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NASA NTRS1992

Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null space

We present a unified formulation for the inverse kinematics of redundant arms, based on a special formulation of the null space of the Jacobian. By extending (appropriately re-scaling) previously used null space parameterizations, we obtain, in a unified fashion, the manipulability measure, the null space projector, and particular solutions for the joint velocities. We obtain the minimum norm pseudo-inverse solution as a projection from any particular solution, and the method provides an intuitive visualization of the self-motion. The result is a computationally efficient, consistent approach to computing redundant robot inverse kinematics.

Chen, Yu-Che↗

NASA NTRS1995

Prioritization methodology for chemical replacement

Since United States of America federal legislation has required ozone depleting chemicals (class 1 & 2) to be banned from production, The National Aeronautics and Space Administration (NASA) and industry have been required to find other chemicals and methods to replace these target chemicals. This project was initiated as a development of a prioritization methodology suitable for assessing and ranking existing processes for replacement 'urgency.' The methodology was produced in the form of a workbook (NASA Technical Paper 3421). The final workbook contains two tools, one for evaluation and one for prioritization. The two tools are interconnected in that they were developed from one central theme - chemical replacement due to imposed laws and regulations. This workbook provides matrices, detailed explanations of how to use them, and a detailed methodology for prioritization of replacement technology. The main objective is to provide a GUIDELINE to help direct the research for replacement technology. The approach for prioritization called for a system which would result in a numerical rating for the chemicals and processes being assessed. A Quality Function Deployment (QFD) technique was used in order to determine numerical values which would correspond to the concerns raised and their respective importance to the process. This workbook defines the approach and the application of the QFD matrix. This technique: (1) provides a standard database for technology that can be easily reviewed, and (2) provides a standard format for information when requesting resources for further research for chemical replacement technology. Originally, this workbook was to be used for Class 1 and Class 2 chemicals, but it was specifically designed to be flexible enough to be used for any chemical used in a process (if the chemical and/or process needs to be replaced). The methodology consists of comparison matrices (and the smaller comparison components) which allow replacement technology to be quantitatively compared in several categories, and a QFD matrix which allows process/chemical pairs to be rated against one another for importance (using consistent categories). Depending on the need for application, one can choose the part(s) needed or have the methodology completed in its entirety. For example, if a program needs to show the risk of changing a process/chemical one may choose to use part of Matrix A and Matrix C. If a chemical is being used, and the process must be changed; one might use the Process Concerns part of Matrix D for the existing process and all possible replacement processes. If an overall analysis of a program is needed, one may request the QFD to be completed.

Cruit, Wendy↗

NASA NTRS1997

Pioneer 10 and 11 Data Analysis

This report finishes the work of NASA Grant NAS2-153, which supported data analysis for the UCSD instruments on Pioneers 10 and 11. The data analyzed under this grant span 22 years of interplanetary measurements in the inner and outer heliosphere. The UCSD instruments made their mark in cosmic ray research based upon their high energy thresholds, directional responses, and reliable data streams. one of their primary scientific objectives concerns the size, configuration, and time behavior of the heliosphere. The size scale is inferred from the radial intensity gradient, which is measured between the two spacecraft and extrapolated to interstellar intensity levels at the cosmic ray modulation boundary. This boundary still eludes us, and its position, motion, and the best method of extrapolation are ongoing problems. Current projections place the boundary beyond 100 AU, which may be beyond the termination shock, and raises the question of possible modulation in the heliosheath. Probably our only hope of seeing this region in the immediate future rides on the possibility that the boundary will move inward. Our instruments have recorded many Forbush, or transient, decreases in the outer heliosphere. These observations led us to a model that attributes many of the decreases to solar wind stream-stream interactions, and relates the cosmic ray variations to the locally observed magnetic field magnitude. As the cosmic ray variations in this model result only from topological changes in the modulation integral, the model is a tool for studying the possibility that the 11 year cosmic ray modulation cycle can be accounted for by a superposition of Forbush decreases. The cosmic ray angular distribution function is measurable, given a good telemetry rate, by the UCSD Cerenkov detector which counts particles of energy greater than 500 MeV/n. We obtained statistically significant samples from 1 to 9 AU, at 13 AU, and at 34 AU. The anisotropy tends to be a few tenths of a per cent at all radial distances. A quasiperiodic variation in the east-west anisotropy with period of about 50 days remains unexplained.

Fillius, Walker↗

NASA NTRS1998

Application of Parametrized Post-Newtonian Methods to the Gravitational IS of Satellite Energy Exchange Data

Project Satellite Energy Exchange (SEE) is a free-flying, high altitude satellite that utilizes space to construct a passive, low-temperature, nano-g environment in order to accurately measure the poorly known gravitational constant G plus other gravitational parameters that are difficult to measure in an earth-based laboratory. Eventually data received from SEE must be analyzed using a model of the gravitational interaction including parameters that describe deviations from general relativity and experiment. One model that can be used to fit tile data is the Parametrized post- Newtonian (PPN) approximation of general relativity (GR) which introduces ten parameters which have specified values in (GR). It is the lowest-order, consistent approximation that contains non linear terms. General relativity predicts that the Robertson parameters, gamma (light deflection), and beta (advance of the perihelion), are both 1 in GR. Another eight parameters, alpha(sub k), k=1,2,3 and zeta(sub k), k=1,2,3,4 and Xi are all zero in GR. Non zero values for alpha(sub k) parameters predict preferred frame effects; for zeta(sub k) violations of globally conserved quantities such as mass, momentum and angular momentum; and for Xi a contribution from the Whitehead theory of gravitation, once thought to be equivalent to GR. In addition, there is the possibility that there may be a preferred frame for the universe. If such a frame exists, then all observers must measure the velocity omega of their motion with respect to this universal rest frame. Such a frame is somewhat reminiscent of the concept of the ether which was supposedly the frame in which the velocity of light took the value c predicted by special relativity. The SEE mission can also look for deviations from the r(exp -2) law of Newtonian gravity, adding parameters alpha and lamda for non Newtonian behavior that describe the magnitude and range of the r(exp -2) deviations respectively. The foundations of the GR supposedly agree with Newtonian gravity to first order so that the parameters alpha and lamda are zero in GR. More important, however, GR subsequently depends on this Newtonian approximation to build up the non linear higher-order terms which forms the basis of the PPN frame work.

Smalley, Larry L.↗

NASA NTRS2001

Using EEG To Detect and Monitor Mental Fatigue

This project aims to develop EEG-based methods for detecting and monitoring mental fatigue. Mental fatigue poses a serious risk, even when performance is not apparently degraded. When such fatigue is associated with sustained performance of a single type of cognitive task it may be related to the metabolic energy required for sustained activation of cortical areas specialized for that task. The objective of this study was to adapt EEG to monitor cortical energy over a long period of performance of a cognitive task. Multielectrode event related potentials (ERPs) were collected every 15 minutes in nine subjects who performed a mental arithmetic task (algebraic sum of four randomly generated negative or positive digits). A new problem was presented on a computer screen 0.5 seconds after each response; some subjects endured for as long as three hours. ERPs were transformed to a quantitative measure of scalp electrical field energy. The average energy level at electrode P3 (near the left angular gyrus), 100-300 msec latency, was compared over the series of ERPs. For most subjects, scalp energy density at P3 gradually fell over the period of task performance and dramatically increased just before the subject was unable to continue the task. This neural response can be simulated for individual subjects using, a differential equation model in which it is assumed that the mental arithmetic task requires a commitment of metabolic energy that would otherwise be used for brain activities that are temporarily neglected. Their cumulative neglect eventually requires a reallocation of energy away from the mental arithmetic task.

Montgomery, Leslie↗

NASA NTRS2001

The Nucleon-Mission: A New Approach to Cosmic Rays Investigation

A new approach to Cosmic Rays Investigation is proposed. The main idea is to combine two experimental methods (KLEM and UHIS) for the NUCLEON Project. The KLEM (Kinematic Lightweight Energy Meter) is aimed to study of chemical composition and elemental energy spectra of galactic CRs in extremely wide energy range 10(exp 11) - 10(exp 16) eV. The UHIS (Ultra Heavy Isotope Spectrometer) is suggested to use for the ultra heavy CR nuclei fluxes registration beyond the iron peak. Combination of the two techniques would give a unique instrument, with a number of advantages.

Adams, James H., Jr.↗

NASA NTRS2003

Analysis of Combustion Systems

As part of the NASA High-Speed Research Program, low emission combustors are being studied and demonstrated. One combustor concept that is currently being studied and evaluated is the Rich burn-Quick mix-Lean burn (RQL) combustor. The quick-mix zone of the RQL combustor is extremely important in reducing NO(x) emissions; rapid mixing of the bypass airflow with rich-born effluent is essential. The basic challenge can be described as rapid jet-in-crossflow mixing. Although jet-in-crossflow mixing is not new, this RQL application is unique in that the jet-to-mainstream mass-flow ratios are higher than studied previously (approx. 3 in RQL applications versus approx. 0.5 in dilution zone studies), plus the emphasis is on reducing NO(x) emissions (i.e. good mixing might not necessarily produce low emissions). This five-years project focused on identifying quick-mix method that would reduce NO(x) emissions in RQL combustor. The work included study of mixing concepts, and the development of design methodology. Three dimension CFD analysis was the primary tool used in assessing concept and developing design methodology for low emission. Isothermal and reacting CFD calculations were performed on cylindrical, rectangular, and annular generic geometries. Systematic parameters studies were performed to isolate key design parameters and their influence on mixing and emissions.

Daniel B. Bain↗

NASA NTRS2003

The NASA Smart Probe Project for real-time multiple microsensor tissue recognition

BACKGROUND: Remote surgery requires automated sensors, effectors and sensor-effector communication. The NASA Smart Probe Project has focused on the sensor aspect. METHODS: The NASA Smart Probe uses neural networks and data from multiple microsensors for a unique tissue signature in real time. Animal and human trials use several probe configurations: (1) 8-microsensor probe (2.5 mm in diameter) for rodent studies (normal and subcutaneous mammary tumor tissues), and (2) 21-gauge needle probe with 3 spectroscopic fibers and an impedance microelectrode for breast cancer diagnosis in humans. Multisensor data are collected in real time (update 100 times/s) using PCs. RESULTS: Human data (collected by NASA licensee BioLuminate) from 15 women undergoing breast biopsy distinguished normal tissue from both benign tumors and breast carcinoma. Tumor margins and necrosis are rapidly detected. CONCLUSION: Real-time tissue identification is achievable. Potential applications, including probes incorporating nanoelectrode arrays, are presented. Copyright 2003 S. Karger AG, Basel.

Biopsy/methods↗

NASA NTRS2003

Kinematic analysis of conically scanned environmental properties

A method for determining the velocity of features such as wind. The method preferably includes producing sensor signals and projecting the sensor signals sequentially along lines lying on the surface of a cone. The sensor signals may be in the form of lidar, radar or sonar for example. As the sensor signals are transmitted, the signals contact objects and are backscattered. The backscattered sensor signals are received to determine the location of objects as they pass through the transmission path. The speed and direction the object is moving may be calculated using the backscattered data. The data may be plotted in a two dimensional array with a scan angle on one axis and a scan time on the other axis. The prominent curves that appear in the plot may be analyzed to determine the speed and direction the object is traveling.

Wilkerson, Thomas D.↗

NASA NTRS2004

Balanced Expertise Distribution in Remote Ultrasound Imaging Aboard The International Space Station (ISS)

Astronaut training for ISS operations usually ensures independent performance. With small crew size same crews also conduct all science work onboard. With diverse backgrounds, a good "match" between the existing and required skills can only be anecdotal. Furthermore, full proficiency in most of the complex tasks can be attained only through long training and practice, which may not be justified and may be impossible given the scarcity of training time. To enable a number of operational and science advancements, authors have developed a new approach to expertise distribution in time and among the space and ground personnel. Methods: As part of NASA Operational Ultrasound Project (1998-2003) and the NASA-solicited experiment "Advanced Diagnostic Ultrasound in Microgravity-ADUM" (P.I. -S.D., ongoing), the authors have created a "Balanced Expertise Distribution" approach to perform complex ultrasound imaging tasks on ISS for both operational and science use. The four components of expertise are a) any pre-existing pertinent expertise; b) limited preflight training c) adaptive onboard proficiency enhancement tools; d) real-time ' guidance from the ground. Throughout the pre-flight training and flight time preceding the experiments, the four components are shaped in a dynamic fashion to meet in an optimum combination during the experiment sessions. Results: Procedure validation sessions and feasibility studies have given encouraging results. While several successful real-time remote guidance sessions have been conducted on ISS, Expedition 8 is the first to use an "on-orbit proficiency enhancement" tool. Conclusions: In spite of severely limited training time, daring peer-reviewed research and operational enhancements are feasible through a balanced distribution of expertise in time, as well as among the crewmembers and ground personnel. This approach shows great promise for biomedical research, but may be applicable for other areas of micro gravity-based science

Sargsyan, Ashot↗

NASA NTRS2013

Sample Handling in Extreme Environments

Harsh environments, such as that on Venus, preclude the use of existing equipment for functions that involve interaction with the environment. The operating limitations of current high temperature electronics are well below the actual temperature and pressure found on Venus (460 deg C and 92 atm), so proposed lander configurations typically include a pressure vessel where the science instruments are kept at Earth-like temperature and pressure (25 deg C and 1 atm). The purpose of this project was to develop and demonstrate a method for sample transfer from an external drill to internal science instruments for a lander on Venus. The initial concepts were string and pneumatically driven systems; and the latter system was selected for its ability to deliver samples at very high speed. The pneumatic system was conceived to be driven by the pressure difference between the Venusian atmosphere and the inside of the lander. The pneumatic transfer of a small capsule was demonstrated, and velocity data was collected from the lab experiment. The sample transfer system was modeled using CAD software and prototyped using 3D printing. General structural and thermal analyses were performed to approximate the proposed system's mass and effects on the temperature and pressure inside of the lander. Additionally, a sampler breadboard for use on Titan was tested and functionality problems were resolved.

sample handling↗

NASA NTRS2018

Integrated Computational-Experimental Development of Lithium-Air Batteries for Electric Aircraft

The primary obstacle to enable NASA's vision of Green Aviation is the extraordinary energy storage requirements for electric aircraft. Significant advances in high energy, rechargeable, safe batteries are required to enable electric aviation. Boeing's SUGAR and NASA studies have identified 400 Wh/kg as the threshold energy density for general aviation and 750 Wh/kg for commercial regional air service. State of the Art Lithium Ion Battery (LIB) technology currently has a density of 200 Wh/kg and is expected to plateau at 300 Wh/kg due to fundamental chemistry limitations making it unsuitable for future electric aircraft. Additional demanding requirements include high power, rechargeability, and high safety. Such battery technology does not currently exist. The recent considerable activity in battery research (DOE, Tesla Gigafactory, etc) overwhelmingly has been geared towards reducing cost and improving safety of LIB technology in order to promote the adoption of electric automobiles; and thus it is expected to have little impact on electric aviation development. New battery materials will be needed for the "Beyond Li Ion" (BLI) technologies required for high energy, safe electric aviation. Li-Air batteries have the highest known theoretical energy density (3400 Wh/kg) and therefore and if realized promises to transform the global transportation system. These high energy batteries have the potential to meet the energy storage challenges of current and future NASA aeronautics and space missions in addition to many terrestrial transportation applications as well. However, this technology requires significant components development and integration, as it is currently unable to achieve aircraft requirements. The objective of this project is to leverage modern computational materials methods combined with battery multiphysics tools to develop radically advanced compatible cathode and electrolyte materials, build several Li-Air cells, and flight-demonstrate the corresponding Li-Air battery packs. A significant problem for current Lithium-Air batteries is large scale decomposition of the battery electrolyte during operation leading to battery failure after a handful of charge/discharge cycles. Therefore, development of large scale, ultra-high energy, rechargeable, and safe Lithium-Air batteries require highly stable electrolytes that are resistant to decomposition under operating conditions. A NASA-based cross-organizational "dream team" of high-powered experts combined integrated supercomputer modeling, fundamental chemistry analysis, advanced material science, and battery cell development to tackle this very challenging, multidisciplinary problem. The ultimate goal for the team is to develop an integrated experimental/computational infrastructure to produce a reliable predictive capability for the selection of optimal components, their fabrication parameters, and "design rules" of novel cell components for advanced ultra-high energy batteries that can meet energy storage challenges of NASA missions and many terrestrial transportation applications.

Li-air battery↗

NASA NTRS2020

Thoracic Pressure Does Not Impact CSF Pressure via Compartment Compliance

Space acquired neuro-ocular syndrome (SANS) remains a difficult risk to characterize due to the complex multi-factorial etiology related to physiological responses to the spaceflight environment. Fluid shift and the resultant change on the Cardiovascular (CV) and cerebral spinal fluid systems (CSF) in the absence of gravity continue to be considered a contributing factor to the progression of SANS. In this study, we utilize a computational model of the CSF and CV interface to establish the sensitivity that intracranial pressure, and subsequently the optic nerve sheath pressure, exhibits due to variations in thoracic pressure, assuming the cranial perfusion pressure, i.e. mean arterial pressure (MAP) to central venous pressure (CVP), is known. Methods: The GRC Cross cutting computational modeling project created as model of the CSF and CV interaction within the cranial vault by extending the work of Stevens et al. [1] by modifying the representative anatomy to include a separate venous sinus, jugular veins, secondary veins and extra jugular pathways [2-3] to more adequately represent the vascular drainage pathways from the cranial vault (Figure 1). Assuming the MAP, CVP and thoracic pressure are known, we initiated this enhanced computational model assuming a supine positon and utilized a linear ramp to vary the thoracic pressure from the assumed supine state to the target pressure corresponding to set MAP and CVP values. The model generates the time based CSF pressure values (Figure2). Results and Conclusions: Following this analysis, CSF pressure shows significant independence from thoracic pressure changes (16 mmHg in thoracic pressure produces < 1mmHg change in CSF pressure), being mostly dependent on perfusion pressure. Similarly fluid redistribution is not predicted to be impacted over a level of 1mL. We note that this simulation represents an acute changes (order of 10's of minutes) and does not represent the long term effects.

Munster, Drayton W.↗

NASA NTRSDate not supplied

Trajectory Simulation Using Multi Model Monte Carlo with Python (MXMCPy)

EDL (Entry, Descent and Landing) is the process from a vehicle approaching a surface to landing on it, such as a Mars rover approaching the planet before landing. POST2 (Program to Optimize Simulated Trajectories 2) is Langley’s primary EDL simulation tool and is used NASA-wide for simulations. POST2 can generate highly accurate results by running a precise, but time consuming, Monte Carlo (MC) simulation hundreds or thousands of times. Though POST2 can produce highly accurate results, it can take unrealistic time spans to generate these results, which has created a need to speed up the simulations. The new NASA software MXMCPy offers various ways to speed up the simulations while getting just as precise results. Instead of running high-precision POST2 simulations many times for traditional MC, MXMCPy can run fewer high-precision POST2 simulations and many less precise POST2 simulations and merge the results. MXMCPy contains 30+ different methods which will each suggest different allocations between model precision levels, which result in results of varying precision based on the POST2 simulation. I created Python and Bash code to automate the 5 steps of MXMCPy’s application to POST2. I also tested the precision of traditional Monte Carlo simulations to MXMCPy aided simulations and found that MXMCPy can achieve substantially more precise solutions at the same computer runtime. I learned Test Driven Development (TDD), a software programming workflow which involves writing computer-automated tests before writing the code which is being tested. These tests are ran every time the code is changed and they can find glitches in the code much quicker than a human can. This programming workflow saved me a lot of time because the automated tests could tell me exactly where the code had stopped working. I plan on using this software development method for future academic and professional software projects. I have greatly enjoyed my work at NASA, so I have been applying to NASA internships and Pathways positions. In addition, I plan on applying what I have learned about Test Driven Development to my computer science courses next semester

James Warner↗

NASA NTRSDate not supplied

Automation of Overset Structured Mesh Generation onBoundary Representation Geometries

A scheme is presented for the automatic generation of structured overset meshes ongeometries that are defined by Boundary Representation (BRep) solids. The surface meshsystem consists of face, edge and node meshes corresponding to the three respective basicBRep entity types. A cut-cell method is introduced to improve robustness of the on-geometrydetermination test for a face mesh grid point. A geometric component tagging scheme is utilizedto enhance local grid point distribution on a configuration with a large range of geometricscales. A cap grid topology is automatically utilized around the trailing edge of wing and tailtips to enhance mesh quality and to enable more effective surface coverage. Robustness of thehyperbolic surface marching method is improved by replacing the point projection scheme witha walking scheme. Relaxation of surface grid spacing at concave corners enables automatedhigh quality hyperbolic volume mesh creation. Domain connectivity is automatically performedon the surface mesh system. A variety of test cases are presented including a re-entry capsule,two models of the Juncture Flow Experiment wing-body, five rotorcraft concept vehicles, andvarious components of the High-Lift Common Research Model from the High-Lift PredictionWorkshop 4.

TTT↗

NASA NTRS2023

Semi-Autonomous Transportation of Emergency Supplies via sUAS

Over the past several decades, the extent and severity of wildfires in the United States has increased dramatically. This, accordingly, has put ever-increasing pressure on wildland firefighters to mitigate the effects of fire damage. Wildland firefighters have exceptionally dangerous and strenuous jobs. The United States Forest Service has an interest to develop an autonomous sUAS logistics payload delivery system to transport supplies to crews on the fireline. A design reference mission which includes the transportation of portable drinking water from a helicopter drop site closer to crews on the fire line was developed. Two delivery methods were designed and prototyped within this project, with one of them tested in flight.

Wildfire UAS Logistics↗

DOE OSTI2021

SMART-COM – Scalable Multi-Agent Adaptive Resolution Tools for Collaborative Outage Management

The purpose of this grant was to conduct scientific research and prototype applications to support NPP outage staff in their adaptive decision-making in efficient scheduling and resource allocation while preventing violation of safety technical specifications. The project contributed to scientific knowledge and engineering methods in (1) user interface design, (2) scheduling optimization and risk estimation, and (2) natural language processing that would benefit the nuclear power plants in minimizing schedule overruns and even unexpected shutdowns. The research team conducted site visits at a test reactor facility and an operating nuclear power plant to gather necessary information and inputs for research and development of a software application to support NPP staff in executing their outages. The final software application consisted of three modules. First, the natural language processing module supports interactive processing of technical documentation to build a database for outage staff to query non-permissible actions on system components. This module can alleviate outage staff from reviewing extensive documentation and minimize violation of technical specifications, especially in time-sensitive situations. Second, the schedule optimization module schedules outage activities and compute risk indices that outperform existing software and current practice. This module can reduce completion time of an outage that typically have too many activities for human to optimize based on current practice that does not apply the latest operations research. Finally, the visualization module presents progress and risk information of the overall outage and individual activities, as well as enabling access to the natural language processing and schedule optimization modules. This module can provide outage staff with situation awareness that are necessary to make risk-informed decisions in response to unexpected events during the execution of an outage.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2022

Summarizing experimental sensitivities of collider experiments to dark matter models and comparison to other experiments

Comparisons of the coverage of current and proposed dark matter searches can help us to understand the context in which a discovery of particle dark matter would be made. In some scenarios, a discovery could be reinforced by information from multiple, complementary types of experiments; in others, only one experiment would see a signal, giving only a partial, more ambiguous picture; in still others, no experiment would be sensitive and new approaches would be needed. In this whitepaper, we present an update to a similar study performed for the European Strategy Briefing Book performed within the dark matter at the Energy Frontier (EF10) Snowmass Topical Group We take as a starting point a set of projections for future collider facilities and a method of graphical comparisons routinely performed for LHC DM searches using simplified models recommended by the LHC Dark Matter Working Group and also used for the BSM and dark matter chapters of the European Strategy Briefing Book. These comparisons can also serve as launching point for cross-frontier discussions about dark matter complementarity.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗