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At least 1,477 records · Page 82

Modeling and Control for a Flexible Inverted Pendulum Robot

This report describes the tasks accomplished during Fall 2020 at the Kennedy Space Center under the scope of the Robotic Control System Design internship project. These tasks primarily supported development of an augmented adaptive control system for an inverted pendulum (IP) robotic system on a 4-wheel mobile base (Penny). This system serves as an analogue to the control problems in the flight of rockets in the initial and latter stages of launch, and methods developed as part of this research can later be applied to more complex IP systems, such as launch vehicles. To more accurately model launch vehicles, a flexible aluminum pendulum is used both on the hardware and in the simulated models. In order to capture the flexible dynamics of the system, hardware modifications were made to Penny (including installation of a rate gyro at the tip of the pendulum). Simulink models were created to control and model the hardware system, and Simscape models were created/updated to model the system in simulation. MATLAB programs were created throughout the internship to analyze data generated from hardware and simulation runs. Linear fixed-gain controllers have been applied to the simulated and hardware system, and work continues with augmenting these controllers using sensor blending and direct output adaptive control methods to improve stabilization of system states and cancel flex dynamics. In addition to describing the work done to support these modeling efforts, an Independent Research and Technology Development (IR&TD) proposal for a lunar simulation with soil deformation modeling developed during the internship is briefly described.

Nashir A Janmohamed↗

Picosecond Clock Synchronization Across A 7-Node Metropolitan Scale Quantum Network

Quantum networking protocols relying on interference and precise time-of-flight measurements require high precision clock synchronization. This study describes the design, implementation, and characterization of two optical time transfer methods in a metropolitan-scale quantum networking research testbed. The first technique called active electronic stabilization (ELSTAB), was able to achieve sub-picosecond time deviation (TDEV) at integration times between 1 s and 105s over multiple different fiber lengths of both underground and aerial deployed fiber. The second technique, White Rabbit-Precision Time Protocol (WR-PTP), was able to achieve 10-picosecond TDEV’s over similar fiber lengths at comparable integration times. Environmental fluctuations affected the stability of clock synchronization over deployed fiber. These fluctuations resulted in path delay gradients, chromatic dispersion, polarization drift, and optical power variations. The results from this study will inform future work in the development of compensation methods essential for enabling experimental research in developing practical quantum networking protocols.

synchronization↗

Tuning Organic Semiconductor Packing and Morphology through Non-equilibrium Solution Processing (Final Report)

Organic semiconductors (OSCs) are a promising candidate to produce low-cost, large area, and flexible electronics. There has previously been successful development of organic field effect transistors (OFETs), photovoltaics (OPV), and bioelectronics using OSCs. Solution processing of these materials allows for the fabrication of large-area devices in the kinetic crystallization regime. The charge transport capabilities have been shown to depend on the morphology and molecular packing of the OSC within thin films. Our hypothesis is that solution processing conditions may significantly impact OSC morphology and as a result the charge transport. Therefore, this work has focused on obtaining a fundamental understanding of the morphology and molecular packing of OSCs for optimal device performance. Through our work, we have gained a better understanding of how these structural conditions were influenced by the solution processing conditions. Our studies have led to a more systematic understanding of the various parameters that impact OSC morphology. Solution processing leads to non-equilibrium films, thus allowing for the formation of diverse morphologies that are inaccessible by other fabrication methods. Previously, our group has focused on tuning the morphology of small-molecular OSCs [53, 55-57]. However, little work had been devoted to polymer OSCs. There was a lack of detailed studies characterizing the solution-state of polymer OSCs in terms of their conformation, degree of entanglement, polymer aggregation, and chain relaxation dynamics. The solution state properties are also likely to be influenced by the rigidity and molecular weight of the polymer OSCs investigated. Thus, we have focused our attention on gaining a better insight of polymer OSC films and solution processing methods. Through this proposal, our approach is to investigate the correlation between solution-state properties and the morphology of the resulting polymer OSC films. We worked three specific aims: investigate the effects of 1) polymer OSC solution-state properties on final film morphology; 2) molecular additives on the solution-state and final film properties; 3) controlled pre-aggregation in the solution-state in the final film morphology. More rigid and planar polymer backbones should promote interchain charge transport and more efficient interchain hopping between polymer chains. Through tailoring the polymer backbone, polymer sidechains, and molecular weight, we expected the altered solution-state properties to affect the final film morphology. In addition, reducing the entanglements and promoting chain alignment will likely prevent charge carrier trapping through conformation disorders. We thus studied different mechanisms, such as molecular additives, to reduce entanglements in solution. Devices fabricated from these solutions were expected to have improved charge transport abilities. In addition to tailoring the solution-state characteristics of the polymer OSCs, we investigated the effect of solution processing methods on the molecular packing and morphology of polymer OSC films. Two main solution processing techniques, e.g., spin-coating and solution shearing, were employed to fabricate OFETs. Spin coating was employed to prepare OSC films, which produce isotropic films. This technique creates several parameters to tune such as spin coating speed, acceleration, and time. Additionally, our research group developed the solution shearing method, which consists of the solution initially sandwiched between two plates. By sliding the top plate, the solution front is exposed and drying begins. This technique allows for the creation of aligned large crystalline domains. Solution shearing consists of different processing parameters which can affect the final morphology, such as shearing speed, substrate temperature and temperature gradient, distance between both plates, and the tilt angle of the top plate. Due to the complexity of the polymer systems investigated, numerous techniques were employed to characterize the polymer OSC solution state and films. All the materials were characterized using the DOE supported synchrotron X-ray scattering facilities at the Stanford Synchrotron Radiation Lightsource (SSRL). Using grazing incidence X-ray scattering (GIXS) and Near Edge X-ray Absorption Fine Structure (NEXAFS) techniques, the crystalline structure and molecular orientations of the thin films were measured. Optical absorption (UV-Vis) spectroscopy was employed to determine the aggregation state in solution and films of the polymer systems. Polarized UV-Vis also allowed for the determination of the relative degree of polymer chain alignment for solution sheared films. Additionally, various other techniques were used to investigate other properties within the film, such as atomic force microscopy (AFM) and solution rheology. Finally, the device performance is quantified through the fabrication and characterization of OFETs, which will highlight the effects of morphology on charge transport.

36 MATERIALS SCIENCE↗

Parallel aeroelastic computations for wing and wing-body configurations

The objective of this research is to develop computationally efficient methods for solving fluid-structural interaction problems by directly coupling finite difference Euler/Navier-Stokes equations for fluids and finite element dynamics equations for structures on parallel computers. This capability will significantly impact many aerospace projects of national importance such as Advanced Subsonic Civil Transport (ASCT), where the structural stability margin becomes very critical at the transonic region. This research effort will have direct impact on the High Performance Computing and Communication (HPCC) Program of NASA in the area of parallel computing.

Byun, Chansup↗

Simulated Space Vacuum Ultraviolet (VUV) Exposure Testing for Polymer Films

Vacuum ultraviolet (VUV) radiation of wavelengths between 115 and 200 nm produced by the sun in the space environment can cause degradation to polymer films producing changes in optical, mechanical, and chemical properties. These effects are particularly important for thin polymer films being considered for ultra-lightweight space structures, because, for most polymers, VUV radiation is absorbed in a thin surface layer. NASA Glenn Research Center has developed facilities and methods for long-term ground testing of polymer films to evaluate space environmental VUV radiation effects. VUV exposure can also be used as part of sequential simulated space environmental exposures to determine combined damaging effects. This paper will describe the effects of VUV on polymer films and the necessity for ground testing. Testing practices used at Glenn Research Center for VUV exposure testing will be described including characterization of the VUV radiation source used, calibration procedures traceable to the National Institute of Standards and Technology (NIST), and testing techniques for VUV exposure of polymer surfaces.

Dever, Joyce A.↗

Aeroelastic modeling for the FIT (Functional Integration Technology) team F/A-18 simulation

As part of Langley Research Center's commitment to developing multidisciplinary integration methods to improve aerospace systems, the Functional Integration Technology (FIT) team was established to perform dynamics integration research using an existing aircraft configuration, the F/A-18. An essential part of this effort has been the development of a comprehensive simulation modeling capability that includes structural, control, and propulsion dynamics as well as steady and unsteady aerodynamics. The structural and unsteady aerodynamics contributions come from an aeroelastic mode. Some details of the aeroelastic modeling done for the Functional Integration Technology (FIT) team research are presented. Particular attention is given to work done in the area of correction factors to unsteady aerodynamics data.

Zeiler, Thomas A.↗

Verification and Validation of a Conceptual Model of the Auto-Rigging Payload Handling and Off-Loading System Using LEGO Technic System and Three-Dimensional Printed Parts

A conceptual model (CM) can be used to validate a concept in modeling and simulation life cycles. During the 2020-2022 Coronavirus disease 2019 (COVID-19) pandemic, for employee safety NASA implemented center closures and mandatory telework for the entire workforce. During this challenging time, engineers and researchers at NASA Langley Research Center (LaRC) looked for safe and innovative approaches and methods to continue the development of CMs for various projects. Engineers and researchers at LaRC researched Auto-Rigging Payload Handling and Off-Loading System (ARPHOLS) for payload handing and off-loading a system on an inclined lunar lander deck. In this paper, the development of a CM and the verification and validation of a conceptual idea for ARPHOLS using a LEGO Technic system and three-dimensional printed parts is presented.

Design↗

Verification and Validation of a Conceptual Model of the Auto-Rigging Payload Handling and Off-Loading System Using LEGO Technic System and Three-Dimensional Printed Parts

A conceptual model (CM) can be used to validate a concept in modeling and simulation life cycles. During the 2020-2022 Coronavirus disease 2019 (COVID-19) pandemic, for employee safety NASA implemented center closures and mandatory telework for the entire workforce. During this challenging time, engineers and researchers at NASA Langley Research Center (LaRC) looked for safe and innovative approaches and methods to continue the development of CMs for various projects. Engineers and researchers at LaRC researched Auto-Rigging Payload Handling and Off-Loading System (ARPHOLS) for payload handing and off-loading a system on an inclined lunar lander deck. In this paper, the development of a CM and the verification and validation of a conceptual idea for ARPHOLS using a LEGO Technic system and three-dimensional printed parts is presented.

Payload offloading↗

Hydrogenated TiO 2 Carbon Support for PtRu Anode Catalyst in High‐Performance Anion‐Exchange Membrane Fuel Cells

Abstract The availability of durable, high‐performance electrocatalysts for the hydrogen oxidation reaction (HOR) is currently a constraint for anion‐exchange membrane fuel cells (AEMFCs). Herein, a rapid microwave‐assisted synthesis method is used to develop a core–shell catalyst support based on a hydrogenated TiO 2 /carbon for PtRu nanoparticles (NPs). The hydrogenated TiO 2 provides a strong metal‐support interaction with the PtRu NPs, which improves the catalyst's oxophilicity and HOR activity compared to commercial PtRu/C and enables greater size control of the catalyst NPs. The as‐synthesized PtRu/TiO 2 /C‐400 electrocatalyst exhibits respectable performance in an AEMFC operated at 80 °C, yielding the highest current density (up to 3× higher) within the catalytic region (compared at 0.80–0.90 V) and voltage efficiency (68%@ 0.5 A cm −2 ) values in the compared literature. In addition, the cell demonstrates promising short‐term voltage stability with a minor voltage decay of 1.5 mV h −1 . This “first‐of‐its‐kind in alkaline” work may open further research avenues to develop rapid synthesis methods to prepare advanced core–shell metal‐oxide/carbon supports for electrocatalysts for use in the next‐generation of AEMFCs with potential applicability to the broader electrochemical systems research community.

08 HYDROGEN↗

Formal Analysis of the Remote Agent Before and After Flight

This paper describes two separate efforts that used the SPIN model checker to verify deep space autonomy flight software. The first effort occurred at the beginning of a spiral development process and found five concurrency errors early in the design cycle that the developers acknowledge would not have been found through testing. This effort required a substantial manual modeling effort involving both abstraction and translation from the prototype LISP code to the PROMELA language used by SPIN. This experience and others led to research to address the gap between formal method tools and the development cycle used by software developers. The Java PathFinder tool which directly translates from Java to PROMELA was developed as part of this research, as well as automatic abstraction tools. In 1999 the flight software flew on a space mission, and a deadlock occurred in a sibling subsystem to the one which was the focus of the first verification effort. A second quick-response "cleanroom" verification effort found the concurrency error in a short amount of time. The error was isomorphic to one of the concurrency errors found during the first verification effort. The paper demonstrates that formal methods tools can find concurrency errors that indeed lead to loss of spacecraft functions, even for the complex software required for autonomy. Second, it describes progress in automatic translation and abstraction that eventually will enable formal methods tools to be inserted directly into the aerospace software development cycle.

Havelund, Klaus↗

Integrated Force Method for Indeterminate Structures

Two methods of solving indeterminate structural-mechanics problems have been developed as products of research on the theory of strain compatibility. In these methods, stresses are considered to be the primary unknowns (in contrast to strains and displacements being considered as the primary unknowns in some prior methods). One of these methods, denoted the integrated force method (IFM), makes it possible to compute stresses, strains, and displacements with high fidelity by use of modest finite-element models that entail relatively small amounts of computation. The other method, denoted the completed Beltrami Mitchell formulation (CBMF), enables direct determination of stresses in an elastic continuum with general boundary conditions, without the need to first calculate displacements as in traditional methods. The equilibrium equation, the compatibility condition, and the material law are the three fundamental concepts of the theory of structures. For almost 150 years, it has been commonly supposed that the theory is complete. However, until now, the understanding of the compatibility condition remained incomplete, and the compatibility condition was confused with the continuity condition. Furthermore, the compatibility condition as applied to structures in its previous incomplete form was inconsistent with the strain formulation in elasticity.

Hopkins, Dale A.↗

Integrated Transmission-and-Distribution System Modeling of Power Systems: State-of-the-Art and Future Research Directions

Integrated transmission-and-distribution (T&D) modeling is a new and developing method for simulating power systems. Interest in integrated T&D modeling is driven by the changes taking place in power systems worldwide that are resulting in more decentralized power systems with increasingly high levels of distributed energy resources. Additionally, the increasing role of the hitherto passive energy consumer in the management and operation of power systems requires more capable and detailed integrated T&D modeling to understand the interactions between T&D systems. Although integrated T&D modeling has not yet found widespread commercial application, its potential for changing the decades-old power system modeling approaches has led to several research efforts in the last few years that tried to (i) develop algorithms and software for steady-state and dynamic modeling of power systems and (ii) demonstrate the advantages of this modeling approach compared with traditional, separated T&D system modeling. In this paper, we provide a review of integrated T&D modeling research efforts and the methods employed for steady-state and dynamic modeling of power systems. We also discuss our current research in integrated T&D modeling and the potential directions for future research. This paper should be useful for power systems researchers and industry members because it will provide them with a critical summary of current research efforts and the potential topics where research efforts are needed to further advance and demonstrate the utility of integrated T&D modeling.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Accelerated Aging Experiments for Capacitor Health Monitoring and Prognostics

This paper discusses experimental setups for health monitoring and prognostics of electrolytic capacitors under nominal operation and accelerated aging conditions. Electrolytic capacitors have higher failure rates than other components in electronic systems like power drives, power converters etc. Our current work focuses on developing first-principles-based degradation models for electrolytic capacitors under varying electrical and thermal stress conditions. Prognostics and health management for electronic systems aims to predict the onset of faults, study causes for system degradation, and accurately compute remaining useful life. Accelerated life test methods are often used in prognostics research as a way to model multiple causes and assess the effects of the degradation process through time. It also allows for the identification and study of different failure mechanisms and their relationships under different operating conditions. Experiments are designed for aging of the capacitors such that the degradation pattern induced by the aging can be monitored and analyzed. Experimental setups and data collection methods are presented to demonstrate this approach.

Prognostics of Electronics↗

Study of the integration of wind tunnel and computational methods for aerodynamic configurations

A study was conducted to determine the effectiveness of using a low-order panel code to estimate wind tunnel wall corrections. The corrections were found by two computations. The first computation included the test model and the surrounding wind tunnel walls, while in the second computation the wind tunnel walls were removed. The difference between the force and moment coefficients obtained by comparing these two cases allowed the determination of the wall corrections. The technique was verified by matching the test-section, wall-pressure signature from a wind tunnel test with the signature predicted by the panel code. To prove the viability of the technique, two cases were considered. The first was a two-dimensional high-lift wing with a flap that was tested in the 7- by 10-foot wind tunnel at NASA Ames Research Center. The second was a 1/32-scale model of the F/A-18 aircraft which was tested in the low-speed wind tunnel at San Diego State University. The panel code used was PMARC (Panel Method Ames Research Center). Results of this study indicate that the proposed wind tunnel wall correction method is comparable to other methods and that it also inherently includes the corrections due to model blockage and wing lift.

Browne, Lindsey E.↗

Development of Analysis Methods that Integrate Numeric and Textual Equipment Reliability Data

Within the Light Water Reactor Sustainability (LWRS) program, the Risk-Informed Systems Analysis (RISA) Pathway is performing collaborative research on the development and deployment of technologies designed to assist operating nuclear power plants (NPPs) to reduce operating costs improve plant reliability and availability. One of the RISA research areas is focusing on the development of methods and tools designed to optimize plant operations (e.g., maintenance/replacement schedules, optimal maintenance postures for plant structures, systems, and components [SSCs]) in a manner that is more cost effective than current approaches and makes better use of available SSC health data. The Risk-Informed Asset Management (RIAM) project targets this research area by creating a direct bridge between component equipment reliability (ER) data and system engineer decision making regarding maintenance activity scheduling and component aging management. In this respect, one challenge that NPP system engineers are facing is that the amount of ER data being continuously generated is not only extremely large in size, but it comes in different forms: textual (e.g., condition or maintenance reports) and numeric (e.g., generated by monitoring systems). All these data elements provide them with valuable insights and information regarding: 1) the discovery of anomalous behaviors or degradation trends, 2) the identification of the possible causes behind such behaviors/trends, and 3) the prediction of their direct consequences. However, several challenges have proved to be roadblocks to this process. While some of these challenges are technical in nature (i.e., data are often distributed over several physical servers/databases), others are conceptual in nature: data elements come in different formats (e.g., numeric or textual), and measured values have different scales (e.g., vibration spectra and oil temperature). The activities performed by the RIAM project during FY23 directly tackles the need to simultaneously integrate the analysis of ER data in all its forms, numeric and textual. Note that such task has never been performed before due to the complexity of the systems under consideration but, most importantly, because of the technical challenges behind the harmonization of ER data formats and the lack of adequate computational methods to analyze them. Our approach borrows ideas and concepts from the medical field where integration of several data sources is vital to assist medical practitioners to perform correct diagnosis and indicate optimal treatments. In our view a NPP asset is equivalent to a patient in a medical context. The main difference is the complexity of a human body is a magnitude more complex when compared to typical assets commonly present in NPPs (e.g., centrifugal pumps, or motor operated valves). This simplifies our first requirement when analyzing heterogenous ER data formats: to put data into “context”. Context is here intended as the additional piece of information that is needed by ER data analysis tools to understand what these data elements are referring to, i.e., which king of knowledge they are generating. In our context, this knowledge can be translated into models that capture the form and functional architecture of assets/systems, their dependencies, and how they interact. These models actually emulate the knowledge that that NPP system engineers possess about assets and systems; this is their key of success when analyzing ER data, their challenge is ability to handle large amount of data. Here, we employ model-based system engineering (MBSE) models of systems and assets to represent and capture their architecture and functional, i.e. cause-effect, relations. Then, ER data elements are processed by identifying first of all which elements of the developed MBSE elements they are referring to. For numeric ER data this task is fairly easy since it is possible to precisely pinpoint what MBSE elements the corresponding sensor are observing (e.g., bearing temperature of a centrifugal pump). Task is much harder for textual data since the information contained in issue or maintenance reports needs to “be understood” by a computational tool. Here we called this process as “knowledge extraction”. Once again, we borrow the experience in the medical field where methods to extract knowledge from textual data have been developed in the past decade. The missing element for us is the availability of a complete dictionary of NPP related concepts (in addition to the MBSE models presented earlier) that can put “text into context”. In FY23, such dictionary has been developed along with all the computational elements required for knowledge extraction. Lastly, once numeric and textual ER data elements have been processed and “understood”, then the last step is the discovery of possible cause-effect relations among them. This is performed by observing if a logical connection through the MBSE models exists, and if the

97 MATHEMATICS AND COMPUTING↗

NASA gear research and its probable effect on rotorcraft transmission design

The results of the NASA gear research is reviewed as well as those programs which are presently being undertaken. Research programs studying pitting fatigue, gear steels and processing, life prediction methods, gear design and dynamics, elastohydrodynamic lubrication, lubrication methods and gear noise are presented. The impact of advanced gear research technology on rotorcraft transmission design is discussed.

Zaretsky, E. V.↗

Experimental Validation of the Dynamic Inertia Measurement Method to Find the Mass Properties of an Iron Bird Test Article

The mass properties of an aerospace vehicle are required by multiple disciplines in the analysis and prediction of flight behavior. Pendulum oscillation methods have been developed and employed for almost a century as a means to measure mass properties. However, these oscillation methods are costly, time consuming, and risky. The NASA Armstrong Flight Research Center has been investigating the Dynamic Inertia Measurement, or DIM method as a possible alternative to oscillation methods. The DIM method uses ground test techniques that are already applied to aerospace vehicles when conducting modal surveys. Ground vibration tests would require minimal additional instrumentation and time to apply the DIM method. The DIM method has been validated on smaller test articles, but has not yet been fully proven on large aerospace vehicles.

moments of inertia↗

Robust measurement of microbial reduction of graphene oxide nanoparticles using image analysis

ABSTRACT Shewanella oneidensis ( S. oneidensis ) has the capacity to reduce electron acceptors within a medium and is thus used frequently in microbial fuel generation, pollutant breakdown, and nanoparticle fabrication. Microbial fuel setups, however, often require costly or labor-intensive components, thus making optimization of their performance onerous. For rapid optimization of setup conditions, a model reduction assay can be employed to allow simultaneous, large-scale experiments at lower cost and effort. Since S. oneidensis uses different extracellular electron transfer pathways depending on the electron acceptor, it is essential to use a reduction assay that mirrors the pathways employed in the microbial fuel system. For microbial fuel setups that use nanoparticles to stimulate electron transfer, reduction of graphene oxide provides a more accurate model than other commonly used assays as it is a bulk material that forms flocculates in solutions with a large ionic component. However, graphene oxide flocculates can interfere with traditional absorbance-based measurement techniques. This study introduces a novel image analysis method for quantifying graphene oxide reduction, showing improved performance and statistical accuracy over traditional methods. A comparative analysis shows that the image analysis method produces smaller errors between replicates and reveals more statistically significant differences between samples than traditional plate reader measurements under conditions causing graphene oxide flocculation. Image analysis can also detect reduction activity at earlier time points due to its use of larger solution volumes, enhancing color detection. These improvements in accuracy make image analysis a promising method for optimizing microbial fuel cells that use nanoparticles or bulk substrates. IMPORTANCE Shewanella oneidensis ( S. oneidensis ) is widely used in reduction processes such as microbial fuel generation due to its capacity to reduce electron acceptors. Often, these setups are labor-intensive to operate and require days to produce results, so use of a model assay would reduce the time and expenses needed for optimization. Our research developed a novel digital analysis method for analysis of graphene oxide flocculates that may be utilized as a model assay for reduction platforms featuring nanoparticles. Use of this model reduction assay will enable rapid optimization and drive improvements in the microbial fuel generation sector.

Bennett, Danielle T. (ORCID:0009000188748827)↗