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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 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Intelligence for Human-Assistant Planetary Surface Robots

The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

Hirsh, Robert↗
NASA NTRS2011

Autorotation flight control system

The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height-velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft. The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.

Bachelder, Edward N.↗
NASA NTRS2017

Batch Sequential Estimation with Non-Uniform Measurements and Non-Stationary Noise

Sequential estimation using the traditional discrete Kalman filter typically assumes the measurement time and state update time are coincident. This is often a poor assumption in realistic measurement scenarios where the data can be received from multiple sources at differing times. This paper develops the necessary algorithm adjustments needed for the Kalman filter to readily process measurement data that arrive at varying times and with non-stationary noise. The algorithm is applied to a relevant problem of orbit determination using one-way uplink radiometric tracking of a spacecraft (in the present case a Mars orbiter).

Seubert, Jill↗
NASA NTRS2021

Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition

Multi-robot systems are uniquely well-suited to perform complex tasks such as patrolling and tracking, infor- mation gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A fundamental building block in most multi-robot systems is dynamic task allocation: assigning robots to tasks (e.g., patrolling an area, or servicing a transportation request) as they appear based on the robots’ states to maximize reward. In many practical situations, the allocation must account for potentially heteroge- neous capabilities (e.g., availability of appropriate sensors or actuators) to ensure the feasibility of execution, and exploit predictive information concerning the likelihood of future tasks to promote a higher reward over a long time horizon. To this end, we present an efficient algorithm for predictive heterogeneous task- allocation achieving an approximation factor of at least 1/2 of the optimal reward. Our approach demonstrates that the problem can be decomposed into several homogeneous subproblems that can be solved efficiently using min-cost flow. Through simulation experiments, we show that our algorithm is faster by several orders of magnitude than a MILP-based approach.

Pavone, Marco↗
DOE OSTI2020

Are You Resilient? Site Energy and Water Resilience Indicators

There is growing interest among operators of individual or co-located facilities to plan for utility disruptions caused by natural hazards and threats. Energy and water resilience at the site level can be characterized as the ability to withstand, adapt, and recover from an energy and/or water supply disruption. But how can a site’s energy and water resilience posture be measured? An evaluation framework with clear performance measures or indicators can help organizations establish what it means to be energy and water resilient and assess progress towards meeting resilience goals across sites and over time. Tracking a consistent set of indicators can help organizations identify problem areas that should be addressed and ascertain if energy and water resilience has improved as a result of investments or operational or policy changes. Resilience indicators also provide a means for organizations with geographically distributed sites to identify common problem areas that may require higher-level attention. This paper outlines an approach that organizations can use to measure site energy and water resilience. This approach was developed by Pacific Northwest National Laboratory for the U.S. Department of Energy’s Federal Energy Management Program as part of an effort to help federal agencies plan for energy and water resilience in a more systematic and rigorous way. The paper defines a general structure for defining energy and water resilience indicators, and provides example indicators and potential rating methods.

resilience, metrics for resilience, site resilienc↗
NASA NTRS1985

Environment definition, small particles, diameter less than or equal to 1 MM

The collection of particles of diameters one millimeter and less far outnumbers the larger particle distribution in orbit. These small particles cannot be tracked from ground based radar as can the larger debris, therefore, there is greater uncertainty in their properties. The population is growing from contributions due to collisions of larger debris, explosions, and aluminum oxide particles from solid rocket motors. The solid rocket motor contribution is the prominent growth parameter, and the input from Space Shuttle deployed upper stages will range between 50,000 and 100,000 pounds per year. The environment is important because of the different design problems that will be posed to the engineer and scientist. The emphasis shifts from catastrophe deign, probability versus exposure time, and tracking-avoidance, to a continuous degradation problem.

Source record↗
NASA NTRS1994

Hypersonic vehicle model and control law development using H(infinity) and micron synthesis

The control system design for a Single Stage To Orbit (SSTO) air breathing vehicle will be central to a successful mission because a precise ascent trajectory will preserve narrow payload margins. The air breathing propulsion system requires the vehicle to fly roughly halfway around the Earth through atmospheric turbulence. The turbulence, the high sensitivity of the propulsion system to inlet flow conditions, the relatively large uncertainty of the parameters characterizing the vehicle, and continuous acceleration make the problem especially challenging. Adequate stability margins must be provided without sacrificing payload mass since payload margins are critical. Therefore, a multivariable control theory capable of explicitly including both uncertainty and performance is needed. The H(infinity) controller in general provides good robustness but can result in conservative solutions for practical problems involving structured uncertainty. Structured singular value mu framework for analysis and synthesis is potentially much less conservative and hence more appropriate for problems with tight margins. An SSTO control system requires: highly accurate tracking of velocity and altitude commands while limiting angle-of-attack oscillations, minimized control power usage, and a stabilized vehicle when atmospheric turbulence and system uncertainty are present. The controller designs using H(infinity) and mu-synthesis procedures were compared. An integrated flight/propulsion dynamic mathematical model of a conical accelerator vehicle was linearized as the vehicle accelerated through Mach 8. Vehicle acceleration through the selected flight condition gives rise to parametric variation that was modeled as a structured uncertainty. The mu-analysis approach was used in the frequency domain to conduct controller analysis and was confirmed by time history plots. Results demonstrate the inherent advantages of the mu framework for this class of problems.

Gregory, Irene M.↗
DOE OSTI2026

Improving ICARUS track reconstruction algorithms

The ICARUS experiment is part of the Short-Baseline Neutrino program at Fermilab. Its primary objective is to explore the possible existence of sterile neutrinos in the O(1 eV) mass range and to clarify the anomalies observed in the Liquid Scintillator Neutrino Detector and MiniBooNE experiments. The ICARUS-T600 detector is a Liquid Argon Time Projection Chamber, capable of producing high-resolution 3D images and precise calorimetric measurements of ionizing particles. This technology allows for a detailed study of neutrino interactions across a broad energy range, from a few keV to several hundred GeV. The track reconstruction is achieved through a software framework that applies a series of pattern recognition algorithms, transforming raw detector signals into fully reconstructed event topologies. This process involves identifying interaction vertices, particle tracks, and electromagnetic showers within the TPC. However, in certain cases, these algorithms may mistakenly break a single particle track into several shorter segments, interpreting each as a distinct particle. Since track length is used to estimate the particle's energy, such fragmentation can result in an energy underestimation of several hundred MeV. Furthermore, when a track is split into multiple segments, the particle identification (which relies on analyzing the energy loss as a function of the residual range) may fail, potentially leading to the loss of the entire event. To mitigate this problem, we have developed a dedicated algorithm designed to identify and reconnect (“stitch”) the tracks that were erroneously divided into multiple segments.

Ricci, Alessandro Maria [Pisa U.; INFN, Pisa] (ORC↗
NASA NTRS1985

A homotopy continuation method for general preliminary orbit determination and special application to the Tracking and Data Relay Satellite System

A recent mathematical technique for solving systems of equations is applied in a very general way to the orbit determination problem. The use of this technique, the homotopy continuation method, was motivated by the possible need to perform preliminary orbit determination in the Tracking and Data Relay Satellite System (TDRSS), using range and Doppler tracking alone. In the formulation studied here, a set of six tracking observations is continuously transformed from a set with known solutions to the given set with unknown solutions, and the corresponding orbit state vector is followed from the a priori orbit state to the solution orbit states. A modular numerical algorithm is developed to follow the state vector. The technique is formulated and then tested, using both real and simulated tracking, with positive results. Direct comparisons show that the basic method has a much larger radius of convergence than standard or simply modified Newton-Raphson methods. An extension of the basic method is formulated that is expected to produce a global method.

Smith, R. L.↗
NASA NTRS1994

Integrating deliberative planning in a robot architecture

The role of planning and reactive control in an architecture for autonomous agents is discussed. The postulated architecture seperates the general robot intelligence problem into three interacting pieces: (1) robot reactive skills, i.e., grasping, object tracking, etc.; (2) a sequencing capability to differentially ativate the reactive skills; and (3) a delibrative planning capability to reason in depth about goals, preconditions, resources, and timing constraints. Within the sequencing module, caching techniques are used for handling routine activities. The planning system then builds on these cached solutions to routine tasks to build larger grain sized primitives. This eliminates large numbers of essentially linear planning problems. The architecture will be used in the future to incorporate in robots cognitive capabilites normally associated with intelligent behavior.

Elsaesser, Chris↗
DOE OSTI2022

Accurate effective fluid approximation for ultralight axions

Ultralight axions are theoretically interesting and phenomenologically rich dark sector candidates, but they are difficult to track across cosmological timescales because of their fast oscillations. We resolve this problem by developing a novel method to evolve them efficiently and accurately. We first construct an exact effective fluid which at late times matches the axion but which evolves in a simple way. We then approximate this evolution with a carefully chosen equation of state and sound speed. With our scheme we find that we can obtain subpercent accuracy for the linear theory suppression of axion density fluctuations relative to that of cold dark matter without tracking even a single complete oscillation of the axion field. Furthermore, we use our technique to test other approximation schemes and to provide a fitting formula for the transfer function for the matter power spectrum in linear theory in axion models. Implementing our approach in existing cosmological axion codes is straightforward and will help unleash the potential of high-precision next-generation experiments.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
NASA NTRS1986

Study of a homotopy continuation method for early orbit determination with the Tracking and Data Relay Satellite System (TDRSS)

A recent mathematical technique for solving systems of equations is applied in a very general way to the orbit determination problem. The study of this technique, the homotopy continuation method, was motivated by the possible need to perform early orbit determination with the Tracking and Data Relay Satellite System (TDRSS), using range and Doppler tracking alone. Basically, a set of six tracking observations is continuously transformed from a set with known solution to the given set of observations with unknown solutions, and the corresponding orbit state vector is followed from the a priori estimate to the solutions. A numerical algorithm for following the state vector is developed and described in detail. Numerical examples using both real and simulated TDRSS tracking are given. A prototype early orbit determination algorithm for possible use in TDRSS orbit operations was extensively tested, and the results are described. Preliminary studies of two extensions of the method are discussed: generalization to a least-squares formulation and generalization to an exhaustive global method.

Smith, R. L.↗
NASA NTRS1977

Exposure ages and erosion rates for lunar rocks

The available data on the effects of particle bombardment of lunar rocks are examined, taking into account rare gas data, neutron capture products, radioactive nuclei, and particle tracks. Attention is given to exposure ages, questions concerning the validity of exposure ages, the location of rocks during irradiation, the criteria for valid crater ages, special problems regarding lunar breccias, surface residence times from long lived radioactive nuclei, surface residence times from galactic cosmic ray track data, rocks with simple surface exposure, rocks with complex surface exposure, limits on surface residence times, suntan and subdecimeter ages, erosion rates, and a number of case histories related to exposure age measurements as applied to the problem of the dating of impact events.

Burnett, D. S.↗
NASA NTRS2009

Synthetic Foveal Imaging Technology

Synthetic Foveal imaging Technology (SyFT) is an emerging discipline of image capture and image-data processing that offers the prospect of greatly increased capabilities for real-time processing of large, high-resolution images (including mosaic images) for such purposes as automated recognition and tracking of moving objects of interest. SyFT offers a solution to the image-data processing problem arising from the proposed development of gigapixel mosaic focal-plane image-detector assemblies for very wide field-of-view imaging with high resolution for detecting and tracking sparse objects or events within narrow subfields of view. In order to identify and track the objects or events without the means of dynamic adaptation to be afforded by SyFT, it would be necessary to post-process data from an image-data space consisting of terabytes of data. Such post-processing would be time-consuming and, as a consequence, could result in missing significant events that could not be observed at all due to the time evolution of such events or could not be observed at required levels of fidelity without such real-time adaptations as adjusting focal-plane operating conditions or aiming of the focal plane in different directions to track such events. The basic concept of foveal imaging is straightforward: In imitation of a natural eye, a foveal-vision image sensor is designed to offer higher resolution in a small region of interest (ROI) within its field of view. Foveal vision reduces the amount of unwanted information that must be transferred from the image sensor to external image-data-processing circuitry. The aforementioned basic concept is not new in itself: indeed, image sensors based on these concepts have been described in several previous NASA Tech Briefs articles. Active-pixel integrated-circuit image sensors that can be programmed in real time to effect foveal artificial vision on demand are one such example. What is new in SyFT is a synergistic combination of recent advances in foveal imaging, computing, and related fields, along with a generalization of the basic foveal-vision concept to admit a synthetic fovea that is not restricted to one contiguous region of an image.

Hoenk, Michael↗
NASA NTRS1985

Challenger STS-17 (41-G) post-flight best estimate trajectory products: Development and summary results

Results from the STS-17 (41-G) post-flight products are presented. Operational Instrumentation recorder gaps, coupled with the limited tracking coverage available for this high inclination entry profile, necessitated selection of an anchor epoch for reconstruction corresponding to an unusually low altitude of h approx. 297 kft. The final inertial trajectory obtained, BT17N26/UN=169750N, is discussed in Section I, i.e., relative to the problems encountered with the OI and ACIP recorded data on this Challenger flight. Atmospheric selection, again in view of the ground track displacement from the remote meteorological sites, constituted a major problem area as discussed in Section II. The LAIRS file provided by Langley was adopted, with NOAA data utilized over the lowermost approx. 7 kft. As discussed in Section II, the Extended BET, ST17BET/UN=274885C, suggests a limited upper altitude (H approx. 230 kft) for which meaningful flight extraction can be expected. This is further demonstrated, though not considered a limitation, in Section III wherein summary results from the AEROBET (NJ0333 with NJ0346 as duplicate) are presented. GTFILEs were generated only for the selected IMU (IMU2) and the Rate Gyro Assembly/Accelerometer Assembly data due to the loss of ACIP data. Appendices attached present inputs for the generation of the post-flight products (Appendix A), final residual plots (Appendix B), a two second spaced listing of the relevant parameters from the Extended BET (Appendix C), and an archival section (Appendix D) devoting input (source) and output files and/or physical reels.

Kelly, G. M.↗
DOE OSTI2024

DECOVALEX-2023: Task F1 Final Report

DECOVALEX-2023 Task F is a comparison of models and methods for post-closure performance assessment (PA) of a deep geologic repository for radioactive waste. The general aims of Task F are to build confidence in the models, methods, and software used for PA and to stimulate additional research and development in PA methodologies. The task objectives are to motivate development of PA modelling skills and capabilities, to examine the influence of model choices on calculated repository performance, and to compare the uncertainties introduced by model choices to other sources of uncertainty. Task F involves no actual experiment or site. It is a PA modelling exercise that requires the conceptual development of hypothetical repository designs and geologic settings. Because three of the teams were interested in salt and the rest of the teams were interested in crystalline rock, Task F was split into two branches: Task F1 for crystalline rock and Task F2 for salt. This report is for Task F1, crystalline rock. Teams from seven countries (Canada, Czech Republic, Germany, Korea, Sweden, Taiwan, and United States) participated in Task F1. The teams worked together to define the features, events, and processes of the reference case repository and established a set of performance measures. In addition, they defined a set of benchmark problems designed to test and compare modelling capabilities for fracture flow and transport at different scales. The repository design and benchmark problems are documented in a Task Specification that evolved over time as the group honed the specifications. The benchmark problems verified that each team can aptly model flow and transport in fractured media in 1-, 2-, and 3-dimensions. Two general approaches were used for the 3-dimensional benchmarks: discrete fracture network (DFN) and equivalent continuous porous medium (ECPM). DFN modelling involves explicit meshing of each fracture while ECPM modelling aims to capture the effective porosity and directional permeability of each cell in a space-filling mesh as affected by intersecting fractures. In some models, a combination of the two is used, i.e., DFN for large known fractures and ECPM for the rest of the domain. Transport is solved by using either the advection-dispersion equation or particle tracking. Although some variation is observed among model breakthrough curves in the benchmark problems, there is strong agreement in breakthrough behaviour up to at least the 75 th percentile for all benchmarks. At the 90 th percentile, breakthrough results show larger differences, suggesting several models retain substantially higher fractions of tracer in regions of slower moving water. In addition to the flow and transport benchmarks, several teams completed the source term benchmark, verifying capabilities for modelling radionuclide decay and ingrowth, waste package breach, instant release fractions, fuel matrix degradation rates, and radionuclide solubility limitations. The reference case is conceptualized as a generic spent fuel repository at a depth of 450 m in fractured crystalline rock. The repository has 50 parallel backfilled drifts, each with 50 deposition holes 6 m apart. Each deposition hole contains a 4-PWR waste package and bentonite buffer. The rock domain is 5 km in length, 2 km in width, and 1 km in depth. It has 6 deterministic fractured deformation zones and a multitude of stochastic fractures. Teams generally used the ECPM approach for the entire rock or a hybrid approach in which the deterministic fracture zones are modelled with a DFN and the rest of the rock is modelled by ECPM. Of the reference case problems specified, only the results of the initial reference case problem are compared in this report. The initial problem focuses on transport from the deposition holes to the surface, i.e., it neglects waste package performance. Tracers are released at all waste package locations at time zero and tracked for their releases to the near field and ground surface. The water fluxes calculated at the ground surface entry and exit regions of the domain are similar for all models except for two that have considerably lower fluxes. For tracer transport, large differences are observed among models in the magnitude of tracer transported. Much of the difference appears to be due to how the repository is implemented and hence the different degrees of repository simplification. Models that exclude the drifts, buffer, and backfill from the domain tend to show greater release of tracers and radionuclides from the repository. The initial study presented here indicates that major differences in modelling important processes within the repository (e.g., diffusion through buffer and backfill) can produce broadly different release and transport results, especially when those processes are excluded. Even for the models that included all specified features, events, and processes, the results show significant differences and demonstrate the importance of examining multiple modelling approaches in performance assessment. The differences in results observed in this study are expected to motivate teams to either increase complexity in future versions of the reference case models or to improve methods to account for the effects of simplified features and processes. Either way, future improvements in these models are expected to produce results that more closely agree.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2004

Lunar and Planetary Science XXXV: Meteorites

The session "Meteorites" included the following reports:Description of a New Stony Meteorite Find from Bulloch County, Georgia; Meteorite Ablation Derived from Cosmic Ray Track Data Dhofar 732: A Mg-rich Orthopyroxenitic Achondrite Halogens, Carbon and Sulfur in the Tagish Lake Meteorite: Implications for Classification and Terrestrial Alteration; Electromagnetic Scrape of Meteorites and Probably Columbia Tiles; Pre-Atmospheric Sizes and Orbits of Several Chondrites; Research of Shock-Thermal History of the Enstatite Chondrites by Track, Thermoluminescence and Neutron-Activation (NAA) Methods; Radiation and Shock-thermal History of the Kaidun CR2 Chondrite Glass Inclusions; On the Problem of Search for Super-Heavy Element Traces in the Meteorites: Probability of Their Discovery by Three-Prong Tracks due to Nuclear Spontaneous Fission Trace Element Abundances in Separated Phases of Pesyanoe, Enstatite Achondrite; Evaluation of Cooling Rate Calculated by Diffusional Modification of Chemical Zoning: Different Initial Profiles for Diffusion Calculation; Mineralogical Features and REE Distribution in Ortho- and Clinopyroxenes of the HaH 317 Enstatite Chondrite Dhofar 311, 730 and 731: New Lunar Meteorites from Oman; The Deuterium Content of Individual Murchison Amino Acids; Clues to the Formation of PV1, an Enigmatic Carbon-rich Chondritic Clast from the Plainview H-Chondrite Regolith Breccia ;Numerical Simulations of the Production of Extinct Radionuclides and ProtoCAIs by Magnetic Flaring.

Source record↗
NASA NTRS1991

Space-based millimeter-wave debris tracking radar

NORAD system currently tracks and predicts orbits of space objects of 80 mm or larger in diameter. The small debris of less than 80 mm, traveling at high speed, could cause damage to Space Station or space vehicles. To overcome this problem, a 35 GHz space-based millimeter-wave radar system is proposed to track the particles ranging in size from 4 mm to 80 mm up to a range of 25 Km. The system requires a large phased array which should be developed in monolithic circuits for cost reduction.

Chang, Kai↗