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At least 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Virtual Trajectories for I–24 MOTION: Data and Tools

This paper introduces a toolbox for generating virtual trajectories, which we call VT-tools v1.0, to address challenges in analyzing large but imperfect trajectory datasets. VT-tools v1.0 is able to generate virtual trajectories from large raw datasets that are typically challenging to process due to their size. We also provide a set of these virtual trajectories resulting from I–24 MOTION INCEPTION v1.0 data and demonstrate the practical utility of these trajectories in as-sessing speed variability and travel times across different lanes within the INCEPTION dataset. The virtual trajectory toolbox opens future research on traffic waves and their impact on energy. The VT-tools v1.0 Python implementation and sample data are publicly available at https://i24motion.org.

42 ENGINEERING↗
DOE OSTI2025

Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.

CDPR↗
DOE OSTI2020

A Dynamic Trajectory Fit to Multisensor Fireball Observations

Meteorites with known orbital origins are key to our understanding of solar system formation and the source of life on Earth. Fireball networks have been developed globally in a unified effort to record and ultimately retrieve these cosmic samples. However, the accuracy of the determined orbit and the likelihood of meteorite recovery depend directly on the accuracy of the chosen meteoroid triangulation method. There are three leading techniques for meteoroid triangulation discussed in the literature: the method of planes, the straight-line least-squares method, and the multiparameter fit method. Here we describe an alternative method to meteoroid triangulation, called the dynamic trajectory fit. This approach uses the meteoroid’s 3D dynamic equations of motion to fit a realistic trajectory directly to multisensor line-of-sight observations. This method has the ability to resolve fragmentation events, fit systematic observatory timing offsets, and determine mass estimates of the meteoroid along its observable trajectory. Through a comprehensive Monte Carlo analysis of over 100,000 trajectory simulations, we find this new method to more accurately estimate meteoroid trajectories of slow entry events (<25 km s{sup −1}) and events observed from low convergence angles (<10°) compared to existing meteoroid triangulation techniques. Additionally, we triangulate an observed fireball event with visible fragmentation using the various triangulation methods to show that the proposed dynamic trajectory fit implementing fragmentation to best match the captured multisensor line-of-sight data.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2013

Trajectory Optimization Using Adjoint Method and Chebyshev Polynomial Approximation for Minimizing Fuel Consumption During Climb

This paper describes two methods of trajectory optimization to obtain an optimal trajectory of minimum-fuel- to-climb for an aircraft. The first method is based on the adjoint method, and the second method is based on a direct trajectory optimization method using a Chebyshev polynomial approximation and cubic spine approximation. The approximate optimal trajectory will be compared with the adjoint-based optimal trajectory which is considered as the true optimal solution of the trajectory optimization problem. The adjoint-based optimization problem leads to a singular optimal control solution which results in a bang-singular-bang optimal control.

Chebyshev Polynomial↗
NASA NTRS2018

Trajectory Specification Language for Air Traffic Control

Trajectory Specification is a method of specifying aircraft trajectories with tolerances such that the position at any instant in time is constrained to a precisely defined bounding space. The bounding space at any instant in time is defined by tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and are based on the aircraft navigation capabilities and the traffic situation. This paper proposes a standard Trajectory Specification Language (TSL) based on the Extensible Markup Language (XML) to represent these specifications and to communicate them by datalink. The language can be used to downlink trajectory requests from air to ground and to uplink trajectory assignments from ground to air. The XML format can be converted to binary for operational use, if necessary, using Efficient XML Interchange (EXI) or Abstract Syntax Notation (ASN.1).

XM↗
NASA NTRS1995

Design of High-Accuracy Multiple Flyby Trajectories Using Constrained Optimization

The trajectory optimization technique described in this paper provides several distinct advantages over previous formulations. First, fully numerically integrated trajectory modeling is used. That is, no approximations to the trajectory are made and the inclusion of any level of complicated force models desired is allowed. Second, only trajectory propagation is used so there is no requirement for optimization. This is accomplished by the novel method of splitting the trajectory into independent legs, which are then subjected to constrained optimization. Third, each of the trajectory legs may be specified by any convenient set of parameters particularly useful for that leg. Any of these parameters may then be subject to constraints. Fourth, the nonlinear optimization problem is solved by solving a sequence of linear problems which converges to the optimal nonlinear solution. Fifth, the robustness of this formulation requires little or no user interaction with the optimization once a feasible problem has been posed.

flyby↗
NASA NTRS2022

Trajectory Specification Applied to Terminal Airspace

Despite major efforts to automate air traffic control (ATC), it is still performed by humans today. The complexity and safety-criticality of ATC makes it very difficult to safely automate, but it must be automated to increase airspace capacity (the density of traffic that can be safely managed) and airport throughput (the number of arrivals and departures that an airport can safely handle in a given period of time) beyond what is possible with human controllers. This paper presents the Trajectory Specification (TS) concept, which can help to safely automate ATC. TS is a method of specifying aircraft trajectories such that the position at any given time in flight is restricted to a precisely defined bounding space, removing all ambiguity as to where the flight is allowed to be. The bounding space or volume is determined by tolerances relative to a reference trajectory (position as a function of time). The tolerances are dynamic and are based on the aircraft navigation capabilities and the traffic situation. The tolerances can be a piecewise linear function of time or distance along the route, allowing the tolerances to vary as needed, typically increasing with time for departures and decreasing for arrivals. A Trajectory Specification Language (TSL) is proposed for communicating trajectories from aircraft to ATC as requests and from ATC to aircraft as assignments. The TS concept requires a new generation of airborne Flight Management Systems (FMS) that understand the TSL and can fly the assigned trajectories, but this paper focuses on the ATC functions and the prototype ATC algorithms and software that were developed to test the TS concept. Assuming conformance, TS can guarantee safe separation for an arbitrary length of time even in the event of an ATC system or communication outage. It can help to achieve the high level of safety and reliability needed for ATC automation, and it can also reduce the reliance on ATC backup systems for tactical conflict detection and resolution during normal operation. TS can be applied to any controlled airspace, including enroute, terminal, and urban airspace, but this paper presents algorithms and software for arrival spacing and conflict detection and resolution in the terminal airspace serving a major airport. In a fast-time simulation of a full day of traffic in a major terminal airspace, all conflicts were resolved in near real time, demonstrating the computational feasibility and the preliminary operational feasibility of the TS concept. This paper is a compilation of previous papers, and it adds significant information that was omitted from those papers due to length limitations. It also updates some of the results of those earlier papers due to algorithm refinements and corrections of minor software errors.

air traffic control, trajectory↗
NASA NTRSDate not supplied

Sensitivity of Optimal Midcourse Correction Scheduling for Robust Cislunar Trajectory Design

A new approach to optimal trajectory design is the determination of optimal trajectories that are robust to initial trajectory dispersions, navigation errors, maneuver execution errors, and environment modeling errors. This paper investigates the sensitivity of cislunar robust optimal trajectory design to launch date, duration of navigation measurement passes, and navigation measurement frequency. For a given cislunar trajectory from translunar injection (TLI) to lunar orbit insertion (LOI), the optimal locations of midcourse corrections, also known as trajectory correction maneuvers (TCM) are determined by minimizing the final 3-σ ∆v subject to a final 3-σ position dispersion constraint for a given launch date, specified measurement pass duration prior to each maneuver, and measurement frequency. Optical navigation (OpNav) is assumed, and OpNav field-of-view (FOV) and lighting constraints are employed. These constraints turn out to be important elements of the problem. The sensitivity of the optimal TCM locations are then investigated by varying the launch date, duration of OpNav measurement passes, and the OpNav measurement frequency, and then re-optimizing the locations of the TCMs. Given the problem parameters provided herein, results show that while the optimal TCM locations with respect to TLI vary greatly from one launch date to another, their locations with respect to LOI are nearly invariant over a 2-month launch window. Results also show that in all cases the optimal location of the last TCM is found to be at the point where the OpNav lunar FOV constraint is first violated. For all other TCMs, OpNav measurement pass duration and measurement frequency can have a moderate to large affect on the optimal TCM locations.

Linear Covariance Analysis↗
NASA NTRSDate not supplied

Artemis I Off-Nominal-Trajectory Design and Optimization

In order to achieve the Artemis I mission objectives to human-rate the Orion spacecraft even under off-nominal conditions, trajectories were developed to handle contingency scenarios: alternate missions for contingencies before or during the Trans-Lunar Injection burn, recoveries to return Orion to the nominal trajectory after a delayed or partial burn, and abort trajectories to return the spacecraft to Earth after a critical failure. In addition, disposal trajectories were generated for situations where recovery was not an option. Details are given on the trajectory characteristics, solution families, the generation of the trajectories, and operations considerations.

Artemis I↗
NASA NTRS2022

Trajectory Generation for Flexible-Joint Space Manipulators

Space manipulator arms often exhibit significant joint flexibility and limited motor torque. Future space missions, including satellite servicing and large structure assembly, may involve the manipulation of massive objects, which will accentuate these limitations. Currently, astronauts use visual feedback on-orbit to mitigate oscillations and trajectory following issues. Large time delays between orbit and Earth make ground teleoperation difficult in these conditions, so more autonomous operations must be considered to remove the astronaut resource requirement and expand robotic capabilities in space. Trajectory planning for autonomous systems must therefore be considered to prevent poor trajectory tracking performance. We provide a model-based trajectory generation methodology that incorporates constraints on joint speed, motor torque, and base actuation for flexible-joint space manipulators while minimizing total trajectory time. Full spatial computer simulation results, as well as physical experiment results with a single-joint robot on an air bearing table, show the efficacy of our methodology.

Space robotics↗
DOE OSTI2025

Timing based clustering of childhood BMI trajectories reveals differential maturational patterns; Study in the Northern Finland Birth Cohorts 1966 and 1986

Children’s biological age does not always correspond to their chronological age. In the case of BMI trajectories, this can appear as phase variation, which can be seen as shift, stretch, or shrinking between trajectories. With maturation thought of as a process moving towards the final state - adult BMI, we assessed whether children can be divided into latent groups reflecting similar maturational age of BMI. The groups were characterised by early factors and time-related features of the trajectories. We used data from two general population birth cohort studies, Northern Finland Birth Cohorts 1966 and 1986 (NFBC1966 and NFBC1986). Height (n = 6329) and weight (n = 6568) measurements were interpolated in 34 shared time points using B-splines, and BMI values were calculated between 3 months to 16 years. Pairwise phase distances of 2999 females and 3163 males were used as a similarity measure in k-medoids clustering. We identified three clusters of trajectories in females and males (Type 1: females, n = 1566, males, n = 1669; Type 2: females, n = 1028, males, n = 973; Type 3: females, n = 405, males, n = 521). Similar distinct timing patterns were identified in males and females. The clusters did not differ by sex, or early growth determinants studied. Trajectory cluster Type 1 reflected to the shape of what is typically illustrated as the childhood BMI trajectory in literature. However, the other two have not been identified previously. Type 2 pattern was more common in the NFBC1966 suggesting a generational shift in BMI maturational patterns.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

Trajectory sampling and finite-size effects in first-principles stopping power calculations

Abstract Real-time time-dependent density functional theory (TDDFT) is presently the most accurate available method for computing electronic stopping powers from first principles. However, obtaining application-relevant results often involves either costly averages over multiple calculations or ad hoc selection of a representative ion trajectory. We consider a broadly applicable, quantitative metric for evaluating and optimizing trajectories in this context. This methodology enables rigorous analysis of the failure modes of various common trajectory choices in crystalline materials. Although randomly selecting trajectories is common practice in stopping power calculations in solids, we show that nearly 30% of random trajectories in an FCC aluminum crystal will not representatively sample the material over the time and length scales feasibly simulated with TDDFT, and unrepresentative choices incur errors of up to 60%. We also show that finite-size effects depend on ion trajectory via “ouroboros” effects beyond the prevailing plasmon-based interpretation, and we propose a cost-reducing scheme to obtain converged results even when expensive core-electron contributions preclude large supercells. This work helps to mitigate poorly controlled approximations in first-principles stopping power calculations, allowing 1–2 order of magnitude cost reductions for obtaining representatively averaged and converged results.

36 MATERIALS SCIENCE↗
DOE OSTI2020

An extended trajectory-mechanics approach for calculating two-phase flow paths

A technique originating in quantum dynamics is used to derive a trajectory-based, semi-analytical solution for two-phase flow. The partial differential equation governing the evolution of the aqueous phase is equivalent to a family of ordinary differential equations defined along a path through the porous medium. The trajectories may be found by solving the differential equations directly or by post-processing the output of a numerical solution to the full set of governing equations. The trajectories, which differ from conventional streamlines, are found to bend downward in response to gravitational forces. The curvature is more pronounced as the dip of the porous layer containing the flow increases. Subtle changes in the relative permeability curve can lead to significant variations in the trajectories. The ordinary differential equation for the trajectory provides an expression for the travel time along the path. The expression produces a semi-analytical approximation to the model parameter sensitivities, the partial derivatives of the travel times with respect to changes in the permeability model. The semi-analytical trajectory-based sensitivities generally agree with those computed using a numerical reservoir simulator and a perturbation approach. The sensitivities are useful in tomographic imaging algorithms designed to estimate the spatial variation in permeability within a porous medium using multiphase observations.

58 GEOSCIENCES↗
DOE OSTI2026

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The four trajectory data sets support aerosol, cloud, and planetary boundary-layer research. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The six trajectory data sets support aerosol, cloud, planetary boundary layer, and related research (aerosol-cloud interactions, etc.), as well as studies using ARM Aerial Facility (AAF) and tethered balloon system (TBS) measurements. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1972

Estimating trajectory correction requirements for multiple outer planet missions.

General approach to the problem of estimating trajectory correction requirements for multiple outer planet flyby missions when the navigation system uses onboard optical measurements made during approach to each target planet to complement the ground-based radio measurements. The accuracy and reliability of the onboard measurement system plays a critical role in sizing the trajectory correction capability required. An illustration of the combined use of radio and optical measurements is provided for the particular case of a Jupiter-Uranus-Neptune mission. Use of the statistical technique developed for computing the trajectory correction margin required to account for uncertainties in subsystem performance, permits trajectory correction savings of 100 to 20 m/sec over 'worst case' designs. This represents weight savings of about 50% of the science payload. For the example case trajectory correction requirements are estimated for two candidate optical systems and the radio alone case. The use of onboard measurements allows a trajectory correction savings of approximately 140 m/sec.

Friedman, L. D.↗
NASA NTRS1974

Space Trajectory Error Analysis Program (STEAP) for halo orbit missions. Volume 1: Analytic and user's manual

Development, test, conversion, and documentation of computer software for the mission analysis of missions to halo orbits about libration points in the earth-sun system is reported. The software consisting of two programs called NOMNAL and ERRAN is part of the Space Trajectories Error Analysis Programs (STEAP). The program NOMNAL targets a transfer trajectory from Earth on a given launch date to a specified halo orbit on a required arrival date. Either impulsive or finite thrust insertion maneuvers into halo orbit are permitted by the program. The transfer trajectory is consistent with a realistic launch profile input by the user. The second program ERRAN conducts error analyses of the targeted transfer trajectory. Measurements including range, doppler, star-planet angles, and apparent planet diameter are processed in a Kalman-Schmidt filter to determine the trajectory knowledge uncertainty. Execution errors at injection, midcourse correction and orbit insertion maneuvers are analyzed along with the navigation uncertainty to determine trajectory control uncertainties and fuel-sizing requirements. The program is also capable of generalized covariance analyses.

Byrnes, D. V.↗
NASA NTRS1973

Four-body trajectory optimization

A collection of typical three-body trajectories from the L1 libration point on the sun-earth line to the earth is presented. These trajectories in the sun-earth system are grouped into four distinct families which differ in transfer time and delta V requirements. Curves showing the variations of delta V with respect to transfer time, and typical two and three-impulse primer vector histories, are included. The development of a four-body trajectory optimization program to compute fuel optimal trajectories between the earth and a point in the sun-earth-moon system are also discussed. Methods for generating fuel optimal two-impulse trajectories which originate at the earth or a point in space, and fuel optimal three-impulse trajectories between two points in space, are presented. A brief qualitative comparison of these methods is given. An example of a four-body two-impulse transfer from the Li libration point to the earth is included.

Pu, C. L.↗