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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 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Signature of 0 + excited state and shape coexistence in 94 Kr through 93 Kr(d,p) 94 Kr reaction

A measurement of the excitation spectrum of 94 Kr via one-neutron transfer to the ground state of 93 Kr using the 93 Kr(d,p) 94 Kr reaction at 8A MeV, observing the outgoing protons, performed with the IRIS facility at TRIUMF is reported. Two states in 94 Kr, at 1.50±0.14 MeV and 2.20±0.14 MeV, were observed. An adiabatic-wave approximation analysis of the differential cross sections leads us to identify the lower energy state as being populated with neutron transfer to the 3 s1/2 orbital. This leads to the first observation of the lowest 0 + excited state in 94 Kr, hence signaling shape co-existence. Theoretical calculations performed within the in-medium similarity renormalization group framework are presented that also show the existence of a low-energy 0 + state, aligning qualitatively with the observation.

74 ATOMIC AND MOLECULAR PHYSICS↗
NASA NTRS1992

Robot path planning for space-truss assembly

Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space, followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space, and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.

Muenger, Rolf↗
DOE OSTI2023

Comparison of forward and inverse cam generation methods for the design of cam-linkage mechanisms

This paper presents a comparison between the forward and inverse cam generation methods applied to the design of a multi-lobed cam-rocker slider mechanism for function generation. In the forward method, the cam profile is specified directly and then the linkage output is determined using kinematics. In the inverse method, the trajectory of the output link is specified first and then the cam profile is determined using inverse linkage kinematics. First, the cam-linkage mechanism is introduced, and relevant kinematic equations are presented. Then, the cam generation methods are thoroughly explained. Here, the two cam generation methods are applied to a case study of a hydraulic motor using a multi-lobed cam and multiple linkage mechanisms. While the forward method has direct control of the cam shape, the inverse method has direct control of the linkage output and offers an advantage in calculation speed. For the mechanism selected, the cam designed with the inverse method achieved a reduction of at least 50.97% in the torque ripple when compared to the cam designed with the forward method.

42 ENGINEERING↗
NASA NTRS2008

Kinematic Slip Model for 12 May 2008 Wenchuan-Beichuan Mw 7.9 Earthquake from Joint Inversion of ALOS, Envisat, and Teleseismic Data

The presentations explores kinematics of the Wenchaun-Beichuan earthquake using data from ALOS, Envisat, and teleseismic recordings. Topics include geomorphic mapping, ALOS PALSAR range offsets, ALOS PALSAR interferometry, Envisat IM interferometry, Envisat ScanSAR, Joint GPS-InSAR inversion, and joint GPS-teleseismic inversion (static and kinematic).

seismology↗
NASA NTRS1992

Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator 2

The forward position and velocity kinematics for the redundant eight-degree-of-freedom Advanced Research Manipulator 2 (ARM2) are presented. Inverse position and velocity kinematic solutions are also presented. The approach in this paper is to specify two of the unknowns and solve for the remaining six unknowns. Two unknowns can be specified with two restrictions. First, the elbow joint angle and rate cannot be specified because they are known from the end-effector position and velocity. Second, one unknown must be specified from the four-jointed wrist, and the second from joints that translate the wrist, elbow joint excluded. There are eight solutions to the inverse position problem. The inverse velocity solution is unique, assuming the Jacobian matrix is not singular. A discussion of singularities is based on specifying two joint rates and analyzing the reduced Jacobian matrix. When this matrix is singular, the generalized inverse may be used as an alternate solution. Computer simulations were developed to verify the equations. Examples demonstrate agreement between forward and inverse solutions.

Williams, Robert L., II↗
DOE OSTI2022

A mixed, unified forward/inverse framework for earthquake problems: fault implementation and coseismic slip estimate

SUMMARY We introduce a new finite-element (FE) based computational framework to solve forward and inverse elastic deformation problems for earthquake faulting via the adjoint method. Based on two advanced computational libraries, FEniCS and hIPPYlib for the forward and inverse problems, respectively, this framework is flexible, transparent and easily extensible. We represent a fault discontinuity through a mixed FE elasticity formulation, which approximates the stress with higher order accuracy and exposes the prescribed slip explicitly in the variational form without using conventional split node and decomposition discrete approaches. This also allows the first order optimality condition, that is the vanishing of the gradient, to be expressed in continuous form, which leads to consistent discretizations of all field variables, including the slip. We show comparisons with the standard, pure displacement formulation and a model containing an in-plane mode II crack, whose slip is prescribed via the split node technique. We demonstrate the potential of this new computational framework by performing a linear coseismic slip inversion through adjoint-based optimization methods, without requiring computation of elastic Green’s functions. Specifically, we consider a penalized least squares formulation, which in a Bayesian setting—under the assumption of Gaussian noise and prior—reflects the negative log of the posterior distribution. The comparison of the inversion results with a standard, linear inverse theory approach based on Okada’s solutions shows analogous results. Preliminary uncertainties are estimated via eigenvalue analysis of the Hessian of the penalized least squares objective function. Our implementation is fully open-source and Jupyter notebooks to reproduce our results are provided. The extension to a fully Bayesian framework for detailed uncertainty quantification and non-linear inversions, including for heterogeneous media earthquake problems, will be analysed in a forthcoming paper.

58 GEOSCIENCES↗
NASA NTRS1989

Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

Lee, C. S. G.↗
NASA NTRS1987

Kinematically redundant robot manipulators

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Baillieul, J.↗
DOE OSTI2024

Bayesian calibration and uncertainty quantification of a rate-dependent cohesive zone model for polymer interfaces

In this work we present a rate-dependent cohesive zone model for the fracture of polymeric interfaces and performs a Bayesian calibration, an uncertainty quantification, and a sensitivity analysis for the model. The proposed cohesive zone model accounts for both reversible elastic and irreversible rate-dependent separation sliding deformation at the interface. The viscous dissipation due to the irreversible opening at the interface is modeled using elastic-viscoplastic kinematics that incorporates the effects of strain rate. Inverse calibration of parameters for such complex models through trial and error is challenging due to the large number of parameters of the model. Moreover, the calibrated parameter values are often non-unique and uncertain when the available experimental data is limited. To tackle this challenge, we employ a Bayesian calibration approach to identify parameters from experimental data, the resulting parameters significantly enhance the accuracy of the model. To quantify the uncertainty associated with the inverse parameter estimation, a modular Bayesian approach is employed to calibrate the unknown model parameters, accounting for the parameter uncertainty of the cohesive zone model. The advantages of the Bayesian calibration over a deterministic parameter fit are demonstrated. Further, to quantify the model uncertainties, such as incorrect assumptions or missing physics, a discrepancy function is introduced, which significantly improves the model’s prediction. Finally, the total uncertainty of the model is quantified in a predictive setting. A sensitivity analysis is performed to assess how changes in the input variables of the model affect the peak load, facilitating the identification of a concise set of highly influential parameters. The present approach can be used for calibration and uncertainty quantification for other complex computational mechanics models. It should also facilitate the designing of interface materials under uncertainty.

42 ENGINEERING↗
NASA NTRS1992

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

Williams, Robert L., II↗
NASA NTRS1987

An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Bourgeois, B. J.↗
NASA NTRS1987

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

Bourgeois, B. J.↗
DOE OSTI2020

Direct CP violation and the ΔI=1/2 rule in K→ππ decay from the standard model

We present a lattice QCD calculation of the Δ I = 1 / 2 , K → π π decay amplitude A 0 and ϵ ' , the measure of direct C P violation in K → π π decay, improving our 2015 calculation [1] of these quantities. Both calculations were performed with physical kinematics on a 32 3 × 64 lattice with an inverse lattice spacing of a - 1 = 1.3784 ( 68 ) GeV . However, the current calculation includes nearly 4 times the statistics and numerous technical improvements allowing us to more reliably isolate the π π ground state and more accurately relate the lattice operators to those defined in the standard model. We find Re ( A 0 ) = 2.99 ( 0.32 ) ( 0.59 ) × 10 - 7 GeV and Im ( A 0 ) = - 6.98 ( 0.62 ) ( 1.44 ) × 10 - 11 GeV , where the errors are statistical and systematic, respectively. The former agrees well with the experimental result Re ( A 0 ) = 3.3201 ( 18 ) × 10 - 7 GeV . These results for A 0 can be combined with our earlier lattice calculation of A 2 [2] to obtain Re ( ϵ ' / ϵ ) = 21.7 ( 2.6 ) ( 6.2 ) ( 5.0 ) × 10 - 4 , where the third error represents omitted isospin breaking effects, and Re ( A 0 ) / Re ( A 2 ) = 19.9 ( 2.3 ) ( 4.4 ) . The first agrees well with the experimental result of Re ( ϵ ' / ϵ ) = 16.6 ( 2.3 ) × 10 - 4 . A comparison of the second with the observed ratio Re ( A 0 ) / Re ( A 2 ) = 22.45 ( 6 ) , demonstrates the standard model origin of this “ Δ I = 1 / 2 rule” enhancement.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2020

Imaging Polarity in Two Dimensional Materials by Breaking Friedel's Law

Friedel's law guarantees an inversion-symmetric diffraction pattern for thin, light materials where a kinematic approximation or a single-scattering model holds. Typically, breaking Friedel symmetry is ascribed to multiple scattering events within thick, non-centrosymmetric crystals. However, two-dimensional (2D) materials such as a single monolayer of MoS 2 can also violate Friedel's law, with unexpected contrast between conjugate Bragg peaks. Here, we show analytically that retaining higher order terms in the power series expansion of the scattered wavefunction can describe the anomalous contrast between hkl and $\bar{hkl}$ peaks that occurs in 2D crystals with broken in-plane inversion symmetry. These higher-order terms describe multiple scattering paths starting from the same atom in an atomically thin material. Furthermore, 2D materials containing heavy elements, such as WS 2 , always act as strong phase objects, violating Friedel's law no matter how high the energy of the incident electron beam. Experimentally, this understanding can enhance diffraction-based techniques to provide rapid imaging of polarity, twin domains, in-plane rotations, or other polar textures in 2D materials.

2D materials↗
DOE OSTI2026

Machine learning for seismic low-frequency extrapolation

The cycle-skipping problem that plagues full waveform inversion (FWI) can be at least partially mitigated if low frequencies (which encode the kinematics of wave propagation in seismic data) are recorded. However, seismic sources and receivers are band-limited, so seismic data does not generally include signals down to 0 Hz. To improve our ability to solve the seismic inverse problem, one can synthesize this missing low-frequency (LF) content from the recorded high-frequency (HF) data using machine learning (ML) models. Deep learning models such as convolutional neural networks (CNNs) demonstrate impressive ability to perform low frequency extrapolation. However, such models require powerful hardware (GPU machines) and careful training. We assess the extrapolation capabilities of three different ML models that do not require GPU machines, namely, random forest, Gaussian process regression and gradient boosting, on both synthetic and real data. Experimental results on two synthetic data sets (generated from a low velocity lens embedded in a homogeneous medium, and the Marmousi model) demonstrate that FWI applied to the extrapolated data consistently improves inversion accuracy relative to FWI applied to the original data sets that do not contain low frequencies. Application of low-frequency extrapolation to real data from the Northwest Shelf of Australia demonstrates that tree-based ML models such as gradient boosting can outperform CNNs in terms of both accuracy and computational cost on non-GPU architectures.

58 GEOSCIENCES↗
NASA NTRS1988

Radiative transfer in planetary atmospheres

Rheoretical techniques and observations at millimeter wavelengths are combined to study the atmosphere of planets and comets, planetary and satellite regoliths, and planetary rings. Analysis of the very high quality data on the 18 cm OH line observed in recent comets continued. The high spectral resolution and high signal-to-noise make these lines ideal for study of the kinematics in cometary comae. A model of the collisional quenching of the inversion of the lambda doublet responsible for the OH radio emission has been developed by P. Schloerb. For conditions appropriate to Halley's Comet, collisional quenching should lead radio observers to systematically underestimate the OH parent production rate by a factor of approximately 3 relative to its actual value, which is very consistent with differences observed between radio and ultraviolet-derived production rates. Modeling is likewise continuing for the profiles observed in the lowest rotational transition of HCN in Comet Halley in order to better estimate the excitation and hence the abundance of HCN, as well as the kinematics of parent molecules in the coma. A collaborative program to combine data from the 14 m antenna with interferometric data abtained at the Hat Creek Radio Observatory is allowing aperture synthesis mapping of Venus in the CO J=1-0 line.

Irvine, William M.↗
NASA NTRS1989

Direct method for solution of three-dimensional unsteady incompressible Navier-Stokes equations

A three-dimensional, unsteady analysis for the velocity-vorticity formulation of the Navier-Stokes (NS) equations is described. This formulation highlights the natural separation of the spin dynamics of a fluid particle from its translational kinematics. This separation is exploited to produce a single pass direct inversion of the full unsteady NS operator without the need to iterate either the future wall vorticity or the nonlinear vorticity convection terms. The method has uniform second-order accuracy in time and space. As an example, it is applied to the problem of the three-dimensional flow within a shear-driven cubical box. Results are obtained for Re = 100, 400, and 1000 using a preliminary (25, 25, 25) mesh.

Osswald, G. A.↗
NASA NTRS1988

On the smallest scale for the incompressible Navier-Stokes equations

It is proven that for solutions to the two- and three-dimensional incompressible Navier-Stokes equations the minimum scale is inversely proportional to the square root of the Reynolds number based on the kinematic viscosity and the maximum of the velocity gradients. The bounds on the velocity gradients can be obtained for two-dimensional flows, but have to be assumed to be three-dimensional. Numerical results in two dimensions are given which illustrate and substantiate the features of the proof. Implications of the minimum scale result to the decay rate of the energy spectrum are discussed.

Henshaw, W. D.↗