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At least 271 records · Page 15

Rover Graphical Simulator

Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

Bon, Bruce↗

Multi-agent autonomous system

A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

Fink, Wolfgang↗

Functional Sensory-Motor Performance Following Long Term Space Flight: The First Results of "Field Test" Experiment

The effect that extended-duration space flights may have on human space travelers, including exploration missions, is widely discussed at the present time. Specifically, there is an increasing amount of evidence showing that the physical capacity of cosmonauts is significantly reduced after long-duration space flights. It is evident that the most impaired functions are those that rely on gravity, particularly up right posture and gait. Because of the sensorimotor disturbances manifested in the neurology of the posture and gait space flight and postflight changes may also be observed in debilitating motion sickness. While the severity of particular symptoms varies, disturbances in spatial orientation and alterations in the accuracy of voluntary movements are persistently observed after long-duration space flights. At this time most of the currently available data are primarily descriptive and not yet suitable for predicting operational impacts of most sensorimotor decrements observed upon landing on planetary surfaces or asteroids. In particular there are no existing data on the recovery dynamics or functionality of neurological, cardiovascular or muscle performance making it difficult to model or simulate the cosmonauts' activity after landing and develop the appropriate countermeasure that will ensure the rapid and safe recovery of crewmembers immediately after landing in what could be hostile environments. However and as a starting position, the videos we have acquired during recent data collection following the long duration flights of cosmonauts and astronauts walking and performing other tasks shortly after return from space flight speak volumes about their level of deconditioning. A joint Russian-American team has developed a new study specifically to address the changes in crewmembers performance and the recovery of performance with the intent of filling the missing data gaps. The first (pilot) phase of this study includes recording body kinematics and quantifying the coordination and timing of relatively simple basic movements - transition from seated and prone positions to standing, walking, stepping over obstacles, tandem walking, muscle compliance, as well as characteristics of postural sway and orthostatic tolerance. Testing for changes in these parameters have been initiated in the medical tent at the landing site. The first set of experiments showed that during the first hour after landing, cosmonauts and astronauts were able to execute (although slower and with more effort than preflight) simple movements such as egress from a seated or prone position and also to remain standing for 3.5 minutes without exhibiting pronounced cardiovascular changes. More challenging tests, however, demonstrated a prominent reduction in coordination - the obstacle task, for example, was performed at much slower speed and with a marked overestimation of the obstacle height and tandem walking was greatly degraded suggesting significant changes in proprioception, brainstem and vestibular function. There is some speculation that the neural changes, either from the bottom-up or top down may be long lasting; requiring compensatory responses that will modify or mask the adverse responses we have observed. Furthermore, these compensatory responses may actually be beneficial, helping achieve a more rapid adaptation to both weightlessness and a return to earth.

Tomilovskaya, E. S.↗

Integrated Collision Avoidance System for Air Vehicle

Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

Lin, Ching-Fang↗

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Tran, Loc↗

STEREO Observations of Interplanetary Coronal Mass Ejections in 2007-2016

We have conducted a survey of 341 interplanetary coronal mass ejections (ICMEs) using STEREO A/B data, analyzing their properties while extending a Level 3 product through 2016. Among the 192 ICMEs with distinguishable sheath region and magnetic obstacle, the magnetic field maxima in the two regions are comparable, and the dynamic pressure peaks mostly in the sheath. The north/south direction of the magnetic field does not present any clear relationship between the sheath region and the magnetic obstacle. About 71% of ICMEs are expanding at 1 au, and their expansion speed varies roughly linearly with their maximum speed except for ICMEs faster than 700 km/s. The total pressure generally peaks near the middle of the well-defined magnetic cloud (MC) passage, while it often declines along with the non-MC ICME passage, consistent with our previous interpretation concerning the effects of sampling geometry on what is observed. The hourly average iron charge state reaches above 12+ approx. 31% of the time for MCs, approx. 16% of the time for non-MC ICMEs, and approx. 1% of the time for non- ICME solar wind. In four ICMEs abrupt deviations of the magnetic field from the nominal field rotations occur in the magnetic obstacles, coincident with a brief drop or increase in field strength-features could be related to the interaction with dust. In comparison with the similar phases of solar cycle 23, the STEREO ICMEs in this cycle occur less often and are generally weaker and slower, although their field and pressure compressions weaken less than the background solar wind.

Jian, L. K.↗

Distributed Fast Motion Planning for Spacecraft Swarms in Cluttered Environments using Spherical Expansions and Sequence of Convex Optimization Problems

This paper presents a novel guidance algorithm for spacecraft swarms in an environment cluttered with many obstacles like a debris field or the asteroid belt. The objective of this algorithm is to reconfigure the swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. The agents first use a spherical-expansion-based sampling algorithm to cooperatively explore the workspace and find paths to the desired terminal positions. Using a distributed assignment algorithm, the agents converge on an optimal assignment of the target locations in the desired formation. Then each agent generates a locally optimal trajectory from its current location to its terminal position by solving a sequence of convex optimization problems. As the agent moves along this trajectory, it receives the position of other agents and updates its trajectory to avoid collisions with other agents and the obstacles. Thus the swarm achieves the desired formation in a distributed manner while avoiding collisions. Moreover, this algorithm is computationally efficient, therefore it can be implemented onboard resource-constrained spacecraft. Simulations results show that the proposed distributed algorithm can be used by a spacecraft swarm to reconfigure a desired formation around an asteroid in a collision-free manner.

Bandyopadhyay, Saptarshi↗

Spatial and Temporal Deconfliction of Trajectories in the Presence of Uncertainties

Demonstration of conflict-free movement for multi-agent teams in challenging scenarios is crucial in developing trust and trustworthiness in an autonomous transport system. Tolerance verification queries are explored as a mechanism to enforce spatial and temporal deconfliction for a cooperating team of Unmanned Aerial Systems (UAS) with prescribed heterogeneous path-following performance. Obstacles in the environment are modelled as set of polyhedra, whereas each vehicle’s trajectory is represented as a sequence of polynomial curves with C2 continuity, expressed in a Bernstein basis. Each vehicle is modelled as a point mass and a safety distance, informed by the geometry of the UAS and the worst-case path-following error. This defines a tube around the trajectories where each UAS is most likely to fly through. In addition, obstacles in the environment have an associated safety buffer around them to account for the uncertainty in their location and geometric description. The tolerance verification queries explored in this paper combine the safety distance information from each UAS and environmental hazard to compute trajectories that are contained within the safe configuration space. Tolerance verification is also compared with other proximity queries to determine the suitability of each method along the different steps of the trajectory generation algorithm. This paper analyzes the fitness and performance of three proximity queries – collision, tolerance verification, and distance computations – between polyhedral and polynomial curves to ensure deconfliction between obstacles and vehicles, but also between polynomial curves to guarantee safe separation among cooperating UAS.

trajectory generation↗

Lunar Excavator Mission Operations using Dynamic Movement Primitives

To support sustainable infrastructure on the Moon, NASA must leverage robots to extract lunar resources for in-situ processing and construction. As part of this effort, NASA is launching the in-situ resource utilization (ISRU) Pilot Excavator later this decade to validate a robotic regolith excavator based on the Regolith Advanced Surface Systems Operations Robot (RASSOR). RASSOR is designed to extract and transport regolith to meet the needs of ISRU architectures. During its mission, Pilot Excavator will be tasked with driving in test patterns to demonstrate the operational concept. One of these tests is a circular trajectory around the lander while avoiding miscellaneous surface hazards such as lunar rocks. To this end, we utilize dynamic movement primitives to represent navigation sequences as primitive trajectories. Here, we introduce a novel obstacle avoidance parameter, which is configured to avoid rocks throughout testing exercises. We demonstrate the effectiveness our method in a newly developed simulation tool called the Simulated Excavation Environment for Lunar Operations (SEELO) using models based on the NASA RASSOR 2.0 excavator. After making key changes to the obstacle avoidance formulation, our results show that the robot is able to safety and robustly navigate the lunar surface with densely populated rock obstacles while retaining the desired circle pattern behavior.

Space Robotics and Automation↗

Statistical Properties of the Population of the Galactic Center Filaments II: The Spacing between Filaments

We carry out a population study of magnetized radio filaments in the Galactic centre using MeerKAT data by focusing on the spacing between the filaments that are grouped. The morphology of a sample of 43 groupings containing 174 magnetized radio filaments are presented. Many grouped filaments show harp-like, fragmented cometary tail-like, or loop-like structures in contrast to many straight filaments running mainly perpendicular to the Galactic plane. There are many striking examples of a single filament splitting into two prongs at a junction, suggestive of a flow of plasma along the filaments. Spatial variations in spectral index, brightness, bending, and sharpening along the filaments indicate that they are evolving on a 105−6-yr time-scale. The mean spacings between parallel filaments in a given grouping peaks at ∼16 arcsec. We argue by modeling that the filaments in a grouping all lie on the same plane and that the groupings are isotropically oriented in 3D space. One candidate for the origin of filamentation is interaction with an obstacle, which could be a compact radio source, before a filament splits and bends into multiple filaments. In this picture, the obstacle or sets the length scale of the separation between the filaments. Another possibility is synchrotron cooling instability occurring in cometary tails formed as a result of the interaction of cosmic ray driven Galactic centre outflow with obstacles such as stellar winds. In this picture, the mean spacing and the mean width of the filaments are expected to be a fraction of a parsec, consistent with observed spacing.

plasmas↗

Hydrogen influences thermal activation parameters for dislocation glide during low cycle fatigue of 316L stainless steel

Measurements of activation areas are used to investigate the effect of hydrogen on the kinetics of dislocation glide during cyclic deformation in cold-worked 316L stainless steel. Non-charged and hydrogen-precharged (H-precharged) specimens were tested in low cycle fatigue (LCF) under plastic strain control. A series of plastic strain rate changes was performed periodically at the peak true plastic strain from the first cycle to half-life, and at various plastic strain values around stable hysteresis loops near half-life to determine the operational activation area, Δ a ∗. Both material conditions demonstrate a rapid increase in Δ a ∗ during the initial rapid softening followed by a region of approximately constant values coinciding with a reduced rate of softening. Near half-life, hydrogen reduces Δ a ∗ at a given true stress due to its effect on the activation distance and obstacle spacing. The magnitudes of Δ a ∗ reveal that bypassing solutes, cutting forest dislocations, and initiating cross slip are important mechanisms of thermally activated dislocation glide at all amplitudes, except hydrogen suppresses cross slip at the lowest plastic strain amplitudes. These results are supported by electron microscopy characterization of deformed microstructures. A Haasen plot analysis indicates that forest dislocations control the kinetics of deformation in both material conditions. It also reveals the presence of athermal obstacles in both non-charged and H-precharged conditions, likely dense dislocation tangles and cell walls. Additionally, the effect of hydrogen on microstructure evolution (by reducing the propensity for cross slip) leads to a dependence of athermal stress on plastic strain amplitude.

Activation area↗

Programming entropy production hotspots via interaction patterning

Dissipation in soft matter and living systems is highly heterogeneous, giving rise to complex local entropy production patterns. Recent work has identified the connection between local entropy production and locally extractable amount of work. This suggests that locally produced entropy can be recovered to power nanorobots and biological machines, prompting the need for efficient strategies to modulate and fine-tune local entropy production. In this work, we propose to program entropy production hotspots by leveraging local interaction patterns and test this approach in simulations of a fluid driven through a nanopore or past an obstacle. Here, the results show that patterning the surface of the pore with a repulsive patch gives rise to an entropy production hotspot around the patch, while an attractive patch leads to an entropy production cold spot. Varying the strength of the interaction and width of the patch enables modulating the hotness and extent of the hot spot. In flows past interaction patterned-obstacles, we show that the combined effects of steric hindrance and attraction allows to program a specific entropy production map, thereby opening the door to the precise powering of nanomachines.

Desgranges, Caroline [University of Massachusetts,↗

Formation of hierarchically structured martensites in pure iron with ultrahigh strength and stiffness

Strong steels are primarily fabricated by introducing spatial obstacles (e.g., stacking faults and precipitates) that inhibit dislocation slips under stress to achieve high strength. However, for most low-carbon steels, such obstacles are difficult to form mainly because the martensitic transition is kinetically unfavorable by conventional methods, which precludes the attainment of high-strength materials in these steels with low solute contents. Here, we report an innovative high-pressure preparation of martensitic pure Fe with involving nano-effect, which leads to the formation of ultrastrong bulk iron with exceptionally high yield strength, ultimate strength, and hardness of 2.9 GPa, 3.7 GPa, and 9.0 GPa, respectively, exceeding those of high-speed steels. Such extraordinary mechanical properties are closely attributed to its high-density martensites with unique multiscale hierarchical structures formed due to complex phase transitions under pressure.

Science & Technology - Other Topics↗

Audible enclaves crafted by nonlinear self-bending ultrasonic beams

Delivering audible content to a targeted listener without disturbing others is paramount in audio engineering. However, achieving this goal has long been challenging due to the diffraction of low-frequency (long-wavelength) audio waves in linear acoustics. Here, we introduce an approach for creating remote audio spots, dubbed audible enclaves, by harnessing the local nonlinear interaction of two self-bending ultrasonic beams with distinct spectra. The self-bending ultrasonic beams created by acoustic metasurfaces, though inaudible, can bypass obstacles such as human heads. At their intersection behind obstacles, highly localized audible enclaves are formed due to the local nonlinear interactions. Additionally, we demonstrate the ultrabroadband capabilities of our metasurface-based implementation both numerically and experimentally, spanning from 125 Hz to 4 kHz (6 octave bands), covering the majority of the audible frequency range. The practicality of our proposed technique is underscored by its compact implementation size (0.16 m, equivalent to 0.06 wavelengths at 125 Hz), as well as its robust performance under wideband transient audio signal excitation and in a common room with reverberations. Our proposed audible enclaves hold significant potential for various applications in advanced audio engineering, including private speech communications, immersive spatial audio reproduction, and high-resolution sound/quiet zone control.

Science & Technology - Other Topics↗

Effect of helium bubbles on the mobility of edge dislocations in copper

Abstract Helium bubbles can form in materials upon exposure to irradiation. It is well known that the presence of helium bubbles can cause changes in the mechanical behavior of materials. To improve the lifetime of nuclear components, it is important to understand deformation mechanisms in helium-containing materials. In this work, we investigate the interactions between edge dislocations and helium bubbles in copper using molecular dynamics (MD) simulations. We focus on the effect of helium bubble pressure (equivalently, the helium-to-vacancy ratio) on the obstacle strength of helium bubbles and their interaction with dislocations. Our simulations predict significant differences in the interaction mechanisms as a function of helium bubble pressure. Specifically, bubbles with high internal pressure are found to exhibit weaker obstacle strength as compared to low-pressure bubbles of the same size due to the formation of super-jogs in the dislocation. Activation energies and rate constants extracted from the MD data confirm this transition in mechanism and enable upscaling of these phenomena to higher length-scale models.

36 MATERIALS SCIENCE↗

Perspective on “Active Brownian particles moving in a random Lorentz gas”

Self-propelled active matter can exhibit vastly different behavior than systems with purely Brownian motion. In Eur. Phys. J. E 40, 23 (2017), Zeitz, Wolf, and Stark compared an active matter particle with a Brownian particle moving in a random obstacle array. They showed that near the obstacle percolation density, both Brownian and active particles exhibit the same subdiffusive behavior, but the active particle reaches a steady state more rapidly. They also found that for high activity, the active particle has a lower effective diffusion than the Brownian particle due to the increased self-trapping effect generated by the activity. This result opens new directions for the study of active matter in disordered media, including bacteria in porous media, active colloids on quenched disorder, and active particles in crowded environments.

36 MATERIALS SCIENCE↗

MSD CoP Webinar: Accounting for distributive justice in model-based decision support

Context: This webinar was hosted by the MultiSector Dynamics Community of Practice (MSD CoP; https://multisectordynamics.org). Abstract: Model-based analyses play an ever-increasing role in informing policy and decision-making. However, many large-scale societal challenges unavoidably involve questions about the fair distribution of positive and negative consequences. How are the costs of the energy transition distributed over households and businesses? How are flood risks redistributed under different flood risk management plans? How are the impacts of climate change and climate mitigation distributed over different parts of the world?These kinds of questions play an important role when deliberating public policy, and the lack, in many cases, of clear answers becomes an obstacle to decision-making. At recent COPs, for example, wicked questions about loss and damages and the phase-out versus phase-down of coal became obstacles to global climate action, illustrating the misalignment of the direction of scientific research and decision-makers' information needs. In this talk, I'll explore advances that are being made that enable analysts to start providing grounded model-based answers to questions of distributive justice, as well as argue that analysts should embrace and explicate the normative nature of their work instead of hiding behind the purported neutrality of science. Presenters: Dr. Jan Kwakkel (Delft University of Technology) Moderator(s): Rebecca Saari (MSD CoP Working Group Co-Chair; Univ. of Waterloo), Matt Sparks (Univ. of Waterloo); Sarah Fletcher (MSD CoP Working Group Co-Chair; Stanford University), Juan Moreno-Cruz (Univ. of Waterloo), Patrick Reed (MSD CoP Facilitation Team Member, Moderator and Organizer) This webinar was held on: November 13, 2024 from 1 PM - 2:15 PM ET

Kwakkel, Jan H.↗

Laser Doppler velocity measurements of swirling flows with upstream influence

Swirling flow in a rotating tube is studied by flow visualization at a moderate Reynolds number, and its velocity field is measured by laser-Doppler anemometry. The tube has constant diameter, and approximately uniform initial rigid rotation of the flow is assured by passing the flow through a rotating plug of porous metal before it enters the test section. At moderate swirl values, an object mounted on the tube centerline causes a closed bubble to form upstream of the obstacle, with a clearly defined stagnation point on the axis, and recirculating flow inside the bubble. The bubble length grows upstream as the swirl is increased, until it breaks up into a Taylor column reaching all the way upstream and downstream at swirl values above a certain critical value. A vortex jump (in the sense of Benjamin) occurs downstream of the obstacle except when the Taylor column is present. Using a laser-Doppler anemometer, axial and swirl velocity profiles are obtained at several stations upstream and downstream of the bubble, and in and around the bubble.

Rloff, K. L.↗