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At least 325 records · Page 18

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↗

Chapter 21. Atomic-Level Dislocation Dynamics in Irradiated Metals

Primary damage and microstructure evolution in structural nuclear materials operating under conditions of a high flux of energetic atomic particles and high temperature and stress lead to the formation of a high concentration, non-homogeneous distribution of defect clusters in the form of dislocation loops, voids, gas-filled bubbles and radiation-induced precipitates of nanometer scale. They cause changes in many material properties. Being obstacles to dislocation glide, they strongly affect the mechanical properties, with an increase in yield and flow stresses and a reduction in ductility. Atomic-scale computer simulations can provide details of how these effects are influenced by the obstacle structure, applied stress, strain rate and temperature. Processes such as obstacle cutting, transformation, absorption and drag are observed. Some recent results for body-centered and face-centered cubic metals are described in this review and, where appropriate, comparisons are drawn with predictions based on the elasticity theory of crystal defects. Perspectives on how to use this information at higher scales and in particular in mesoscale, dislocation dynamics simulations are also discussed.

Osetskiy, Yury N.↗

Real-Time Radiological Source Term Estimation for Multiple Sources in Cluttered Environments

A particle filter algorithm is presented to estimate the position, strength, and cardinality of an unknown number of radioactive point sources in an obstacle-rich environment using count measurements. The algorithm addresses gaps in the prior literature by incorporating two novel elements. The first is a precomputation step in which local terrain and obstacle data is processed to compute attenuation kernels throughout the search area. This enables rapid estimation performance in obstacle-rich environments as measurements are gathered. The second novel feature is a dynamic particle allocation technique in which the number of particles is adjusted in real time to meet convergence goals. This feature allows the algorithm to scale more efficiently to scenarios with a larger number of sources. A series of computational experiments using simulated data demonstrates the algorithm’s performance in a cluttered environment with up to eight sources.

Kemp, Samuel↗

Organometal Halide Perovskite‐Based Photoelectrochemical Module Systems for Scalable Unassisted Solar Water Splitting

Despite achievements in the remarkable photoelectrochemical (PEC) performance of photoelectrodes based on organometal halide perovskites (OHPs), the scaling up of small-scale OHP-based PEC systems to large-scale systems remains a great challenge for their practical application in solar water splitting. Significant resistive losses and intrinsic defects are major obstacles to the scaling up of OHP-based PEC systems, leading to the PEC performance degradation of large-scale OHP photoelectrodes. Herein, a scalable design of the OHP-based PEC systems by modularization of the optimized OHP photoelectrodes exhibiting a high solar-to-hydrogen conversion efficiency of 10.4% is suggested. As a proof-of-concept, the OHP-based PEC module achieves an optimal PEC performance by avoiding major obstacles in the scaling up of the OHP photoelectrodes. The constructed OHP module is composed of a total of 16 OHP photoelectrodes, and a photocurrent of 11.52 mA is achieved under natural sunlight without external bias. The successful operation of unassisted solar water splitting using the OHP module without external bias can provide insights into the design of scalable OHP-based PEC systems for future practical application and commercialization.

14 SOLAR ENERGY↗

Multireference Methods are Realistic and Useful Tools for Modeling Catalysis

Abstract Highly correlated systems, in particular those that include transition metals, are ubiquitous in catalysis. The significant static correlation found in such systems is often poorly accounted for using Kohn Sham density functional theory methods, as they are single determinantal in nature. Applications to catalysis of more rigorous and appropriate multiconfigurational methods have been reported in select instances, but their use remains rare. We discuss obstacles that hinder the routine application of multireference (MR) wave function theoretical calculations to catalytic systems and the current state of the art with respect to removing those obstacles.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

A Platform for Atomic Fabrication and In Situ Synthesis in a Scanning Transmission Electron Microscope

Here, the engineering of quantum materials requires the development of tools able to address various synthesis and characterization challenges. These include the establishment and refinement of growth methods, material manipulation, and defect engineering. Atomic-scale modification will be a key enabling factor for engineering quantum materials where desired phenomena are critically determined by atomic structures. Successful use of scanning transmission electron microscopes (STEMs) for atomic scale material manipulation has opened the door for a transformed view of what can be accomplished using electron-beam-based strategies. However, serious obstacles exist on the pathway from possibility to practical reality. One such obstacle is the in situ delivery of atomized material in the STEM to the region of interest for further fabrication processes. Here, progress on this front is presented with a view toward performing synthesis (deposition and growth) processes in a scanning transmission electron microscope in combination with top-down control over the reaction region. An in situ thermal deposition platform is presented, tested, and deposition and growth processes are demonstrated. In particular, it is shown that isolated Sn atoms can be evaporated from a filament and caught on the nearby sample, demonstrating atomized material delivery. This platform is envisioned to facilitate real-time atomic resolution imaging of growth processes and open new pathways toward atomic fabrication.

36 MATERIALS SCIENCE↗

Fog Formation Related to Gravity Currents Interacting with Coastal Topography

An interesting mixing-fog event was identified during IOP7 of the C-FOG project, where a cold front arriving from the north-east collided with the Downs peninsula in Ferryland, Newfoundland, to produce foggy conditions. A comprehensive set of field observations suggests that this collision caused turbulent mixing of nearly saturated ambient air with an almost saturated cold front, creating conditions for mixing fog. Additionally, laboratory experiments were performed to study the interaction of lock-exchange induced gravity currents with a (rectangular) obstacle to delve into physical processes underlying this phenomenon. Instantaneous velocity and density fields were obtained using particle image velocimetry and planar laser-induced fluorescence. The observations suggest that the obstacle starts affecting the approaching gravity-current propagation at an upstream distance of 2 H and, upon collision, the mixing is taking place over a spatial scale of 0.83 H , where H is the depth of the ambient fluid layer. The time for largerscale turbulent stirring to permeate to the smallest scales of turbulence and activate the condensation nuclei was estimated as 3t * , where t* = √H/g' is the intrinsic time scale of the gravity current and g' the reduced gravity. Extrapolation of results to IOP7 showed a good agreement with observations.

54 ENVIRONMENTAL SCIENCES↗

Phase-field dislocation modeling of cross-slip

The phase-field dislocation dynamics (PFDD) model is extended to simulate cross-slip in body-centered cubic materials. The model makes use of a non-orthogonal, body-centered cubic numerical grid such that all calculable points lie on dislocation glide planes. We demonstrate that the advanced PFDD model predicts a low-energy, non-planar core for screw dislocations and a planar core for edge dislocations. These core differences result in screw-edge character dependence in the critical stress to initiate glide and dislocation drag coefficients. Finally, we show that this model can be used to study the propensity of screw dislocations to cross-slip around or transmit through a coherent, crystallographic obstacle, depending on obstacle strength.

36 MATERIALS SCIENCE↗

On modeling subgrid-scale macro-structures in narrow twisted channels

Porosity-based subgrid topography models often fail to capture the effects of subgrid-scale topographic features in the interior of coarse grid cells. Existing approaches that modify bottom roughness or a drag coefficient are inadequate for macro-structures (large emergent or submerged obstacles) in subgrid-scale narrow twisted channels. Such structures partially block the cross-sectional area and provide enhanced topographic dissipation – effects that are not well represented by a drag coefficient that scales on a coarse-grid cell-averaged velocity and the cell volume. The relative alignment between mesh and flow further complicates this problem as it makes the subgrid model sensitive to mesh design. In the present study, three new approaches for simulating subgrid-scale macro-structures in narrow channels are proposed. The interior partial-blocking effect of structures is modeled as reduction of grid face-area. The sheltering of flow volumes around obstacles, which leads to topographic dissipation, is modeled by reducing the cell volume in the momentum equation (only). A mesh-shift procedure is designed to optimize mesh alignment for identifiable subgrid features. Combining the three subgrid methods improves the approximation of surface elevation and in-channel flow rate with a coarse-grid model. Tests are conducted for channelized flow using both synthetic domains and real marsh topography. Finally, the new methods reduce the overall mesh dependency of the subgrid model and provides stronger physical connection between effects of macro-structures and their geometry at coarse grid scales.

42 ENGINEERING↗

Entanglement Enabled Intensity Interferometry of different wavelengths of light

Highlights: • We use quantum entanglement to erase the color of photons for a new imaging method. • Can achieve higher resolution imaging by accessing hidden phase information. • We detail practical experimental designs to implement our theoretical protocols. We propose methods to perform intensity interferometry of photons having two different wavelengths. Distinguishable particles typically cannot interfere with each other, but we overcome that obstacle by processing the particles via entanglement and projection so that they lead to the same final state at the detection apparatus. Specifically, we discuss how quasi-phase-matched nonlinear crystals can be used to convert a quantum superposition of light of different wavelengths onto a common wavelength, while preserving the phase information essential for their meaningful interference. We thereby gain access to a host of new observables, which can probe subtle frequency correlations and entanglement. Further, we generalize the van Cittert–Zernike formula for the intensity interferometry of extended sources, demonstrate how our proposal supports enhanced resolution of sources with different spectral character, and suggest potential applications.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Integrated path planning and control through proximal policy optimization for a marine current turbine

This paper presents an integrated path planning and tracking control framework for a marine current turbine (MCT), where the MCT is treated as an energy-harvesting autonomous underwater vehicle (AUV). Considering the ocean (space of action) is continuous, the proposed framework employs two modules to address path planning and path tracking enabled by the proximal policy optimization (PPO) algorithm, which is a policy gradient deep reinforcement learning (RL) method. Further, to enable fully autonomous operation in a stochastic oceanic environment, the proposed path planning seeks a primary objective of maximizing the harvested energy; then, the path tracking module is designed to minimize the tracking error and avoid collisions with static and dynamic obstacles. Using field-collected acoustic Doppler current profiler (ADCP) data, the performance of the proposed framework is evaluated. Comparative studies with baseline algorithms in three different scenarios of path planning, path tracking without an obstacle, and path tracking with collision avoidance verify the effectiveness of our proposed approach.

16 TIDAL AND WAVE POWER↗