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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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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Winds at the Mars 2020 Landing Site: 1. Near-Surface Wind Patterns at Jezero Crater

This is the first part of a two-part paper. NASA's Mars 2020 Perseverance rover measured winds on the Jezero crater floor close to the delta of an ancient river. A mostly repeatable diurnal cycle was observed and presented two regimes: (a) a convective regime, from dawn to sunset, with average easterly to southeasterly winds, during which maximum wind speeds were measured, and (b) a nighttime regime with westerly-northwesterly winds followed by a relatively calm period with highly variable wind directions as a function of sol and time of night. The timing and magnitude of the observed regimes are consistent with primary control by regional and local slope flows. Data suggest that the surface circulation at Jezero region in northern spring and summer is highly unaffected by large-scale circulation except during particular periods in the diurnal cycle or generally during dust storms, which is supported by MarsWRF model simulations. Consequently, the observed seasonal variability was weak. However, sol-to-sol and seasonal variability were measured, most of it during certain nighttime periods. Traveling waves consistent with baroclinic instability were clearly observed in surface winds at L_s ∼ 75°. The early MY36/2022A regional dust storm at L_s ∼ 153° disturbed the wind patterns with changes suggesting enhanced tidal flows. After sunset, the dust storm also produced detectable gravity wave activity, increasing the mixing in the nighttime planetary boundary layer during storm conditions. Inferred wind directions from dust devil movies strongly suggest that prevailing winds continued to be slope-driven during the late summer, fall and early winter seasons.

D. Viúdez-Moreiras↗
NASA NTRS1998

Internal Dynamics and Boundary Forcing Characteristics Associated with Interannual Variability of the Asian Summer Monsoon

In this paper, we present a description of the internal dynamics and boundary forcing characteristics of two major components of the Asian summer monsoon (ASM), i.e., the South Asian (SAM) and the Southeast-East Asian monsoon (SEAM). The description is based on a new monsoon-climate paradigm in which the variability of ASM is considered as the outcome of the interplay of a "fast" and an "intermediate" monsoon subsystem, under the influenced of the "slow" varying external forcings. Two sets of regional monsoon indices derived from dynamically consistent rainfall and wind data are used in this study. For SAM, the internal dynamics is represented by that of a "classical" monsoon system where the anomalous circulation is governed by Rossby-wave dynamics, i.e., generation of anomalous vorticity induced by an off-equatorial heat source is balanced by planetary vorticity advection. On the other hand, the internal dynamics of SEAM is characterized by a "hybrid" monsoon system featuring multi-cellular meridional circulation over the East Asian section, extending from the deep tropics to midlatitudes. These meridional-cells link tropical heating to extratropical circulation system via the East Asian jetstream, and are responsible for the characteristic occurrences of zonally oriented anomalous rainfall patterns over East Asian and the subtropical western Pacific. In the extratropical regions, the major upper level vorticity balance is by anomalous vorticity advection and generation by the anomalous divergent circulation. A consequence of this is that compared to SAM, the SEAM is associated with stronger teleconnection patterns to regions outside the ASM. A strong SAM is linked to basin-scale sea surface temperature (SST) fluctuation with significant signal in the equatorial eastern Pacific. During the boreal spring SST warming in the Arabian Sea and the subtropical western Pacific may lead to a strong SAM. For SEAM, interannual variability is tied to SSTA over the Sea of Japan and the South China Sea regions, while the linkage to equatorial basin-scale SSTA is weak at best. A large scale SSTA dipole with warming (cooling) in the subtropical central (eastern) Pacific foreshadows a strong SEAM.

Lau, K.- M.↗
DOE OSTI2025

Field Evaluation of the High Efficiency Dehumidification System (HEDS) at the Timken Museum of Art - Measurement and Verification (M&V) Results from Summer, Winter and Spring Evaluation Periods

The High Efficiency Dehumidification System (HEDS) technology from Conservant Systems Inc., installed at the Timken Museum of Art in San Diego, California, was evaluated to determine its performance relative to appropriate baseline operation. Data was collected for measurement and verification for several weeks during three evaluation periods: Summer (Aug-Sep 2023), Winter (Dec 2023-Feb 2024) and Spring (May-Jun 2024). The evaluation included operating the heating, ventilation and air conditioning (HVAC) system in both constant air volume (CAV) and variable air volume (VAV) modes, with and without the HEDS energy recovery and HVAC system optimization technology enabled. The electricity consumption of the chiller and the gas-supplied reheat energy were measured to characterize savings achieved by the HEDS operation. Based on these measurements, the HEDS was responsible for chiller electrical load savings during the summer evaluation period of 39% and 42% for the CAV and VAV operating modes, respectively; 97% and 100% chiller electrical load reductions were observed during the winter evaluation for the CAV and VAV operating modes, respectively; and the corresponding reductions during the spring evaluation were 42% and 52% for CAV and VAV operation, respectively. The measured reheat energy reductions, which are typically provided by natural gas, due to the HEDS during summer were 64% and 97% in CAV and VAV operating modes, respectively, while the corresponding values were 99% and 78% during the winter evaluation, and 59% and 56% during the spring evaluation.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRS1982

Gamma-ray spectroscopy of the galactic center region: Confirmation of the time-variability of the positron annihilation line

The GSFC Low-Energy Gamma-Ray Spectrometer observed the region of the galactic center during a balloon flight from Alice Springs, Australia, on 1981 November 20. No significant excess over background was evident in the 511 keV annihilation line. A 98 percent confidence upper limit is derived for this line of 1.2 x .001 photons/sq. cm-s. Continuum emission was detected above 100 keV with a best-fitting power law spectrum.

Paciesas, W. S.↗
NASA NTRS1979

Seasonal and secular variation of wind streaks on Mars - An analysis of Mariner 9 and Viking data

Viking orbiter observations extending over 1 Martian year have been used in conjunction with Mariner 9 data obtained in 1971-1972 to study the seasonal and secular behavior of several kinds of wind streaks. Most bright streaks, inferred to consist of dust storm fallout in the lees of obstacles, have changed very little in form or orientation over a period of 3 Martian years. Some are extremely stable and have experienced no effective eolian action over the 3 years. A few bright streaks changed rapidly during global dust storms; these streaks are located in areas subject to both global and topographic winds. Viking images have shown for the first time that dark, erosional streaks are stable from the time of their formation after major dust storms until the onset of the next episode of major storm activity. Available evidence shows that the large, dark streaks in Oxia Palus consist of material deflated from dune fields within the associated craters. These streaks lengthened secularly since 1972; changes appear to occur episodically during southern summer. The great majority of all streaks reflect winds during the period from late southern spring to early southern fall, although some changes occur throughout the year. The global pattern of wind streaks and the variability of the streaks thus depend strongly upon the current south-north asymmetry of seasons on Mars.

Thomas, P.↗
NASA NTRS2003

Spatio-Temporal Distribution of Particulate and Dissolved Organic Matter in the Mississippi River Bight From Optical Measurements

The Mississippi River Bight is a highly dynamic region influenced by the seasonally variable outflow from the Mississippi River. In an effort to characterize the distribution of particulate and dissolved organic matter in the region, we conducted a two-year field program in the spring and fall (high and low flow river discharge) of 2000 and 2002. We collected a comprehensive set of bio-optical measurements consisting of vertical profiles (absorption, scattering, chlorophyll fluorescence and radiometry) and discrete measurements (pigment concentrations, particulate and CDOM absorption) that enabled us to obtain better insight into the seasonal and spatial variability of some important biogeochemical parameters. Our field measurements generally showed higher phytoplankton clorophyll concentrations in the plume waters (associated with lower surface salinities) and confirmed the high biological activity abserved in other studies. The seasonal flow of river discharge and advective currents due to wind forcing exerted a strong influence on the biological and optical properties of the region. An examination of absorption at 440 nm by the algal and non-algal fraction of the particulate pool and of CDOM revealed that at nearshore stations, contributions by the non-algal particles were high (about 40%) and decresed with increasing salinities. While CDOM absorption exhibited conservative mixing, its relative contribution to the total absorption was variable. Surface waters at most stations had lower salinities that generalliy increased with dept. Particulate matter and CDOM also decreased with depth as evidenced by absorption and scattering measurements. Good correlations in surface waters between concentrations of particulate and dissolved matter, the inherent optical properties of absorption and ackscattering and remote sensing reflectance values has allowed the development of robust empirical algorithms for phytoplankton chlorophyll and CDOM absorption.

DSa, E. J.↗
NASA NTRS2014

The Role of Phytoplankton Dynamics in the Seasonal and Interannual Variability of Carbon in the Subpolar North Atlantic - a Modeling Study

We developed an ecosystem/biogeochemical model system, which includes multiple phytoplankton functional groups and carbon cycle dynamics, and applied it to investigate physical-biological interactions in Icelandic waters. Satellite and in situ data were used to evaluate the model. Surface seasonal cycle amplitudes and biases of key parameters (DIC, TA, pCO2, air-sea CO2 flux, and nutrients) are significantly improved when compared to surface observations by prescribing deep water values and trends, based on available data. The seasonality of the coccolithophore and "other phytoplankton" (diatoms and dinoflagellates) blooms is in general agreement with satellite ocean color products. Nutrient supply, biomass and calcite concentrations are modulated by light and mixed layer depth seasonal cycles. Diatoms are the most abundant phytoplankton, with a large bloom in early spring and a secondary bloom in fall. The diatom bloom is followed by blooms of dinoflagellates and coccolithophores. The effect of biological changes on the seasonal variability of the surface ocean pCO2 is nearly twice the temperature effect, in agreement with previous studies. The inclusion of multiple phytoplankton functional groups in the model played a major role in the accurate representation of CO2 uptake by biology. For instance, at the peak of the bloom, the exclusion of coccolithophores causes an increase in alkalinity of up to 4 μmol kg(sup −1) with a corresponding increase in DIC of up to 16 μmol kg(sup −1). During the peak of the bloom in summer, the net effect of the absence of the coccolithophores bloom is an increase in pCO2 of more than 20 μatm and a reduction of atmospheric CO2 uptake of more than 6 mmolm(sup −2) d(sup −1). On average, the impact of coccolithophores is an increase of air-sea CO2 flux of about 27 %. Considering the areal extent of the bloom from satellite images within the Irminger and Icelandic Basins, this reduction translates into an annual mean of nearly 1500 tonnes C yr(sup −1).

Earth Resources↗
DOE OSTI2024

Expanded Understanding of the Western Antarctic Peninsula Sea‐Ice Environment Through Local and Regional Observations at Palmer Station

Abstract The Western Antarctic Peninsula (WAP) has been experiencing rapid regional warming since at least the 1950s, however, the impacts of this warming at the local scale are variable and nuanced. Previous studies that have linked sea‐ice variability to biogeochemical cycles and food web dynamics often combine local‐scale biogeochemical data with coarse‐resolution regional satellite sea‐ice data, which may not adequately capture local sea‐ice conditions. In this study, we analyzed local‐scale in situ sea‐ice observations collected as part of a 28‐year record (1992–2020) from the Palmer Long‐Term Ecological Research site at Anvers Island, mid‐WAP, in conjunction with isotopically‐derived sea‐ice meltwater (SIM) fractions and satellite‐derived sea‐ice motion and concentration, to quantify the variability and long‐term trends in local sea‐ice behavior. In situ sea ice observations at Palmer Station displayed higher variability than satellite observations and showed no significant declines over this time, despite region‐wide declines identified in prior studies. Higher spring SIM fractions were attributed to strong northward sea‐ice motion throughout the winter. Applying these local‐scale sea‐ice insights to similarly scaled stratification and chlorophyll‐ a measurements, we found that a longer‐lasting, more consistent sea‐ice pack led to greater water column stratification following the spring sea‐ice retreat. Greater sea‐ice persistence and stronger stratification led to larger peaks in chlorophyll‐ a , though sea‐ice metrics did not explain the positive temporal trends in either stratification strength or chlorophyll‐ a . Through this study, we identify how local sea‐ice observations and meltwater data can enhance satellite data to build an understanding of the intricate connections between ice, water column dynamics, and phytoplankton.

Goodell, E.↗
NASA NTRS1994

Structural and stratigraphic features and ERS 1 synthetic aperture radar backscatter characteristics of ice growing on shallow lakes in NW Alaska, winter 1991-1992

Changes in Earth Remote-Sensing Satellite (ERS) 1 C band synthetic aperture radar (SAR) backscatter intensity (sigma(exp 0)) from ice growing on shallow tundra lakes at three locations in NW Alaska are described. Ice core analysis shows that all lakes on the coast at Barrow the ice, whether floating or frozen to the bottom, includes an inclusion-free layer overlying a layer of ice with tubular bubbles oriented parallel to the direction of growth. The clear ice may also be overlain by a discontinuous layer of bubbly snow ice. Backscatter is low (-16 to -22 dB) at the time of initial ice formation, probably due to the specular nature of the upper and lower ice surfaces causing the radar pulse to be reflected away from the radar. As the ice thickens during the autumn, backscatter rises steadily. Once the ice freezes to the lake bottom, regardless of the presence of foward scattering tubular bubbles, low backscatter values of -17 to -18 dB are caused by absorption of the radar signal in the lake bed. For ice that remains afloat all winter the ice-water interface and the tubular bubbles combine, presumably via an incoherent double-bounce mechanism, to cause maximum backscatter values of the order of -6 to -7 dB. The sigma(exp 0) saturates at -6 to -7 dB before maximum ice thickness and tubular bubble content are attained. A simple ice growth model suggests that the layer of ice with tubular bubbles need be only a few centimeters thick midway through the growth season to cause maximum backscatter from floating ice. During the spring thaw a previously unreported backscatter reversal is observed on the floating and grounded portions of the coastal lakes but not on the lakes farther inland. This reversal may be related to the ice surface topography and wetness plus the effects of a longer, cooler melt period by the coast. Time series of backscatter variations from shallow tundra lakes are a record of (1) the development of tubular bubbles in the ice and, by association, changes in the gas content of the underlying water and (2) the freezing of ice to the bottoms of the lakes and therefore lake bathymetry and water availability. SAR is also able to detect the onset of lake ice growth in autumn and the initiation of the spring thaw and thus has potential for monitoring high-altitude lake ice growth and decay processes in relation to climate variability.

Jeffries, M. O.↗
NASA NTRS2000

BOREAS TF-10 NSA-Fen Tower Flux and Meteorological Data

The BOREAS TF-10 team collected tower flux and meteorological data at two sites, a fen and a young jack pine forest, near Thompson, Manitoba, Canada, as part of BOREAS. A preliminary data set was assembled in August 1993 while field testing the instrument packages, and at both sites data were collected from 15-Aug to 31-Aug. The main experimental period was in 1994, when continuous data were collected from 08-Apr to 23-Sep at the fen site. A very limited experiment was run in the spring/ summer of 1995, when the fen site tower was operated from 08-Apr to 14-Jun in support of a hydrology experiment in an adjoining feeder basin. Upon examination of the 1994 data set, it became clear that the behavior of the heat, water, and carbon dioxide fluxes throughout the whole growing season was an important scientific question, and that the 1994 data record was not sufficiently long to capture the character of the seasonal behavior of the fluxes. Thus, the fen site was operated in 1996 in order to collect data from spring melt to autumn freeze-up. Data were collected from 29-Apr to 05-Nov at the fen site. All variables are presented as 30-minute averages. The data are stored in tabular ASCII files.

McCaughey, J. Harry↗
NASA NTRS2012

Satellite Observations of Antarctic Sea Ice Thickness and Volume

We utilize satellite laser altimetry data from ICESat combined with passive microwave measurements to analyze basin-wide changes in Antarctic sea ice thickness and volume over a 5 year period from 2003-2008. Sea ice thickness exhibits a small negative trend while area increases in the summer and fall balanced losses in thickness leading to small overall volume changes. Using a five year time-series, we show that only small ice thickness changes of less than -0.03 m/yr and volume changes of -266 cu km/yr and 160 cu km/yr occurred for the spring and summer periods, respectively. The calculated thickness and volume trends are small compared to the observational time period and interannual variability which masks the determination of long-term trend or cyclical variability in the sea ice cover. These results are in stark contrast to the much greater observed losses in Arctic sea ice volume and illustrate the different hemispheric changes of the polar sea ice covers in recent years.

Kurtz, Nathan↗
NASA NTRS2020

NASA’s High-Resolution GEOS Forecasting and Reanalysis Products: Impact of Stratospheric Intrusions on Surface Ozone Air Quality

A new approach to the study of stratospheric intrusions (SIs)? the introduction of ozone-rich lower stratospheric air into the troposphere ? uses NASA's Goddard Earth Observing System Model (GEOS) model and assimilation products with an objective feature tracking algorithm to investigate the atmospheric dynamics in the UTLS region that generate SIs and the different mechanisms through which SIs may influence tropospheric chemistry and surface air quality. In particular, SIs have been linked with surface ozone air quality exceedances, especially at the high elevations in the western USA in springtime. However, the impact of SIs in the remaining seasons and over the rest of the USA is less clear. Improved understanding of the connections between large-scale climate variability and local-scale dynamically-driven air quality events may support improved seasonal prediction of SI events. While the spring over the western USA does exhibit the largest number of SIs affecting the lower troposphere, we demonstrate that the number of intrusions in the remaining seasons and over the eastern USA is sizable. Using a multitude of observational datasets, including lidar data, ozonesondes and air quality monitoring surface sites, in combination with GEOS forecast and reanalysis products, the transport of ozone from the stratosphere toward the surface is assessed. By focusing on recent reports of high ozone at monitoring station sites likely associated with SIs, we aim to provide the public with tools which are available in near-real time to enhance their capability to identify the impact of stratospheric air on surface ozone concentrations separate from anthropogenic sources.

Knowland, K. Emma↗
DOE OSTI2022

The ABCflux database: Arctic–boreal CO 2 flux observations and ancillary information aggregated to monthly time steps across terrestrial ecosystems

Past efforts to synthesize and quantify the magnitude and change in carbon dioxide (CO 2 ) fluxes in terrestrial ecosystems across the rapidly warming Arctic–boreal zone (ABZ) have provided valuable information but were limited in their geographical and temporal coverage. Furthermore, these efforts have been based on data aggregated over varying time periods, often with only minimal site ancillary data, thus limiting their potential to be used in large-scale carbon budget assessments. To bridge these gaps, we developed a standardized monthly database of Arctic–boreal CO 2 fluxes (ABCflux) that aggregates in situ measurements of terrestrial net ecosystem CO 2 exchange and its derived partitioned component fluxes: gross primary productivity and ecosystem respiration. The data span from 1989 to 2020 with over 70 supporting variables that describe key site conditions (e.g., vegetation and disturbance type), micrometeorological and environmental measurements (e.g., air and soil temperatures), and flux measurement techniques. Here, we describe these variables, the spatial and temporal distribution of observations, the main strengths and limitations of the database, and the potential research opportunities it enables. In total, ABCflux includes 244 sites and 6309 monthly observations; 136 sites and 2217 monthly observations represent tundra, and 108 sites and 4092 observations represent the boreal biome. The database includes fluxes estimated with chamber (19 % of the monthly observations), snow diffusion (3 %) and eddy covariance (78 %) techniques. The largest number of observations were collected during the climatological summer (June–August; 32 %), and fewer observations were available for autumn (September–October; 25 %), winter (December–February; 18 %), and spring (March–May; 25 %). ABCflux can be used in a wide array of empirical, remote sensing and modeling studies to improve understanding of the regional and temporal variability in CO 2 fluxes and to better estimate the terrestrial ABZ CO 2 budget.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS2001

Variability of Antarctic Sea Ice 1979-1998

The principal characteristics of the variability of Antarctic sea ice cover as previously described from satellite passive-microwave observations are also evident in a systematically-calibrated and analyzed data set for 20.2 years (1979-1998). The total Antarctic sea ice extent (concentration > 15 %) increased by 13,440 +/- 4180 sq km/year (+1.18 +/- 0.37%/decade). The area of sea ice within the extent boundary increased by 16,960 +/- 3,840 sq km/year (+1.96 +/- 0.44%/decade). Regionally, the trends in extent are positive in the Weddell Sea (1.5 +/- 0.9%/decade), Pacific Ocean (2.4 +/- 1.4%/decade), and Ross (6.9 +/- 1.1 %/decade) sectors, slightly negative in the Indian Ocean (-1.5 +/- 1.8%/decade, and strongly negative in the Bellingshausen-Amundsen Seas sector (-9.5 +/- 1.5%/decade). For the entire ice pack, small ice increases occur in all seasons with the largest increase during autumn. On a regional basis, the trends differ season to season. During summer and fall, the trends are positive or near zero in all sectors except the Bellingshausen-Amundsen Seas sector. During winter and spring, the trends are negative or near zero in all sectors except the Ross Sea, which has positive trends in all seasons. Components of interannual variability with periods of about 3 to 5 years are regionally large, but tend to counterbalance each other in the total ice pack. The interannual variability of the annual mean sea-ice extent is only 1.6% overall, compared to 5% to 9% in each of five regional sectors. Analysis of the relation between regional sea ice extents and spatially-averaged surface temperatures over the ice pack gives an overall sensitivity between winter ice cover and temperature of -0.7% change in sea ice extent per K. For summer, some regional ice extents vary positively with temperature and others negatively. The observed increase in Antarctic sea ice cover is counter to the observed decreases in the Arctic. It is also qualitatively consistent with the counterintuitive prediction of a global atmospheric-ocean model of increasing sea ice around Antarctica with climate warming due to the stabilizing effects of increased snowfall on the Southern Ocean.

Zwally, H. Jay↗
DOE OSTI2025

Interoperable, Inverter - Based Distributed Energy Resources Enable 100% Renewable and Resilient Utility Microgrids

As microgrids transition away from use of conventional generating resources and increasingly rely on renewable resources towards decarbonization goals, it is crucial to evaluate the capability inverter-based resources to provide microgrid stability and resilience. Particularly, microgrids with a high contribution of intermittent solar photo voltaic generation and higher load variability present unique challenges requiring fast voltage and frequency support. At the San Diego Gas & Electric Company(R) (SDG&E(R)) Borrego Springs Microgrid, a battery inverter was upgraded with grid-forming (GFM) capability to serve as island leader, transitioning responsibility away from diesel generators. An interoperable microgrid control scheme was developed, coordinating GFM and grid-following (GFL) inverters. Hardware-in-the-loop (HIL) simulations using relevant power and controller HIL interfaces between real-time simulators and field equipment are being conducted to de-risk field deployment.

battery energy storage↗
NASA NTRS1998

Biogeochemical cycling of manganese in Oneida Lake, New York: whole lake studies of manganese

Oneida Lake, New York is a eutrophic freshwater lake known for its abundant manganese nodules and a dynamic manganese cycle. Temporal and spatial distribution of soluble and particulate manganese in the water column of the lake were analyzed over a 3-year period and correlated with other variables such as oxygen, pH, and temperature. Only data from 1988 are shown. Manganese is removed from the water column in the spring via conversion to particulate form and deposited in the bottom sediments. This removal is due to biological factors, as the lake Eh/pH conditions alone can not account for the oxidation of the soluble manganese Mn(II). During the summer months the manganese from microbial reduction moves from the sediments to the water column. In periods of stratification the soluble Mn(II) builds up to concentrations of 20 micromoles or more in the bottom waters. When mixing occurs, the soluble Mn(II) is rapidly removed via oxidation. This cycle occurs more than once during the summer, with each manganese atom probably being used several times for the oxidation of organic carbon. At the end of the fall, whole lake concentrations of manganese stabilize, and remain at about 1 micromole until the following summer, when the cycle begins again. Inputs and outflows from the lake indicate that the active Mn cycle is primarily internal, with a small accumulation each year into ferromanganese nodules located in the oxic zones of the lake.

NASA Discipline Exobiology↗
NASA NTRSDate not supplied

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

The construction of in-space facilities is a significant capability for the establishment of a long-term human presence in space. Autonomous robotic technologies are a critical tool to enabling the construction and maintenance of such permanent facilities. This paper evaluates the outfitting portion of the construction process, focusing on modeling required for robotic manipulation of cable-like objects, referred to as Deformable Linear Objects (DLOs). DLOs contain a high degree of variability, which makes accurate real-time autonomous operations a difficult task. Different modeling methods for DLOs such as discrete mass-spring systems and Cosserat elastic rod models range in problem complexity and accuracy, a trade-off that must be understood to fully realize autonomous cable routing technologies. This paper validates different DLO models through simulation and a hardware experiment, highlighting the size of the state space and accuracy of different approaches. The development of DLO manipulation models for outfitting enables an autonomous architecture for the construction of lunar surface systems.

Amy M Quartaro↗
NASA NTRSDate not supplied

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

The construction of in-space facilities is a significant capability for the establishment of a long-term human presence in space. Autonomous robotic technologies are a critical tool to enabling the construction and maintenance of such permanent facilities. This paper evaluates the outfitting portion of the construction process, focusing on modeling required for robotic manipulation of cable-like objects, referred to as Deformable Linear Objects (DLOs). DLOs contain a high degree of variability, which makes accurate real-time autonomous operations a difficult task. Different modeling methods for DLOs such as discrete mass-spring systems and Cosserat elastic rod models range in problem complexity and accuracy, a trade-off that must be understood to fully realize autonomous cable routing technologies. This paper validates different DLO models through simulation and a hardware experiment, highlighting the size of the state space and accuracy of different approaches. The development of DLO manipulation models for outfitting enables an autonomous architecture for the construction of lunar surface systems.

Deformable Modeling↗