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

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

MISSE-X: An ISS External Platform for Space Environmental Studies in the Post-Shuttle Era

Materials International Space Station Experiment-X (MISSE-X) is a proposed International Space Station (ISS) external platform for space environmental studies designed to advance the technology readiness of materials and devices critical for future space exploration. The MISSE-X platform will expand ISS utilization by providing experimenters with unprecedented low-cost space access and return on investment (ROI). As a follow-on to the highly successful MISSE series of ISS experiments, MISSE-X will provide advances over the original MISSE configurations including incorporation of plug-and-play experiments that will minimize return mass requirements in the post-Shuttle era, improved active sensing and monitoring of the ISS external environment for better characterization of environmental effects, and expansion of the MISSE-X user community through incorporation of new, customer-desired capabilities. MISSE-X will also foster interest in science, technology, engineering, and math (STEM) in primary and secondary schools through student collaboration and participation.1,2

Thibeault, Sheila A.↗
NASA NTRS2020

Controlled Environmental Effects on Creep Test Data of Woven Fabric Webbings for Inflatable Space Modules

eveloping technologies for proposed lunar and Mars space exploration missions. Enhanced habitation sy g studied as potential habitats due to their inherent low mass and small launch volume. One goal of inflatable module research is quantification of the safe-life and end-of-life creep-strain spectrum. Full-scale pressurized inflatable modules are large, costly, and difficult to experimentally study. Therefore, material subcomponents are often studied as an alternative. An experimental thermally controlled long-term creep study of VectranTM webbings for application to inflatable modules is presented. Vectran fibers have high strength and low creep properties. High strength webbing materials are desirable for the load bearing restraint layer of inflatable modules because they are strong, flexible, and lightweight. Characterization of the creep behavior, safe-life, and end-of- life of webbing specimens will help quantify comparable life properties for inflatable modules. Several experimental multiple-year creep studies of webbing specimens in uncontrolled thermal environments have been conducted at NASA Langley Research Center. Experimental data obtained exhibits the classic creep-strain curve due to load, coupled with unique sinusoidal variation due to variation in temperature and humidity over daily and annual time periods. Results also have indicated that specimens fail within a year if the applied load is greater than 50 percent of the rated load. The primary goal of this study is to eliminate thermal effects from the creep data for a group of webbing specimens, and to allow uncontrolled thermal effects to influence the creep data of a second group of webbing specimens. Comparison of both sets of data will define how temperature influences creep data. A unique creep test facility was fabricated to facilitate the generation and comparison of the two sets of data. The facility consists of five creep test stands with an integrated heating and cooling system, and four creep test stands exposed to external environmental or ambient conditions. The facility contains displacement, temperature, humidity, and load sensors. Test specimens consist of one- inch wide, 48-inch long Vectran webbings rated at 12,500 pounds-per-inch. Experimental thermally controlled creep-strain data has been generated for two groups of webbing specimens. Applied load for all test stands was above 9000 lbs and greater than 50 percent of the rated load. Temperatures varied between 58˚F and 83˚F for the four test stands exposed to ambient conditions. Associated creep data exhibited the classic creep- strain profiles. The temperature was set to 72˚F for the five test stands in the controlled temperature environment. Creep data for tests with temperature control also exhibited the classic strain profiles. Data indicated that if the load is greater n thermal effects do not manifest. Therefore, creep tests with loads less than 50 percent of the rated load are planned for in the near future.

Kenner, Winfred S.↗
DOE OSTI2024

A Tool to Incorporate Non-Energy Impacts in Energy Efficiency Investment Decision Making for Firms

Energy efficiency is a key demand-side strategy for sustainability, recently identified by the United States Department of Energy as a pillar of industrial decarbonization. The increased focus on decarbonization and the requirement for efficiency to enable electrification, another decarbonization pillar, due to the spark spread between natural gas and electricity prices, make energy efficiency increasingly relevant. Still, industries face challenges in adopting energy efficiency measures. Researchers have long found a gap in adoption of even those measures with a profitable net present value, attributed to lack of strategic value among other barriers (see for rigorous exploration and taxonomy). One solution to facilitate energy efficiency projects is the inclusion of non-energy impacts, as this has been shown to double potential deployment of such projects at system level. Energy efficiency can provide valuable benefits outside of simple operating cost reductions, from decreased pollution to enhanced productivity. The inclusion of these benefits in decision making assessments faces hurdles due to inconsistency of ancillary benefits across projects, difficulties in quantifying impacts and the need for additional measurement to quantify them. The decision-making tools to support this have been designed primarily for the European context. We begin with a stakeholder engagement process to better characterize the U.S. decision making process surrounding adoption of energy efficiency investments. Characterization of non-energy impacts has developed substantially over recent decades. Cagno et al. provided a framework for studying the applicability of these impacts to energy efficiency projects, listing 120 key performance indicators focused mainly on reductions of costs/harms. Other researchers have included impacts on the strategic and revenue side that can be merged into this framework as well. We seek a tractable set of impacts that can be included in a decision-making tool in the US, and as such are well suited to US industry, management and decision making processes. We also seek to understand how to best quantify or characterize these impacts. This work will demonstrate the results of a survey conducted among US manufacturing industry decision makers to assess the decision making landscape of stakeholders as well as the most relevant performance indicators for energy efficiency projects.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION,↗
DOE OSTI2024

Oil-Pressure Based Apparatus for In-Situ High-Energy Synchrotron X-Ray Diffraction Studies During Biaxial Deformation

Background: Understanding biaxial loading response at the microstructural level is crucial in helping better design sheet manufacturing processes and calibrate/validate material deformation models. Objective: The objective of this work was to develop a low-cost testing apparatus to probe, with sufficient spatial resolution, the micro-mechanical response of a sheet material in-situ under biaxial loading conditions. Methods: The testing apparatus fabricated as a part of this study operates in a similar fashion to a standard bulge test and uses oil pressure to generate biaxial loading conditions. This biaxial testing apparatus was operated within a synchrotron beamline to characterize the mechanical response of a flash-processed steel sheet using in-situ high-energy X-ray diffraction (XRD) measurements. Further, the GSAS-II package was utilized to develop a workflow for the analysis of the large volume of diffraction data acquired. The workflow was then used to extract the peak position, width, and integrated intensity of the XRD peaks corresponding to the major body-centered cubic phase. Results: The equi-biaxial nature of the loading in the measured area was independently corroborated using experimental (XRD) and simulation (finite element analysis) methods. Furthermore, we discuss the evolution of elastic strain in the major body-centered cubic phase as a function of applied oil pressure and location on the steel sheet. Conclusions: A key advantage of the biaxial apparatus fabricated in this synchrotron study is demonstrated using the results obtained for the flash-processed steel sheet – i.e., mapping the lattice plane-dependent response to biaxial loading for a relatively large sample area in a spatially resolved manner.

36 MATERIALS SCIENCE↗
DOE OSTI2021

H 2 O-assisted O 2 reduction by H 2 on Pt and PtAu bimetallic nanoparticles: Influences of composition and reactant coverages on kinetic regimes, rates, and selectivities

Hydrogen peroxide (H 2 O 2 ) can replace hazardous oxidants in industrial processes but is currently too expensive for many such applications. While direct synthesis of H 2 O 2 (H 2 + O 2 → H 2 O 2 ) may reduce costs in comparison to incumbent technology, current catalysts lack the requisite stability and selectivity. Here, we examine the direct synthesis of H 2 O 2 on bimetallic Pt 1 Au x (0 ≤ x ≤ 230) and Pt catalysts at steady-state in pure water and relate kinetic parameters for H 2 O 2 and H 2 O formation to possible active site structures informed by complementary characterization methods. X-ray photoelectron spectra show significant Pt surface enrichment compared to the bulk composition. Analysis of infrared spectra of mixed monolayers of 12 CO* and 13 CO* indicate that Pt and Au form substitutional surface alloys. The Pt 1 Au x nanoparticles with the greatest mole fractions of Au predominantly expose Pt monomers (i.e., isolated Pt atoms), yet Pt atoms exposed upon all these nanoparticles possess electronic structures distinct from bulk Pt. Despite these differences, rate measurements are consistent with product formation through proton-electron transfer pathways for all Pt 1 Au x catalysts. In situ XAS indicate that Pt remains metallic during H 2 O 2 synthesis. Under the most oxidizing conditions, selectivities toward H 2 O 2 increase strongly with the Au to Pt ratio from 2% for monometallic Pt to 85% for Pt 1 Au 170 . However, selectivities are similar among all catalysts within reducing conditions. Comparisons of apparent activation enthalpies for the formation of H 2 O 2 and H 2 O across these catalysts and the range of conditions suggest that Pt monomers within Au provide the greatest selectivities for H 2 O 2 formation, because these active sites present high barriers for O-O bond rupture. Further, selectivities decrease with increasing ratios of H 2 to O 2 pressures, because Pt atoms aggregate and form oligomers that readily dissociate dioxygen intermediates. The combined use of spectroscopy, kinetics, and concepts employed in reaching these conclusions take inspiration from the legacy of Prof. Michel Boudart, and specifically his elegant methods for interrogating bimetallic catalysts.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2023

Inhibit the strain accumulation for 5V spinel cathode by mitigating the phase separation during high voltage stage

LiNi 0.5 Mn 1.5 O 4 (LNMO) spinel cathode is a potential cathode material for high-power, low-cost lithium-ion batteries (LIBs) due to its low raw material cost, high operating voltage and efficient lithium-ion transport channel. However, LNMO suffers from structural stability due to the two-phase-transformation during charge/discharge process, leading to poor cycling performance. Here, to address the issues, we have constructed a homogeneous aggregated LNMO cathode with a multifaceted primary particle, namely the LNMO with single-crystal secondary particles (SSP LNMO). Ex situ and in situ characterizations including the synchrotron X-ray diffraction, the neutron diffraction and full pouch cell validated that the SSP LNMO exhibit a single solid-solution reactions with a restrained lattice evolution during the delithiation/lithiation process. This is in contrast to the normal LNMO cathode, which demonstrates a significant two-phase transition from spinel Li 1-x Ni 0.5 Mn 1.5 O 4 to rock-salt MnO 2 at high voltage. Therefore, the SSP LNMO has greatly improved cycle life compared to the normal LNMO cathode. Overall, this study demonstrates the possibility of constructing LNMO based on primary-grain morphology modulation to improve the intrinsic stability of LIBs.

25 ENERGY STORAGE↗
DOE OSTI2021

Radiation Stability of Mixed Tin-Lead Halide Perovskites: Implications for Space Applications

Mixed organic-inorganic halide perovskite solar cells (PSCs) have received considerable attention in recent years for their impressive solar to electrical power efficiency gains and potentially lower material and processing costs for optoelectronic applications. In addition to terrestrial applications, PSCs are of interest to the space power markets for their low cost, low weight, adaptability to flexible architectures, and tolerance to high energy particle irradiation (mainly protons and electrons). Here we investigate the properties of mixed formamidinium-methylammonium tin-lead iodide (FASn)0.6(MAPb)0.4I3 perovskites which lower the lead content as well as the bandgap, making them attractive for the low bandgap absorber material in tandem PSCs. Through current density-voltage (JV) characterization at lower temperatures, majority carrier transport is hindered and a barrier to photogenerated carrier extraction is evident. This is attributed to the thermally induced change of the bandgap of the absorber layer relative to the energy selective contacts in the device. We find that although the architecture used here hinders the performance at temperatures below 225 K, the tolerance to high energy (3.7 MeV) protons is impressive, considerably out-performing commercially available thin-film CIGS. These results suggest further improvements to structural and interface stability as well as lightweight encapsulation could lead to all perovskite flexible tandem arrays deployed for power generation on missions to low Earth orbit, the moon, Mars, and beyond.

perovskite solar cells↗
DOE OSTI2021

Efficient verification of anticoncentrated quantum states

I present a method for estimating the fidelity F(μ, τ) between a preparable quantum state μ and a classically specified pure target state τ=|τ> <τ|, using simple quantum circuits and on-the-fly classical calculation (or lookup) of selected amplitudes of |τ>. The method is sample efficient for anticoncentrated states (including many states that are hard to simulate classically), with approximate cost 4ϵ –2 (1 – F)dpcoll where ϵ is the desired precision of the estimate, d is the dimension of the Hilbert space, and pcoll is the collision probability of the target distribution. Furthermore, this scaling is exponentially better than that of any method based on classical sampling. I also present a more sophisticated version of the method that uses any efficiently preparable and well-characterized quantum state as an importance sampler to further reduce the number of copies of μ needed. Though some challenges remain, this work takes a significant step toward scalable verification of complex states produced by quantum processors.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2024

Autonomous hybrid optimization of a SiO 2 plasma etching mechanism

Computational modeling of plasma etching processes at the feature scale relevant to the fabrication of nanometer semiconductor devices is critically dependent on the reaction mechanism representing the physical processes occurring between plasma produced reactant fluxes and the surface, reaction probabilities, yields, rate coefficients, and threshold energies that characterize these processes. The increasing complexity of the structures being fabricated, new materials, and novel gas mixtures increase the complexity of the reaction mechanism used in feature scale models and increase the difficulty in developing the fundamental data required for the mechanism. This challenge is further exacerbated by the fact that acquiring these fundamental data through more complex computational models or experiments is often limited by cost, technical complexity, or inadequate models. In this paper, we discuss a method to automate the selection of fundamental data in a reduced reaction mechanism for feature scale plasma etching of SiO 2 using a fluorocarbon gas mixture by matching predictions of etch profiles to experimental data using a gradient descent (GD)/Nelder–Mead (NM) method hybrid optimization scheme. These methods produce a reaction mechanism that replicates the experimental training data as well as experimental data using related but different etch processes.

36 MATERIALS SCIENCE↗
DOE OSTI2020

Gamma Equipment System Requirements by Application

This document outlines a set of requirements for gamma sensitive systems applied to three different applications: (1) homeland security (search and identification); (2) in-situ quantification; and (3) quantification in a material characterization laboratory. These three applications represent a range of activities that a country might use for locating, identifying, and quantifying radioactive material. These applications require increasing accuracy and system advancements, and skill levels. This document considers systems with various detector types and are characterized by their energy resolution: (1) low resolution (e.g., NaI(Tl) scintillation) and (2) higher resolution (e.g., high-purity germanium [HPGe] solid state) systems. The higher resolution systems also include cadmium zinc telluride (CZT) and only mechanically cooled HPGe systems are considered. These detectors and their associated acquisition hardware and analysis software afford a broad range of capabilities with corresponding ranges of complexity, maintainability, and cost. Ultimately, the equipment must meet the measurement goals of the application, and compliance with a given list of hardware specifications does not in itself guarantee meeting those goals. Examples of typical performance objectives for international safeguards applications are documented in International Target Values 2010 for Measurement Uncertainties in Safeguarding Nuclear Materials (IAEA, STR-368, November 2010). Selection of the detector type best suited to a specific application is often a compromise between “state of the art” or best available option and what is practical.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2022

Hydroxyapatite/TiO 2 Nanomaterial with Defined Microstructural and Good Antimicrobial Properties

Due to the growing number of people infected with the new coronavirus globally, which weakens immunity, there has been an increase in bacterial infections. Hence, knowledge about simple and low-cost synthesis methods of materials with good structural and antimicrobial properties is of great importance. A material obtained through the combination of a nanoscale hydroxyapatite material (with good biocompatibility) and titanium dioxide (with good degradation properties of organic molecules) can absorb and decompose bacteria. In this investigation, three different synthesis routes used to prepare hydroxyapatite/titanium dioxide nanomaterials are examined. The morphology and semiquantitative chemical composition are characterized by scanning electron microscopy with energy dispersive X-ray analysis (SEM-EDX). The obtained materials’ phase and structural characterization are determined using the X-ray powder diffraction method (XRD). The crystallite sizes of the obtained materials are in the range of 8 nm to 15 nm. Based on XRD peak positions, the hexagonal hydroxyapatite phases are formed in all samples along with TiO 2 anatase and rutile phases. According to SEM and TEM analyses, the morphology of the prepared samples differs depending on the synthesis route. The EDX analysis confirmed the presence of Ti, Ca, P, and O in the obtained materials. The IR spectroscopy verified the vibration bands characteristic for HAp and titanium. The investigated materials show excellent antimicrobial and photocatalytic properties.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1984

Parabolic Dish Concentrator (PDC-1)

The design, construction, and installation of the Parabolic Dish Concentrator, Type 1 (PDC-1) has been one of the most significant JPL concentrator projects because of the knowledge gained about this type of concentrator and the development of design, testing, and analysis procedures which are applicable to all solar concentrator projects. The need for these procedures was more clearly understood during the testing period which started with the prototype panel evaluation and ended with the performance characterization of the completed concentrator. For each phase of the test program, practical test procedures were required and these procedures defined the mathematical analysis which was essential for successful concentrator development. The concentrator performance appears to be limited only by the distortions resulting from thermal gradients through the reflecting panels. Simple optical testing can be extremely effective, but comprehensive mechanical and optical analysis is essential for cost effective solar concentrator development.

Dennison, E. W.↗
NASA NTRS1998

In-Situ Resource Utilization (ISRU) Development Program

The question "Why In-Situ Resource Utilization (ISRU)?" is addressed in this presentation. The reasons given concentrate on Cost reduction, Mass reduction, Risk reduction, the expansion of human exploration and presence and the enabling of industrial exploitation. A review of the Martian and Lunar resources available for ISRU is presented. Other ISRU concepts (i.e., In-Situ Consumable production (ISCP) and In-Situ Propellant Production (ISPP)) are introduced and further explained. The objectives of a Mars ISRU System Technology (MIST) include (1) the characterization of technology and subsystem performance for mission modeling and technology funding planning, (2) reduce risk and concerns arising from sample return and human missions utilizing ISRU, and (3) demonstrate the environmental suitability of ISRU components/processes and systems. A proof of concept demonstration schedule and a facility overview for MIST is presented.

Sanders, Jerry↗
NASA NTRS1999

Characterization of (Ba(0.5)Sr(0.5)) TiO3 Thin Films for Ku-Band Phase Shifters

The microstructural properties of (Ba(0.5)Sr(0.5)TiO3) (BSTO) thin films (300, 700, and 1400 nm thick) deposited on LaAlO3 (LAO) substrates were characterized using high-resolution x-ray diffractometry. Film crystallinity was the parameter that most directly influenced tunability, and we observed that a) the crystalline quality was highest in the thinnest film and progressively degraded with increasing film thickness; and b) strain at the film/substrate interface was completely relieved via dislocation formation. Paraelectric films such as BSTO offer an attractive means of incorporating low-cost phase shifter circuitry into beam-steerable reflectarray antennas.

Mueller, Carl H.↗
NASA NTRS2003

Characterization of Polyimide Foams for Ultra-Lightweight Space Structures

Ultra-lightweight materials have played a significant role in nearly every area of human activity ranging from magnetic tapes and artificial organs to atmospheric balloons and space inflatables. The application range of ultra-lightweight materials in past decades has expanded dramatically due to their unsurpassed efficiency in terms of low weight and high compliance properties. A new generation of ultra-lightweight materials involving advanced polymeric materials, such as TEEK (TM) polyimide foams, is beginning to emerge to produce novel performance from ultra-lightweight systems for space applications. As a result, they require that special conditions be fulfilled to ensure adequate structural performance, shape retention, and thermal stability. It is therefore important and essential to develop methodologies for predicting the complex properties of ultra-lightweight foams. To support NASA programs such as the Reusable Launch Vehicle (RLV), Clark Atlanta University, along with SORDAL, Inc., has initiated projects for commercial process development of polyimide foams for the proposed cryogenic tank integrated structure (see figure 1). Fabrication and characterization of high temperature, advanced aerospace-grade polyimide foams and filled foam sandwich composites for specified lifetimes in NASA space applications, as well as quantifying the lifetime of components, are immensely attractive goals. In order to improve the development, durability, safety, and life cycle performance of ultra-lightweight polymeric foams, test methods for the properties are constant concerns in terms of timeliness, reliability, and cost. A major challenge is to identify the mechanisms of failures (i.e., core failure, interfacial debonding, and crack development) that are reflected in the measured properties. The long-term goal of the this research is to develop the tools and capabilities necessary to successfully engineer ultra-lightweight polymeric foams. The desire is to reduce density at the material and structural levels, while at the same time maintaining or increasing mechanical and other properties.

Meador, Michael↗
NASA NTRS2008

Transmissive Diffractive Optical Element Solar Concentrators

Solar-thermal-radiation concentrators in the form of transmissive diffractive optical elements (DOEs) have been proposed as alternatives to mirror-type solar concentrators now in use. In comparison with functionally equivalent mirror-type solar concentrators, the transmissive, diffractive solar concentrators would weigh and cost less, and would be subject to relaxed mechanical tolerances. A DOE concentrator would be made from a thin, flat disk or membrane of a transmissive material having a suitable index of refraction. By virtue of its thinness, the DOE concentrator would have an areal mass density significantly less than that of a functionally equivalent conventional mirror. The DOE concentrator would have a relatively wide aperture--characterized by a focal-length/aperture-diameter ratio ('f number') on the order of 1. A kinoform (a surface-relief phase hologram) of high diffractive order would be microfabricated onto one face of the disk. The kinoform (see figure) would be designed to both diffract and refract incident solar radiation onto a desired focal region, without concern for forming an image of the Sun. The high diffractive order of this kinoform (in contradistinction to the low diffractive orders of some other kinoforms) would be necessary to obtain the desired f number of 1, which, in turn, would be necessary for obtaining a desired concentration ratio of 2,500 or greater. The design process of optimizing the concentration ratio of a proposed DOE solar concentrator includes computing convolutions of the optical bandwidth of the Sun with the optical transmission of the diffractive medium. Because, as in the cases of other non-imaging, light-concentrating optics, image quality is not a design requirement, the process also includes trading image quality against concentration ratio. A baseline design for one example calls for an aperture diameter of 1 m. This baseline design would be scalable to a diameter as large as 10 m, or to a smaller diameter for a laboratory test article. Initial calculations have indicated that the characteristics of the test article would be readily scalable to a full-size unit.

Baron, Richard↗
NASA NTRS2016

Enabling All-Access Mobility for Planetary Exploration Vehicles via Transformative Reconfiguration

Effective large-scale exploration of planetary surfaces requires robotic vehicles capable of mobility across chaotic terrain. Characterized by a combination of ridges, cracks and valleys, the demands of this environment can cause spacecraft to experience significant reductions in operating footprint, performance, or even result in total system loss. Significantly increasing the scientific return of an interplanetary mission is facilitated by architectures capable of real-time configuration changes that go beyond that of active suspensions while concurrently meeting system, mass, power, and cost constraints. This Phase 1 report systematically explores how in-service architecture changes can expand system capabilities and mission opportunities. A foundation for concept generation is supplied by four Martian mission profiles spanning chasms, ice fields, craters and rocky terrain. A fifth mission profile centered on Near Earth Object exploration is also introduced. Concept generation is directed using four transformation principles - a taxonomy developed by the engineering design community to explain the cause of an architecture change and existing brainstorming techniques. This allowed early conceptual sketches of architecture changes to be organized by the principle driving the greatest increase in mission performance capability.

Exploration↗
NASA NTRS2022

Robust Vision-based Multi-spacecraft Guidance Navigation and Control using CNN-based Pose Estimation

In this paper, we present an end-to-end simulation framework for tracking an uncooperative Target spacecraft in Low Earth Orbit using a CubeSat-class Ego spacecraft outfitted with a camera. Currently, capturing high-fidelity realistic images in space for this scenario is difficult and exorbitantly expensive. Therefore, we developed a framework to simulate the spacecraft orbits in Basilisk software and generate high-fidelity realistic images of spacecraft in Unreal Engine, including the effects from Sun, Earth, Moon and stars. The Ego spacecraft uses cameras to capture images of the uncooperative Target and estimates its position and attitude using a CNN based 6DOF pose estimation pipeline, eliminating need for large SWAP-C(Size, Weight, Power and Cost) sensors like LIDAR or reliance on inter-spacecraft communication, This CNN, which is motivated by ESA’s Pose Estimation challenge of 2019, is trained using simulated data from our end-to-end simulation framework. We compare the performance of two distinct CNNbased algorithms for pose estimation along a nominal trajectory. In presence of non-Gaussian modeling uncertainties, the statedependent estimation error is characterized with a quadratic upper-bound. The quadratically-bounded error can be used by a robust controller to maneuver

Rahmani, Amir↗