadequate reduction and computational savings. This study proposes a novel interface reduction method to overcome these challenges by means of system-level characteristic constraint (SCC) modes and properly orthogonal interface modal derivatives (POIMDs) for transient dynamic analyses. Both SCC modes and POIMDs are computed using the reduced HCB mass and stiffness matrices, which can be directly computed from many commercial finite element analysis software. Comparison of time history responses to an impulse-type load in a mechanical beam assembly indicate that the interface-reduced model correlates well with the HCB truth model. Localized features like slip and contact area are well-represented in the time domain when the beam assembly is loaded with a broadband excitation. The proposed method also yields reduced-order models with greater critical timestep lengths for explicit integration schemes.

42 ENGINEERING↗

Middeck zero-gravity dynamics experiment - Comparison of ground and flight test data

An analytic and experimental study of the changes in the modal parameters of space structural test articles from one- to zero-gravity is presented. Deployable, erectable, and rotary modules was assembled to form three one- and two-dimensional structures, in which variations in bracing wire and rotary joint preload could be introduced. The structures were modeled as if hanging from a suspension system in one gravity, and unconstrained, as if free floating in zero-gravity. The analysis is compared with ground experimental measurements, made on a spring/wire suspension system with a nominal plunge frequency of one Hertz, and with measurements made on the Shuttle middeck. The degree of change in linear modal parameters as well as the change in nonlinear nature of the response is examined. Trends in modal parameters are presented as a function of force amplitude, joint preload, and ambient gravity level.

Crawley, Edward F.↗

Modal parameters of space structures in 1 G and 0 G

Analytic and experimental results are presented from a study of the changes in the modal parameters of space structural test articles from one- to zero-gravity. Deployable, erectable, and rotary modules was assembled to form three one- and two-dimensional structures, in which variations in bracing wire and rotary joint preload could be introduced. The structures were modeled as if hanging from a suspension system in one gravity, and unconstrained, as if free floating in zero-gravity. The analysis is compared with ground experimental measurements, which were made on a spring-wire suspension system with a nominal plunge frequency of one Hertz, and with measurements made on the Shuttle middeck. The degree of change in linear modal parameters as well as the change in nonlinear nature of the response is examined. Trends in modal parameters are presented as a function of force amplitude, joint preload, reassembly, shipset, suspension, and ambient gravity level.

Bicos, Andrew S.↗

Apollo 17 drive tube 76001 - Modal petrology

Twelve polished thin sections from Apollo 17 drive tube 76001 have been studied by optical petrography. The entire core is found to be mature showing little variation in depth, which is consistent with a depositional model involving slow downslope movement of the regolith by mass wasting. However, within the core some major differences are preserved between two stratigraphic units. Unit A (20-31 cm depth) is enriched in gabbroic anorthosite relative to unit B (0-20 cm depth), while unit B is enriched in KREEPY noritic breccias relative to unit A. This observation is interpreted in terms of a stratigraphy for North Massif involving a noritic breccia unit overlying a unit enriched in gabbroic anorthosite. Pronounced differences between the highland/mare ratios in drive tube 76001 and the Apollo 17 drill core separated by only 3.5 km demonstrate the relative inefficiency of lateral transport as a regolith mixing mechanism on the moon.

Papike, J. J.↗

Object detection with deep learning for rare event search in the GADGET II TPC

In the pursuit of identifying rare two-particle events within the GADGET II Time Projection Chamber (TPC), this paper presents a comprehensive approach for leveraging Convolutional Neural Networks (CNNs) and various data processing methods. To address the inherent complexities of 3D TPC track reconstructions, the data is expressed in 2D projections and 1D quantities. This approach capitalizes on the diverse data modalities of the TPC, allowing for the efficient representation of the distinct features of the 3D events, with no loss in topology uniqueness. Additionally, it leverages the computational efficiency of 2D CNNs and benefits from the extensive availability of pre-trained models. Given the scarcity of real training data for the rare events of interest, simulated events are used to train the models to detect real events. To account for potential distribution shifts when predominantly depending on simulations, significant perturbations are embedded within the simulations. This produces a broad parameter space that works to account for potential physics parameter and detector response variations and uncertainties. These parameter-varied simulations are used to train sensitive 2D CNN object detectors. When combined with 1D histogram peak detection algorithms, this multi-modal detection framework is highly adept at identifying rare, two-particle events in data taken during experiment 21072 at the Facility for Rare Isotope Beams (FRIB), demonstrating a 100% recall for events of interest. Here, we present the methods and outcomes of our investigation and discuss the potential future applications of these techniques.

Convolutional neural network↗

Advances in in situ/operando techniques for catalysis research: enhancing insights and discoveries

Abstract Catalysis research has witnessed remarkable progress with the advent of in situ and operando techniques. These methods enable the study of catalysts under actual operating conditions, providing unprecedented insights into catalytic mechanisms and dynamic catalyst behavior. This review discusses key in situ techniques and their applications in catalysis research. Advances in in situ electron microscopy allow direct visualization of catalysts at the atomic scale under reaction conditions. In situ spectroscopy techniques like X-ray absorption spectroscopy and nuclear magnetic resonance spectroscopy can track chemical states and reveal transient intermediates. Synchrotron-based techniques offer enhanced capabilities for in situ studies. The integration of in situ methods with machine learning and computational modeling provides a powerful approach to accelerate catalyst optimization. However, challenges remain regarding radiation damage, instrumentation limitations, and data interpretation. Overall, continued development of multi-modal in situ techniques is pivotal for addressing emerging challenges and opportunities in catalysis research and technology.

Chen, Linfeng↗

A Representation Fusion Framework for Decoupling Diagnostic Information in Multimodal Learning

Modern medicine increasingly relies on multimodal data, ranging from clinical notes to imaging and genomics, to guide diagnosis and treatment. However, integrating these heterogeneous data sources in a principled and interpretable manner remains a major challenge. We present MODES (Multi-mOdal Disentangled Embedding Space), a representation fusion framework that explicitly separates shared and modality-specific factors of variation, offering a structured latent space for multimodal information that improves both prediction and interpretability. By leveraging pre-trained unimodal foundation models, MODES mitigates the dependency on extensive paired datasets, crucial in data-scarce clinical settings. We introduce a masking strategy that optimizes representation dimensionality by eliminating low-information dimensions, to achieve compact, information-rich representations. Our framework demonstrates superior performance in predicting diagnoses and phenotypes compared to unimodal and conventional fusion models. MODES also enables robust diagnostic inference in missing data scenarios, offering an opportunity toward interpretable and efficient multimodal diagnostics in personalized healthcare.

60 APPLIED LIFE SCIENCES↗

Control of Dipolar Dynamics by Geometrical Programming

We propose and theoretically analyze methods for quantum many-body control through geometric reshaping of molecular tweezer arrays. Dynamic rearrangement during entanglement is readily available due to the extended coherence times of molecular rotational qubits. We show how motional dephasing can be suppressed and enhanced spin squeezing can be achieved in an actively rearranged short-range XY model. We also analyze in detail a specific static geometry that significantly suppresses decoherence. These general methods as applied to programmable quantum systems offer robust control modalities that are well suited to molecules.

optical tweezers↗

Connecting Material Properties and Redox Flow Cell Cycling Performance through Zero-Dimensional Models

Improvements in redox flow battery (RFB) performance and durability can be achieved through the development of new active materials, electrolytes, and membranes. While a rich design space exists for emerging materials, complex tradeoffs challenge the articulation of unambiguous target criteria, as the relationships between component selection and cycling performance are multifaceted. Here, we derive zero-dimensional, analytical expressions for mass balances and cell voltages under galvanostatic cycling, enabling direct connections between material/electrolyte properties, cell operating conditions, and resulting performance metrics (e.g., energy efficiency, capacity fade). To demonstrate the utility of this modeling framework, we highlight several considerations for RFB design, including upper bound estimation, active species decay, and membrane/separator conductivity-selectivity tradeoffs. Furthermore, we also discuss modalities for extending this framework to incorporate kinetic losses, distributed ohmic losses, and multiple spatial domains. Importantly, because the mass balances are solved analytically, hundreds of cycles can be simulated in seconds, potentially facilitating detailed parametric sweeps, system optimization, and parameter estimation from cycling experiments. More broadly, this approach provides a means for assessing the impact of cell components that simultaneously influence multiple performance-defining processes, aiding in the elucidation of key descriptors and the identification of favorable materials combinations for specific applications.

25 ENERGY STORAGE↗

Stability analysis of a liquid fuel annular combustion chamber

The problems of combustion instability in an annular combustion chamber are investigated. A modified Galerkin method was used to produce a set of modal amplitude equations from the general nonlinear partial differential acoustic wave equation. From these modal amplitude equations, the two variable perturbation method was used to develop a set of approximate equations of a given order of magnitude. These equations were modeled to show the effects of velocity sensitive combustion instabilities by evaluating the effects of certain parameters in the given set of equations. By evaluating these effects, parameters which cause instabilities to occur in the combustion chamber can be ascertained. It is assumed that in the annular combustion chamber, the liquid propellants are injected uniformly across the injector face, the combustion processes are distributed throughout the combustion chamber, and that no time delay occurs in the combustion processes.

Mcdonald, G. H.↗