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At least 199 records · Page 11

Learning and Prediction of Slip from Visual Information

This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. This relationship is learned from previous experience, so slip can be predicted remotely from visual information only. The proposed method consists of terrain type recognition and nonlinear regression modeling. The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips. The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers.

rover↗

Leveraging ­ CPF Spectral Information for Effective Angular Corrections in Sensor Inter-calibration Studies

The Climate Absolute Radiance and Refractivity Observatory Pathfinder (CPF) mission will provide a high-accuracy (0.3% radiometric uncertainty at k=1) SI-traceable on-orbit calibration reference for sensor intercalibration in reflective solar spectral region. CPF inter-calibration algorithms have been developed to address various sampling differences between CPF and target sensors, particularly in spectral, angular, spatial and temporal domains. CPF provides unique hyper-spectral measurements that allow the utilization of rich spectral information for critical inter-calibration procedures including angular correction and spectral-gap filling. The angular correction scheme of CPF mission has been constructed based on the spectral correlation relationship between CPF observed spectra and the spectra to be measured at the viewing/sun geometry angles of target sensors. The angular correction relationship is both angular and scene dependent. The scene variability issue can impose undesired uncertainties that complicates the correction for those errors. We have demonstrated that hyper-spectral radiance information can be well utilized to identify different scene types associated with CPF observations. Using spectral radiances-based scene clustering analysis can greatly reduce the uncertainty associated with the angular correction algorithm. Additionally, a reliable quality control scheme has been established, utilizing spectral similarity and regression-prediction error analyses, to ensure the successful and efficient implementation of the angular correction method.

Wan Wu↗

Extended State Observer-Based Robust Model Predictive Velocity Control for Permanent Magnet Synchronous Motor

This article proposes an extended state observer based robust model predictive velocity control to decrease system prediction error under parameter uncertainties for permanent magnet synchronous motor (PMSM). We develop a new PMSM model that consists of velocity and acceleration to lump the system information and an external disturbance into a disturbance. The extended state observer (ESO) is designed to estimate the velocity, acceleration, and disturbance. By estimating the state variables and disturbance using the ESO, the model predictive control (MPC) finds the optimal control input by predicting future system behavior. Additionally, the direct current controller is designed so that the direct current converges to zero. Because the proposed method is not designed based on the cascade structure from the viewpoint of velocity control, the optimization control for the velocity and currents can be defined. Thus, the proposed method is robust against external disturbances and parameter uncertainties owing to feedback linearization, state feedback, and ESO-based MPC using the acceleration PMSM model. The proposed control algorithm was experimentally verified and it showed improved velocity tracking performance compared with ESO-based MPC using the conventional PMSM model.

42 ENGINEERING↗

System identification and model reduction using modulating function techniques

Weighted least squares (WLS) and adaptive weighted least squares (AWLS) algorithms are initiated for continuous-time system identification using Fourier type modulating function techniques. Two stochastic signal models are examined using the mean square properties of the stochastic calculus: an equation error signal model with white noise residuals, and a more realistic white measurement noise signal model. The covariance matrices in each model are shown to be banded and sparse, and a joint likelihood cost function is developed which links the real and imaginary parts of the modulated quantities. The superior performance of above algorithms is demonstrated by comparing them with the LS/MFT and popular predicting error method (PEM) through 200 Monte Carlo simulations. A model reduction problem is formulated with the AWLS/MFT algorithm, and comparisons are made via six examples with a variety of model reduction techniques, including the well-known balanced realization method. Here the AWLS/MFT algorithm manifests higher accuracy in almost all cases, and exhibits its unique flexibility and versatility. Armed with this model reduction, the AWLS/MFT algorithm is extended into MIMO transfer function system identification problems. The impact due to the discrepancy in bandwidths and gains among subsystem is explored through five examples. Finally, as a comprehensive application, the stability derivatives of the longitudinal and lateral dynamics of an F-18 aircraft are identified using physical flight data provided by NASA. A pole-constrained SIMO and MIMO AWLS/MFT algorithm is devised and analyzed. Monte Carlo simulations illustrate its high-noise rejecting properties. Utilizing the flight data, comparisons among different MFT algorithms are tabulated and the AWLS is found to be strongly favored in almost all facets.

Shen, Yan↗

Five-Hole Flow Angle Probe Calibration for the NASA Glenn Icing Research Tunnel

A spring 1997 test section calibration program is scheduled for the NASA Glenn Research Center Icing Research Tunnel following the installation of new water injecting spray bars. A set of new five-hole flow angle pressure probes was fabricated to properly calibrate the test section for total pressure, static pressure, and flow angle. The probes have nine pressure ports: five total pressure ports on a hemispherical head and four static pressure ports located 14.7 diameters downstream of the head. The probes were calibrated in the NASA Glenn 3.5-in.-diameter free-jet calibration facility. After completing calibration data acquisition for two probes, two data prediction models were evaluated. Prediction errors from a linear discrete model proved to be no worse than those from a full third-order multiple regression model. The linear discrete model only required calibration data acquisition according to an abridged test matrix, thus saving considerable time and financial resources over the multiple regression model that required calibration data acquisition according to a more extensive test matrix. Uncertainties in calibration coefficients and predicted values of flow angle, total pressure, static pressure. Mach number. and velocity were examined. These uncertainties consider the instrumentation that will be available in the Icing Research Tunnel for future test section calibration testing.

Gonsalez, Jose C.↗

High-resolution national mapping of natural gas composition substantially updates methane leakage impacts

Methane is emitted from oil and gas operations alongside heavier hydrocarbons and non-hydrocarbon gases, shaping emissions management decision-making, including air quality impacts. Yet, most assessments assume fixed gas composition, overlooking significant spatial and temporal variations. Here, we generate a high-resolution, data-driven map of natural gas composition across the United States, reconstructing methane, heavier hydrocarbons, and non-hydrocarbon species using spatio-temporal interpolation and oil-and-gas production patterns. Our approach is able to reduce composition prediction errors by 39% in terms of Mean Absolute Error (MAE) compared to standard techniques and reveals that methane loss rates have been underestimated by more than 50% in some regions. Beyond methane, we uncover substantial variability in co-emitted gases, exposing blind spots in current emissions inventories and emissions management frameworks. Our work enables more accurate emissions assessments, guides targeted measurement strategies, and informs emissions management decision-making. It also provides a general framework for prediction in environmental applications that integrate sparse measurements with auxiliary variables.

03 NATURAL GAS↗

An Information Theory Approach to Physical Domain Discovery

The project of physics discovery is often equivalent to finding the most concise description of a physical system. The description with optimum predictive capability for a dataset generated by a physical system is one that minimizes both predictive error on the dataset and the complexity of the description. The discovery of the governing physics of a system can therefore be viewed as a mathematical optimization problem. We outline here a method to optimize the description of arbitrarily complex physical systems by minimizing the entropy of the description of the system. The Recursive Domain Partitioning (RDP) procedure finds the optimum partitioning of each physical domain into subdomains, and the optimum predictive function within each subdomain. Penalty functions are introduced to limit the complexity of the predictive function within each domain. Examples are shown in 1D and 2D. In 1D, the technique effectively discovers the elastic and plastic regions within a stress-strain curve generated by simulations of amorphous carbon material, while in 2D the technique discovers the free-flow region and the inertially-obstructed flow region in the simulation of fluid flow across a plate.

Daniel Shea↗

Autoencoder Neural Network for chemically reacting systems

Incorporating detailed chemical kinetic models is critical for accurate simulations of reacting flows. However, detailed models involve a large number of thermochemical (TC) state variables. Solving the governing equations to evolve these TC variables becomes impractical for real-world applications. In this work, we propose an autoencoder (AE) neural network (NN)-based reduced model to accelerate such simulations. The AE NN is first trained to find a low-dimensional latent representation of the TC states. Then, the evolving state of a chemical system can be tracked by solving the equations of the latent variables instead of the original TC equations. We demonstrate the reduced model in a syngas CO/H 2 combustion system, using training data collected from canonical perfectly stirred reactors (PSRs). It is found that the AE model can reduce the dimension of the combustion system from 12 to 2 while maintaining low reconstruction error and excellent elemental mass conservation for the test dataset. In the a posteriori test, the combustion states obtained from solving the two latent equations are compared to those from solving the 12 equations of the full model. The AE reduced method is found to be able to capture the diverse combustion states on the top two branches of the S-curve well including the extinction turning point, but with higher prediction errors for states near the ignition turning point.

97 MATHEMATICS AND COMPUTING↗

Fault Characterization and Diagnostics Supporting Condition-Based Operation and Maintenance of Gas Turbine Engines

Condition-Based Operation and Maintenance (CBOM) is the state-of-the-art in maintenance approaches for gas turbine engines. CBOM applies engine sensor information to the optimization of future operation and maintenance procedures; this technique reduces costs for engine operators by minimizing unplanned outages and catastrophic engine degradation. However, due to the complexities of gas turbine operation and the lack of available engine sensors, further development is required to fully realize the benefits of CBOM. In the turbine section, rotating components interact with high temperature flows, which creates intense thermal and mechanical stresses. As a result, there are numerous mechanisms of component degradation in the turbine section. Furthermore, turbine components – like stator vanes and rotor blades – are among the most expensive in the engine because they are complex to design and manufacture. For these reasons, this dissertation addresses two main questions: (i) which parameters or faults within the turbine section are most important to monitor, and (ii) how can these parameters or faults be monitored in an engine-relevant environment? Although many turbine parameters and faults have been investigated in the open literature, there are some faults that are still not well understood. Rotor-casing eccentricity, which causes a non-constant blade tip clearance around the annulus, has not been investigated in terms of its effects on turbine efficiency. Therefore, the first study in this dissertation quantifies overall and local turbine efficiency for varying levels of rotor-casing eccentricity. Results showed negligible variations to overall turbine efficiency, meaning rotor-casing eccentricity only becomes relevant to CBOM when its severity causes rotordynamic issues. Purge flow is critical to turbine hardware longevity because it prevents ingestion of hot main gas path (MGP) flow into the under-platform regions. Despite its importance, there are currently no methods for monitoring purge flow performance in an engine environment. Therefore, the second study in this dissertation develops a predictive model for sealing effectiveness using inputs from two fast-response pressure sensors. Results exhibited low prediction errors across a full range of purge flow rates, which supports the viability of the modelling approach for CBOM. The final two studies in this dissertation address blade coolant flow monitoring. This cooling flow is responsible for protecting the turbine blades from the MGP flow, which exits the combustor at temperatures greater than the blade melting point. These studies showed that temperature measurements on the blade surface can be used to accurately predict blade coolant flow rate, and that defining the candidate features relative to the coolant trajectory is important for maintaining accuracy as coolant flow rate degradation occurs. This work enables blade coolant flow monitoring, which is currently not possible through existing condition monitoring techniques.

condition-based, gas turbines, diagnostics,↗

Microgravity Propellant Tank Geyser Analysis and Prediction

An established correlation for geyser height prediction of an axial jet inflow into a microgravity propellant tank was analyzed and an effort to develop an improved correlation was made. The original correlation, developed using data from ethanol flow in small-scale drop tower tests, uses the jet-Weber number and the jet-Bond number to predict geyser height. A new correlation was developed from the same set of experimental data using the jet-Weber number and both the jet-Bond number and tank-Bond number to describe the geyser formation. The resulting correlation produced nearly a 40% reduction in geyser height predictive error compared to the original correlation with experimental data. Two additional tanks were computationally modeled in addition to the small-scale tank used in the drop tower testing. One of these tanks was a 50% enlarged small-scale tank and the other a full-scale 2 m radius tank. Simulations were also run for liquid oxygen and liquid hydrogen. Results indicated that the new correlation outperformed the original correlation in geyser height prediction under most circumstances. The new correlation has also shown a superior ability to recognize the difference between flow patterns II (geyser formation only) and III (pooling at opposite end of tank from the bulk fluid region).

Thornton, Randall J.↗

Assessing the Role of Hydrodynamics in Enhancing Height-Above-the-Nearest-Drainage Derived Synthetic Rating Curves: A Comparative Study in the Wu River Basin, Taiwan

The conventional approach to generating synthetic rating curves (SRC) using the Height-Above-the-Nearest-Drainage (HAND) method typically relies on the assumption of uniform flow, such as Manning's equation, to establish stage-discharge ratings. The zero-physics application of the uniform flow equation is insufficient for capturing detailed hydraulic features (e.g., backwater effect) and neglects the hydraulic effects from adjacent channels. This lack of hydrodynamic computation can impact the accuracy and effectiveness of riverine flood risk estimation and management. To reduce this foreseeable error, we introduce the HAND-hd workflow, which integrates sophisticated hydrodynamic computations in the production of HAND-based SRC with hydrodynamic features (SRC hd ). The results indicate that SRC hd demonstrates consistent agreement with both gauge observations and benchmark solutions. Additionally, the comparative analysis suggests that SRC hd provides notable improvements in stage-discharge ratings over conventional HAND-based SRCs, particularly in channels with mild bed gradients, where it reduces water stage prediction errors and percent biases. In steeper channel segments, SRC hd maintains comparable accuracy to conventional methods. The comprehensive evaluation in this study emphasizes the potential discrepancies and inaccuracies associated with the adoption of the uniform flow assumption in the conventional HAND-SRCs and addresses the necessity of including hydrodynamic physics in the application of HAND-based SRC (e.g., inundation map) in channels with mild gradients.

54 ENVIRONMENTAL SCIENCES↗

The development of a Kalman filter clock predictor

A Kalman filter based clock predictor is developed, and its performance evaluated using both simulated and real data. The clock predictor is shown to possess a neat to optimal Prediction Error Variance (PEV) when the underlying noise consists of one of the power law noise processes commonly encountered in time and frequency measurements. The predictor's performance is the presence of multiple noise processes is also examined. The relationship between the PEV obtained in the presence of multiple noise processes and those obtained for the individual component noise processes is examined. Comparisons are made with a simple linear clock predictor. The clock predictor is used to predict future values of the time offset between pairs of NPL's active hydrogen masers.

clock predictor↗

Predictive Compensator Optimization for Head Tracking Lag in Virtual Environments

We examined the perceptual impact of plant noise parameterization for Kalman Filter predictive compensation of time delays intrinsic to head tracked virtual environments (VEs). Subjects were tested in their ability to discriminate between the VE system's minimum latency and conditions in which artificially added latency was then predictively compensated back to the system minimum. Two head tracking predictors were parameterized off-line according to cost functions that minimized prediction errors in (1) rotation, and (2) rotation projected into translational displacement with emphasis on higher frequency human operator noise. These predictors were compared with a parameterization obtained from the VE literature for cost function (1). Results from 12 subjects showed that both parameterization type and amount of compensated latency affected discrimination. Analysis of the head motion used in the parameterizations and the subsequent discriminability results suggest that higher frequency predictor artifacts are contributory cues for discriminating the presence of predictive compensation.

Adelstein, Barnard D.↗

Case Study: Influences of Uncertainties and Traffic Scenario Difficulties in a Human-in-the-Loop Simulation

This paper presents a case study of how factors such as wind prediction errors and metering delays can influence controller performance and workload in Human-In-The-Loop simulations. Retired air traffic controllers worked two arrival sectors adjacent to the terminal area. The main tasks were to provide safe air traffic operations and deliver the aircraft to the metering fix within +/- 25 seconds of the scheduled arrival time with the help of provided decision support tools. Analyses explore the potential impact of metering delays and system uncertainties on controller workload and performance. The results suggest that trajectory prediction uncertainties impact safety performance, while metering fix accuracy and workload appear subject to the scenario difficulty.

air traffic control↗

cabbi-bio/ESM-R-script

This script is intended to provide a starting point for users to implement the equivalent soil mass (ESM) approach for calculating soil organic carbon (SOC) stocks and SOC mass percentages (commonly called “SOC concentration”). The user should read this readme file and understand how the script works before using it. The script contains some basic error checking algorithms, but it cannot catch all data entry mistakes. It is possible to misuse the script and produce invalid results. The script was designed to work on individual soil cores that have been divided into three or more contiguous segments, as the cubic spline function contains four coefficients. The script has not been tested on soil cores containing fewer than three contiguous segments. If only one segment is present, interpolation will necessarily be linear rather than cubic, which is expected to result in higher predictive error (Wendt & Hauser, 2013). Considering the wide range of potential applications, the script should not be expected to function correctly in all situations. The user is encouraged to modify or rewrite the script to meet their specific needs.

von Haden, Adam↗

Quantifying the Variation in the Number of Donors in Quantum Dots Created Using Atomic Precision Advanced Manufacturing

Atomic-precision advanced manufacturing enables unique silicon quantum electronics built on quantum dots fabricated from small numbers of phosphorus dopants. The number of dopant atoms comprising a dot plays a central role in determining the behavior of charge and spin confined to the dots and thus overall device performance. Here in this work, we use both theoretical and experimental techniques to explore the combined impact of lithographic variation and stochastic kinetics on the number of P incorporations in quantum dots made using these techniques and how this variation changes as a function of the size of the dot. Using a kinetic model of PH3 dissociation augmented with novel reaction barriers, we demonstrate that for a 2 × 3 silicon dimer window the probability that no donor incorporates goes to zero, allowing for certainty in the placement of at least one donor. However, this still comes with some uncertainty in the precise number of incorporated donors (either one or two), and this variability may still impact certain applications. We also examine the impact of the size of the initial lithographic window, finding that the incorporation fraction saturates to δ-layer-like coverage as the circumference-to-area ratio decreases. We predict that this incorporation fraction depends strongly on the dosage of the precursor and that the standard deviation of the number of incorporations scales as ~√n, as would be expected for a sequence of largely independent incorporation events. Finally, we characterize an array of 36 experimentally prepared multidonor 3 × 3 nm lithographic windows with scanning tunneling microscopy, measuring the fidelity of the lithography to the desired array and the final location of PH x fragments within these lithographic windows. We use our kinetic model to examine the expected variability due to the observed lithographic error, predicting a negligible impact on incorporation statistics. We find good agreement between our model and the inferred incorporation locations in these windows from scanning tunneling microscope measurements.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Machine Learning based Aircraft Performance Model Estimation for Trajectory Prediction

The accurate prediction of aircraft trajectory by ground-based decision support tools is a critical component of air traffic management in the US National Airspace System (NAS). Accurate predictions of where the aircraft will be in the future or when they will arrive at specific locations (e.g., fixes) is a key enabler for sequencing and efficient arrival management of flights. Traditional physics based aircraft trajectory prediction relies on a simplified point-mass total energy model whose parameters are referred to as Aircraft Performance Model (APM) parameters. Even though the performance coefficients and weight of an aircraft are a vital part of the aircraft performance model’s predictions and accuracy, these coefficients are proprietary in nature and therefore, unavailable to decision-support tools. Current approaches freeze some coefficients to default base of aircraft data (BADA) values and optimize others. However, the APM parameters are highly coupled by the flight dynamics and prioritizing one parameter over others leads to bias and skewed predictions. To alleviate this problem, we provide a combined optimization framework to predict all the critical (thrust, drag and weight) APM parameters. This paper is focused on training Machine Learning (ML) models that map historical flights to optimized APM parameters that provide the best fit (in terms of prediction error). Our dataset obtained from NASA’s Sherlock data warehouse is comprised of thousands of historical flights and includes weather and track data collected from 2019. Using different subsets of relevant features (e.g., aircraft type), we trained several ML models to estimate the aircraft’s take off weight, drag polar coefficients (both parasitic and lift induced), and thrust settings (multiplier applied to the maximum engine thrust). The chosen flights are from three of the most common aircraft types (B738, B737, and A320) arriving at four airports (LAX, DEN, MSP, and DFW). Our ML approach is comprised of two different solutions: 1- using a subset of features that are known prior to the flight departure and do not change during flight (such as engine type, current temperature at departure & destination airports, aircraft type) and 2 - using a subset of temporal features of the flight trajectory (such as cruise altitude, Mach, airspeed, and rate of climb) in addition to the pre-departure features from the first solution. The labels or target variables are the APM parameters that were obtained by an optimized ordinary differential equations (ODE) fitting process (applied to individual flights). The ODE-fitting is very time intensive and is therefore performed offline. Thus, training an ML model to learn the relationship between the flight features and ODE-generated labels enables faster estimation of the APM parameters and is therefore amenable to real-time prediction. Various ML models including linear regression, random forest, XGBoost, and neural network were trained, and the results are compared. After model validation and hyperparameter-tuning, we observed that the Random Forest model outperformed the other three models by the overall mean square error (MSE) of 2% for the first solution and 1.5% for the second solution. Finally, the ML-derived parameters are compared against default BADA APM parameters using NASA’s Autonomy Development toolkit (ADK) simulation software. The simulation results for one of each aircraft type is shown and discussed.

Aida Sharif Rohani↗

Safety Performance of Airborne Separation: Preliminary Baseline Testing

The Safety Performance of Airborne Separation (SPAS) study is a suite of Monte Carlo simulation experiments designed to analyze and quantify safety behavior of airborne separation. This paper presents results of preliminary baseline testing. The preliminary baseline scenario is designed to be very challenging, consisting of randomized routes in generic high-density airspace in which all aircraft are constrained to the same flight level. Sustained traffic density is varied from approximately 3 to 15 aircraft per 10,000 square miles, approximating up to about 5 times today s traffic density in a typical sector. Research at high traffic densities and at multiple flight levels are planned within the next two years. Basic safety metrics for aircraft separation are collected and analyzed. During the progression of experiments, various errors, uncertainties, delays, and other variables potentially impacting system safety will be incrementally introduced to analyze the effect on safety of the individual factors as well as their interaction and collective effect. In this paper we report the results of the first experiment that addresses the preliminary baseline condition tested over a range of traffic densities. Early results at five times the typical traffic density in today s NAS indicate that, under the assumptions of this study, airborne separation can be safely performed. In addition, we report on initial observations from an exploration of four additional factors tested at a single traffic density: broadcast surveillance signal interference, extent of intent sharing, pilot delay, and wind prediction error.

Consiglio, Maria C.↗