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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 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Planetary rover developments at JPL

Planetary rover research has recently focused on small rovers, which are competent to explore and assist in in-situ analysis of limited areas around a landing site (as opposed to the larger, long range rovers, which have been assumed to accompany sample return missions). Navigation and mobility concepts of these small rovers are, in some cases, somewhat different than what was assumed in the past. The sensing, computing, communication, and power resources of these missions dictate a rethinking of the 'large mission' approach. Recent results and demonstrations along this new direction are described.

Wilcox, Brian↗
NASA NTRS1992

Ultrasonic robot localization using Dempster-Shafer theory

A localization algorithm for ultrasonic robot described is based on range readings from wide beam ultrasonic transducers to built a model of the empty regions in the room. The method is incorporated into a move-to-station behavior which was demonstrated on the Georgia Tech mobile robot. A belief model of the range of readings that was based on Dempster-Shafer theory was used to compute the belief of points in the environment being empty, occupied, or unknown. The current belief in the empty space was used to construct a weighted centroid of the empty space after each move of the robot. By moving toward this center of mass and continually adding to the beliefs of the point in the environment the robot iteratively moved to the center of the open space.

Hughes, Ken↗
NASA NTRS2021

Benchmarking Planning Applications on the Qualcomm Snapdragon

We benchmark several space planning/scheduling applications on the Qualcomm Snapdragon 855 Handheld Development Kit (HDK), a high performance embedded processor used in many mobile phones.We are flying 2 Snapdragon HDKs onboard the International Space Station (ISS) where they are hosted by the the Spaceborne Computer-2 by Hewlett Packard Enterprise linked by USB and 12V power delivery. We run computational benchmarks using three planner/ schedulers that are used for several space missions: Multi- Mission Executive (MEXEC), Compressed Large-scale Activity Scheduling and Planning (CLASP), and M2020 Ground Scheduler (Surrogate). We compare the Snapdragon performance to a performance baseline on Linux workstations. In addition, we are currently working on benchmarking the same applications on other space flight processors, such as the LEON4 Processor on the Sabertooth card, the LEON3 Processor on the Sphinx card, and the RAD750 processor.

Chien, Steve↗
NASA NTRS1992

Testbed for remote telepresence research

The paper describes the design and implementation of a telepresence system, as well as its control hardware and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free-flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three-DOF platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Adnan, Sarmad↗
DOE OSTI2021

Revisiting matrix-based inversion of scanning mobility particle sizer (SMPS) and humidified tandem differential mobility analyzer (HTDMA) data

Abstract. Tikhonov regularization is a tool for reducing noise amplification during data inversion. This work introduces RegularizationTools.jl, a general-purpose software package for applying Tikhonov regularization to data. The package implements well-established numerical algorithms and is suitable for systems of up to ∼ 1000 equations. Included is an abstraction to systematically categorize specific inversion configurations and their associated hyperparameters. A generic interface translates arbitrary linear forward models defined by a computer function into the corresponding design matrix. This obviates the need to explicitly write out and discretize the Fredholm integral equation, thus facilitating fast prototyping of new regularization schemes associated with measurement techniques. Example applications include the inversion involving data from scanning mobility particle sizers (SMPSs) and humidified tandem differential mobility analyzers (HTDMAs). Inversion of SMPS size distributions reported in this work builds upon the freely available software DifferentialMobilityAnalyzers.jl. The speed of inversion is improved by a factor of ∼ 200, now requiring between 2 and 5 ms per SMPS scan when using 120 size bins. Previously reported occasional failure to converge to a valid solution is reduced by switching from the L-curve method to generalized cross-validation as the metric to search for the optimal regularization parameter. Higher-order inversions resulting in smooth, denoised reconstructions of size distributions are now included in DifferentialMobilityAnalyzers.jl. This work also demonstrates that an SMPS-style matrix-based inversion can be applied to find the growth factor frequency distribution from raw HTDMA data while also accounting for multiply charged particles. The outcome of the aerosol-related inversion methods is showcased by inverting multi-week SMPS and HTDMA datasets from ground-based observations, including SMPS data obtained at Bodega Marine Laboratory during the CalWater 2/ACAPEX campaign and co-located SMPS and HTDMA data collected at the US Department of Energy observatory located at the Southern Great Plains site in Oklahoma, USA. Results show that the proposed approaches are suitable for unsupervised, nonparametric inversion of large-scale datasets as well as inversion in real time during data acquisition on low-cost reduced-instruction-set architectures used in single-board computers. The included software implementation of Tikhonov regularization is freely available, general, and domain-independent and thus can be applied to many other inverse problems arising in atmospheric measurement techniques and beyond.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2023

Spacesuit Fit and Mobility Assessments by Digital Human Modeling

Spacesuit Fit and Mobility Assessments by Digital Human Modeling K. Han Kim (Leidos, Inc.) Elizabeth A. Benson (KBR, Inc.) Sudhakar L. Rajulu (NASA Johnson Space Center) Spacesuits are required to accommodate safe operations for astronauts across gender and a wide variety of body shapes and sizes. This goal has been of particular importance given the increasing diversity of NASA crewmembers for upcoming Missions. While testing with design prototypes is a critical step for spacesuit development, iterative mockup design, fabrication, and human subject tests can be extremely costly and time consuming. Moreover, testing with a limited subject pool has often raised questions for validity, as test subjects need to represent the entire astronaut population, not only of the past or current, but also the future. This study is aimed at demonstrating how digital human modeling (DHM) tools have been built and directly supported NASA spacesuit developments. With DHM, the computer aided design (CAD) model of a spacesuit was integrated with human body models. Two use scenarios are presented in this paper, namely fit and mobility. For fit assessments, the suit-to-body contact and compression patterns were estimated using 3D human body scan models virtually wearing a spacesuit model. A statistical fit classifier was made from the contact patterns and applied against a large database of body scans (N=2,500). With this technique, the NASA reference design spacesuit Exploration EVA Mobility Unit (xEMU)was verified to accommodate 90% of the astronaut-like population, with the critical dimensions covering 1stto 99thpercentiles of the target body measurements. A similar technique assessed XEMU mobility. The maximum reach envelopes were considered, within which the work objects and critical hardware interfaces should be located for safe and ergonomic operations. While the reach envelope geometry varies significantly with the suit wearer’s body size and strength, the existing test data did not include the subjects critically required to define suit mobility requirements, such as very small females or large males. Using the xEMU virtual model kinematically simulated and permuted for a hypothetical wearer, however, the existing data were statistically transformed and scaled. This method enabled for a parametric estimation of the reach envelopes from the 1stpercentile female or 99thpercentile male. The outcome was successfully incorporated for requirement developments. With the new DHM tools, human integration of the spacesuit was structurally simulated and predictively assessed, which would have been otherwise impossible. Also, the needs for iterative mockup and subject tests were significantly reduced, which resulted in time and cost saving. Additional work is in progress to integrate additional vehicles, tools, and hardware with DHM framework.

K Han Kim↗
DOE OSTI2024

MEP Metric Correlations with Socioeconomic and Built Environment Factors [Slides]

NREL's Mobility Energy Productivity tool, or MEP, quantifies the ability of an area's transportation system to connect individuals to goods, services, employment opportunities, and other activities while accounting for time, cost, and energy. However, the MEP tool itself does not examine correlations between mobility energy productivity and other sociodemographic and built environment variables relevant to the urban and transportation planning space. Examining these correlations could have two possible implications -- first, understanding what factors correlate with mobility energy productivity could help urban planners make equitable decisions in allocating transportation resources. Second, as the MEP has not been calculated for all urban areas in the US and is computationally expensive, if other publicly available variables were predictive enough of MEP then a simple model could be used to predict MEP instead of having to compute it for an area for which it has not been updated. A statistical analysis to investigate both of these questions is presented, with many significant associations found between the MEP and identified variables of interest.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRSDate not supplied

Experiments for Securing Air Traffic Against Cyber-Physical System Attacks

This presentation describes experiments conducted with single board computers to investigate methods for creating trust for enabling the development of cyber-resilient air transportation systems. Methods included secure communication to prevent unauthorized access to data, consistency of data obtained via sensors and by processing, and built-in safeguards to prevent mission failure. The motivation for this work are the following. The future air transportation system needs to ensure availability, integrity, confidentiality and safety of operations. Safety of vehicles and operations is paramount for successful integration of Urban Air Mobility (UAM), Unmanned Aerial Systems (UAS), supersonic aircraft and launch vehicles with conventional aviation operations in the National Airspace System. Security is becoming critical because the sensors, networks and computers are far more vulnerable to bad actors than their mechanical or human predecessors. The goal therefore is to design and develop cyber-resilient systems that continue to function even in degraded states. The main findings are (1) off-the-shelf hardware can support development of cyber-resilient onboard flight computers and (2) trust in system design and implementation can be accomplished by integrating layers in depth (detail) and in breadth (scope).

cyber-resilient autonomy, trust, secure communicat↗
NASA NTRSDate not supplied

A High-Performance Computing GNSS-aware Path Planning Algorithm for Safe Urban Flight Operations

The emergence and development of advanced technologies and vehicle types have created a growing demand for new forms of flight operations. These new and increasingly complex operational paradigms, such as Advanced and Urban Air Mobility (AAM/UAM), present regulatory authorities and the aviation community with several design-and-implementation challenges – particularly for highly autonomous vehicles. An overarching and daunting task is to develop protocols that can integrate these operations without compromising safety or disrupting traditional airspace operations. A shift toward a more predictive, autonomous, risk mitigation capability becomes critical to meet this challenge. This paper proposes and evaluates a computationally-efficient path planning approach to perform pre-flight planning and autonomous in-flight re-routing to minimize exposures to selected hazards. In our evaluation, hazards associated with degraded and missing critical GPS navigation data are considered. In this paper, we first present a high-performance computing path planning approach based on an adapted Bellman-Ford algorithm, developed in the CUDA programming language. Using the adapted path planning algorithm, we test this algorithm when encountering issues with GPS quality, and deliver an implementation that can produce flight paths that minimize exposure to risks, while maintaining a low computational burden. In our evaluation, the computation of periodic and aperiodic path updates are evaluated, prioritizing specific events as triggers for updates, based on changes to satellite availability. These critical events can lead to significant exposure to navigational hazards if not dealt with correctly.

GNSS↗
NASA NTRSDate not supplied

A High-Performance Computing GNSS-aware Path Planning Algorithm for Safe Urban Flight Operations

The emergence and development of advanced technologies and vehicle types have created a growing demand for new forms of flight operations. These new and increasingly complex operational paradigms, such as Advanced and Urban Air Mobility (AAM/UAM), present regulatory authorities and the aviation community with several design-and-implementation challenges – particularly for highly autonomous vehicles. An overarching and daunting task is to develop protocols that can integrate these operations without compromising safety or disrupting traditional airspace operations. A shift toward a more predictive, autonomous, risk mitigation capability becomes critical to meet this challenge. This paper proposes and evaluates a computationally-efficient path planning approach to perform pre-flight planning and autonomous in-flight re-routing to minimize exposures to selected hazards. In our evaluation, hazards associated with degraded and missing critical GPS navigation data are considered. In this paper, we first present a high-performance computing path planning approach based on an adapted Bellman-Ford algorithm, developed in the CUDA programming language. Using the adapted path planning algorithm, we test this algorithm when encountering issues with GPS quality, and deliver an implementation that can produce flight paths that minimize exposure to risks, while maintaining a low computational burden. In our evaluation, the computation of periodic and aperiodic path updates are evaluated, prioritizing specific events as triggers for updates, based on changes to satellite availability. These critical events can lead to significant exposure to navigational hazards if not dealt with correctly.

GNSS↗
DOE OSTI2022

Symmetry-Breaking and Self-Sorting in Block Copolymer-Based Multicomponent Nanocomposites

Co-assembly of inorganic nanoparticles (NPs) and nanostructured polymer matrix represents an intricate interplay of enthalpic or entropic forces. Particle size largely affects the phase behavior of the nanocomposite. Theoretical studies indicate that new morphologies would emerge when the particles become comparable to the soft matrix's size, but this has rarely been supported experimentally. By designing a multicomponent blend composed of NPs, block copolymer-based supramolecules, and small molecules, a 3-D ordered lattice beyond the native BCP's morphology was recently reported when the particle is larger than the microdomain of BCP. The blend can accommodate various formulation variables. In this work, when the particle size equals the microdomain size, a symmetry-broken phase appears in a narrow range of particle sizes and compositions, which we named the "train track" structure. In this phase, the NPs aligned into a 3-D hexagonal lattice and packed asymmetrically along the c axis, making the projection of the ac and the bc plane resemble train tracks. Computational studies show that the broken symmetry reduces the polymer chain deformation and stabilizes the metastable hexagonally perforated lamellar morphology. Given the mobility of the multicomponent blend, the system shows a self-sorting behavior: segregating into two macroscopic phases with different nanostructures based on only a few nanometers NP size differences. Smaller NPs form "train track" morphology, while larger NPs form a "simple hexagon" structure, where the NPs take a symmetric hexagonal arrangement. Detailed structural evolution and simulation studies confirm the systematic-wide cooperativity across different components, indicating the strong self-regulation of the multicomponent system.

"train track" morphology↗
DOE OSTI2020

Changes in short- and medium-range order in metallic liquids during undercooling

It has been widely speculated that dominant motifs, such as short-range icosahedral order, can influence glass formation and the properties of glasses. Experimental data on both fragile and strong undercooled liquids demonstrate corresponding changes in their thermophysical properties consistent with increasing development of a network of interconnect motifs based on molecular dynamics. Describing these regions of local order, how they connect, and how they are related to property changes have been challenging issues, both computationally and experimentally. Yet the consensus is that metallic liquids develop interconnected medium-range order consisting of some regions with lower mobility with deeper undercooling. Less well understood is how these motifs (or “crystal genes”) in the liquid can inhibit nucleation in the deeply undercooled liquid or influence phase selection upon devitrification. These motifs tend to have local packing unlike stable compounds with icosahedral order tending to dominate the best glass formers. The underlying kinetic and thermodynamic forces that guide the formation of these motifs and how they interconnect during undercooling remain open questions.

36 MATERIALS SCIENCE↗
NASA NTRS1973

Scene analysis for a breadboard Mars robot functioning in an indoor environment

The problem is delt with of computer perception in an indoor laboratory environment containing rocks of various sizes. The sensory data processing is required for the NASA/JPL breadboard mobile robot that is a test system for an adaptive variably-autonomous vehicle that will conduct scientific explorations on the surface of Mars. Scene analysis is discussed in terms of object segmentation followed by feature extraction, which results in a representation of the scene in the robot's world model.

Levine, M. D.↗
NASA NTRS2010

Ares I-X Post Flight Ignition Overpressure Review

Ignition Overpressure (IOP) is an unsteady fluid flow and acoustic phenomena caused by the rapid expansion of gas from the rocket nozzle within a ducted launching space resulting in an initially higher amplitude pressure wave. This wave is potentially dangerous to the structural integrity of the vehicle. An in-depth look at the IOP environments resulting from the Ares I-X Solid Rocket Booster configuration showed high correlation between the pre-flight predictions and post-flight analysis results. Correlation between the chamber pressure and IOP transients showed successful acoustic mitigation, containing the strongest IOP waves below the Mobile Launch Pad deck. The flight data allowed subsequent verification and validation of Ares I-X unsteady fluid ducted launcher predictions, computational fluid dynamic models, and strong correlation with historical Shuttle data.

Alvord, David A.↗
NASA NTRS2020

Computational Study of NASA's Quadrotor Urban Air Taxi Concept

High-fidelity computational fluid dynamics simulations have been carried out in order to analyze NASA's quadrotor urban air taxi concept for urban air mobility, also know as on-demand mobility applications. High-order accurate schemes, dual-time stepping, and the delayed detached-eddy simulation model have been employed. The ow solver has been loosely coupled with a rotorcraft comprehensive analysis code. The vehicle simulated is a six-passenger quadrotor for air taxi operations. A study of power reduction as a function of the rear-rotor to front-rotors vertical separation has been performed, for a quad-rotor without the airframe, in cruise flight conditions. Then, the quadrotor without the airframe has been simulated in hover. The airloads and wake geometries are analyzed. To finish the study the complete quadrotor vehicle is presented. NASA's quadrotor air taxi concept is one of the many concepts being developed by NASA in support of aircraft development for vertical take-o and landing air taxi operations.

Ventura Diaz, Patricia↗
DOE OSTI2022

Modeling receptor flexibility in the structure-based design of KRAS G12C inhibitors

KRAS has long been referred to as an ‘undruggable’ target due to its high affinity for its cognate ligands (GDP and GTP) and its lack of readily exploited allosteric binding pockets. Recent progress in the development of covalent inhibitors of KRAS G12C has revealed that occupancy of an allosteric binding site located between the α3-helix and switch-II loop of KRAS G12C —sometimes referred to as the ‘switch-II pocket’—holds great potential in the design of direct inhibitors of KRAS G12C . In studying diverse switch-II pocket binders during the development of sotorasib (AMG 510), the first FDA-approved inhibitor of KRAS G12C , we found the dramatic conformational flexibility of the switch-II pocket posing significant challenges toward the structure-based design of inhibitors. Here, we present our computational approaches for dealing with receptor flexibility in the prediction of ligand binding pose and binding affinity. For binding pose prediction, we modified the covalent docking program CovDock to allow for protein conformational mobility. This new docking approach, termed as FlexCovDock, improves success rates from 55 to 89% for binding pose prediction on a dataset of 10 cross-docking cases and has been prospectively validated across diverse ligand chemotypes. For binding affinity prediction, we found standard free energy perturbation (FEP) methods could not adequately handle the significant conformational change of the switch-II loop. We developed a new computational strategy to accelerate conformational transitions through the use of targeted protein mutations. Using this methodology, the mean unsigned error (MUE) of binding affinity prediction were reduced from 1.44 to 0.89 kcal/mol on a set of 14 compounds. These approaches were of significant use in facilitating the structure-based design of KRAS G12C inhibitors and are anticipated to be of further use in the design of covalent (and noncovalent) inhibitors of other conformationally labile protein targets.

59 BASIC BIOLOGICAL SCIENCES↗