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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 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities.

Williams, Robert L., II↗
NASA NTRS1995

Backscatter model for the unusual radar properties of the Greenland Ice Sheet

A number of planetary objects exhibit large radar reflectivity and polarization ratios, and more recently, a similar behavior has been observed over a vast portion of the Earth's surface: the percolation facies of the Greenland Ice Sheet. Surface-based ranging radar data and snow stratigraphy studies demonstrated that the radar properties of that portion of Greenland are caused by enhanced scattering from massive, large, solid-ice bodies buried in the top few meters of the dry, cold, clean snowy surface of the ice sheet and created by seasonal melting and refreezing events. Here, we model the icy inclusions as randomly oriented, discrete, noninteracting, dielectric cylinders embedded in a transparent snow medium. An exact analytical solution is used to compute the scattered field from the cylinders. Using this model, we correctly predict the polarimetric radar observations gathered by an airborne imaging system at three wavelengths (5.6, 24, and 68 cm), between 19 deg and 65 deg incidence angle. The diameter and number density of the cylinders that are inferred from the radar data using the model are consistent with in situ observations of the icy inclusions. The large radar reflectivity and polarization ratios are interpreted as arising internal reflections of the radar signals in the icy inclusions that first-order external reflection models fail to predict. The results compare favorably with predictions from the coherent backscatter or weak localization theory and may provide a complementary framework for interpreting exotic radar echoes from other planetary objects.

Rignot, Eric↗
NASA NTRS1984

A new method for acoustic containerless processing of materials

The development of an acoustic positioner, which uses only one acoustic mode in chambers of rectangular, cylindrical, and spherical geometries, for high-temperature containerless processing of materials in space is described. The objective of the single-mode positioner is to develop sufficient acoustic forces to stably localize and manipulate molten materials. In order to attain this goal the transducer power, energy transfer medium, and chamber geometry and dimensions need to be optimized. The use of a variable frequency compression driver or solid-state piezoelectric transducer to optimize these properties is investigated; it is determined that a solid-state transducer would be most applicable for optimizing the positioner. The positioning capabilities of this single-mode positioner are discussed. The dependence of the acoustic forces on temperature and ambient pressure is studied. The development of a levitator to process a molten sample at 1500 C in the space environment using the cylindrical (011) mode is illustrated.

Barmatz, M.↗
NASA NTRS1992

Ground Truth Studies - A hands-on environmental science program for students, grades K-12

The paper discusses the background and the objectives of the Ground Truth Studies (GTSs), an activity-based teaching program which integrates local environmental studies with global change topics, utilizing remotely sensed earth imagery. Special attention is given to the five key concepts around which the GTS programs are organized, the pilot program, the initial pilot study evaluation, and the GTS Handbook. The GTS Handbook contains a primer on global change and remote sensing, aerial and satellite images, student activities, glossary, and an appendix of reference material. Also described is a K-12 teacher training model. International participation in the program is to be initiated during the 1992-1993 school year.

Katzenberger, John↗
NASA NTRS1992

Low Earth Orbital Mission Aboard the Space Test Experiments Platform (STEP-3)

A discussion of the Space Active Modular Materials Experiments (SAMMES) is presented in vugraph form. The discussion is divided into three sections: (1) a description of SAMMES; (2) a SAMMES/STEP-3 mission overview; and (3) SAMMES follow on efforts. The SAMMES/STEP-3 mission objectives are as follows: assess LEO space environmental effects on SDIO materials; quantify orbital and local environments; and demonstrate the modular experiment concept.

Brinza, David E.↗
NASA NTRS2004

Distributed Control by Lagrangian Steepest Descent

Often adaptive, distributed control can be viewed as an iterated game between independent players. The coupling between the players mixed strategies, arising as the system evolves from one instant to the next, is determined by the system designer. Information theory tells us that the most likely joint strategy of the players, given a value of the expectation of the overall control objective function, is the minimizer of a function o the joint strategy. So the goal of the system designer is to speed evolution of the joint strategy to that Lagrangian mhimbhgpoint,lowerthe expectated value of the control objective function, and repeat Here we elaborate the theory of algorithms that do this using local descent procedures, and that thereby achieve efficient, adaptive, distributed control.

Wolpert, David H.↗
NASA NTRS2011

Single-Frame Terrain Mapping Software for Robotic Vehicles

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Rankin, Arturo L.↗
NASA NTRS2012

Processing NASA Earth Science Data on Nebula Cloud

Three applications were successfully migrated to Nebula, including S4PM, AIRS L1/L2 algorithms, and Giovanni MAPSS. Nebula has some advantages compared with local machines (e.g. performance, cost, scalability, bundling, etc.). Nebula still faces some challenges (e.g. stability, object storage, networking, etc.). Migrating applications to Nebula is feasible but time consuming. Lessons learned from our Nebula experience will benefit future Cloud Computing efforts at GES DISC.

Chen, Aijun↗
NASA NTRS1963

An Analysis of the Second Project High Water Data

Early in 1962 NASA established "Project High Water" to investigate the sudden release of large quantities of water into the upper atmosphere. The primary objectives of these experiments were to obtain information on the behavior of liquids released in the ionosphere and the localized effects on the ionosphere produced by the injection of large quantities of water. The data obtained in the two (2) Project High Water experiments have yielded an extensive amount of information concerning the complex phenomena associated with the sudden release of liquids in the Ionosphere. The detailed analysis of data obtained during the second Project High Water experiment (i.e., the third Saturn I vehicle test or SA-3) presented in this report demonstrates that the objectives of the Project High Water were achieved. In addition, the Project High Water has provided essential information relevant to a number of problems vital to manned explorations of space.

Woodbridge, David D.↗
DOE OSTI2025

CRCNS22 Learning Rules in the Hippocampus and their Mapping to Neuromorphic Systems (Final Technical Report)

Large scale biologically-realistic computational models are key to investigating the interplay between structure and function in nervous systems, thus paving the way to new clinical methods and neuro-inspired computing solutions. This project focuses on the hippocampus, in particular the CA3-CA1 regions, due to their role in associative learning and memory, pattern separation and completion, and spatial navigation. Investigations into the neuronal organization and learning rule(s) of this circuit can shed light into how declarative memories are formed, stored, recalled and forgotten and inform computational, experimental and clinical neuroscience work. Our project aims at developing a novel data-driven methodology supported by a broad heterogeneous base of neuroscience experimental knowledge and inspired from advances in computer science and engineering. Specifically, this work will benchmark existing and new learning rules within a full-scale spiking neural network simulation of the CA3-CA1 region. The model will be based on an open-source repository, called the Hippocampome, which contains neuronal morphologies, firing patterns, synapse probabilities, and most other required parameters for all known neuron types in the rodent hippocampal formation. The model will be first trained in a supervised fashion for associative memory tasks using backpropagation through time traditionally used in computer science, enhanced with a new technique called the surrogate gradient method. This optimization method will be used to obtain a global loss minimization, but it is not biologically inspired as it assumes the use of data not locally available to the synapses. However, we propose its use as a benchmarking tool, to compare the training performance of local biologically plausible and hardware-mappable learning rules at scale. New rules or combinations will be proposed and tested as needed, based on the obtained results. Progress in this area will also drive the development of novel hardware-mappable algorithms for continual lifelong learning and categorization of new events from few presented examples. This project goes beyond the existing state-of-the-art by looking at large scale realistic neuronal circuits as networks trainable via global optimization methods such as surrogate gradient descent. The objective function of the brain that supports learning is largely unknown, but it is likely that it operates through local learning rules. Studying network trajectories around local minima as proposed in this work represents a useful strategy for understanding whether a network is training by using a specific (set of) learning rule(s). Starting from a completely untrained network is a challenging test since it is difficult to determine how the learning rule affects the trajectory of the network. This interdisciplinary project will help understand what rule governs learning in these regions or if multiple learning rules are involved. The work will develop a robust methodology to measure if the network is converging to the target solution, oscillating around it, or diverging away.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS1982

Experience and assessment of the DOE-NASA Mod-1 2000-Kilowatt wind turbine generator at Boone, North Carolina

The Mod 1 program objectives are defined. The Mod 1 wind turbine is described. In addition to the steel blade operated on the wind turbine, a composite blade was designed and manufactured. During the early phase of the manufacturing cycle of Mod 1A configuration was designed that identified concepts such as partial span control, a soft tower, and upwind teetered rotors that were incorporated in second and third generation industry designs. The Mod 1 electrical system performed as designed, with voltage flicker characteristics within acceptable utility limits. Power output versus wind speed equaled or exceeded design predictions. The wind turbine control system was operated successfully at the site and remotely from the utility dispatcher's office. During wind turbine operations, television interference was experienced by the local residents. As a consequence, operations were restricted. Although not implemented, two potential solutions were identified. In addition to television interference, a few local residents complained bout objectionable sound, particularly the 'thump' as the blade passed behind the tower. To eliminate objections, the sound generation level was reduced by 10 dB by reducing the rotor speed from 35 rpm to 23 rpm. Bolts in the drive train fractured. A solution was identified but not implemented. The public reaction toward the Mod 1 wind turbine program was overwhelmingly favorable.

Collins, J. L.↗
NASA NTRS1993

Jet induced star formation in centrally dominant galaxies?

Using U-I CCD color maps of two centrally dominant cluster galaxies, we find unusual color structures which may be due to star formation which has been induced by their radio sources. These objects, located in the clusters A1795 and A2597, have blue central colors to radii of 20 kpc, spatially extended emission-line structures, and powerful radio sources. They reside at the centers of cooling flows with mass-accretion rates which are estimated to be approximately greater than 300 solar mass/yr. The regions of bluest local color are superposed on or along their radio-source structures. Our observations suggest that the radio sources associated with these objects may be inducing massive star formation in their central 20 kpc. The star formation may be the result of the radio plasma interacting with the warm emission-line gas and dense, x-ray emitting filaments similar to those recently discovered in two other clusters with the ROSAT Observatory. Since radio jets are likely to be transient, this may help to explain the scatter in the correlations between color and mass-accretion rate, although other factors may also contribute. Alternatively, scattered radiation from a hidden active nucleus or recent mergers may be responsible for the color structure. The color and radio properties of these objects are qualitatively similar but smaller in luminosity and spatial extent to those found in high redshift radio galaxies. Our observations of galaxies at z approximately = 0.06-0.1 show that processes similar to 'the alignment effect' found in high redshift radio galaxies occur at more recent epochs.

Mcnamara, Brian R.↗
DOE OSTI2024

Driving Uptake for Energy Efficiency Financing Programs: Marketing and Outreach, Partnership Networks, and Program Design Considerations

Many energy efficiency financing programs could achieve greater uptake and impact by more effectively recruiting participants. This report examines some of the primary factors that have contributed to high participant uptake among successful financing programs. We review best practices in partnerships (Chapter 2), direct marketing (Chapter 3), and program design (Chapter 4) that facilitate robust participation. This report is primarily designed for state and local governments that have established energy efficiency financing programs or are considering doing so and are seeking insight into how they can ramp up program participation. In disseminating lessons learned from well-established programs that have experienced success in their target markets, the objective is to help scale up the large number of energy efficiency financing programs that seek to replicate these successes. This report can inform states, local governments, and other entities that will establish or expand clean energy financing programs with funding made available under the Infrastructure Investment and Jobs Act and the Inflation Reduction Act.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS2006

Learning Grasp Context Distinctions that Generalize

Control-based approaches to grasp synthesis create grasping behavior by sequencing and combining control primitives. In the absence of any other structure, these approaches must evaluate a large number of feasible control sequences as a function of object shape, object pose, and task. This work explores a new approach to grasp synthesis that limits consideration to variations on a generalized localize-reach-grasp control policy. A new learning algorithm, known as schema structured learning, is used to learn which instantiations of the generalized policy are most likely to lead to a successful grasp in different problem contexts. Two experiments are described where Dexter, a bimanual upper torso, learns to select an appropriate grasp strategy as a function of object eccentricity and orientation. In addition, it is shown that grasp skills learned in this way can generalize to new objects. Results are presented showing that after learning how to grasp a small, representative set of objects, the robot's performance quantitatively improves for similar objects that it has not experienced before.

Platt, Robert↗
NASA NTRS1996

Impulse Response Shaping for Ultra Wide Band SAR in a Circular Flight Path

An ultra wide band SAR (synthetic aperture radar) has potential applications on imaging underground objects. Flying this SAR in a circular flight path is an efficient way to acquire high resolution images from a localized area. This paper characterizes the impulse response of sucha system. The results indicate that to achieve an image with a more uniformed resolution over the entire imaged area, proper weighting coeficients should be applied to both the principle aperture and the complimentary aperture.

SAR synthetic aperture radar imaging underground o↗
DOE OSTI2025

Two Project Concepts on Skills Matching for an Equitable Energy Transition

This is the final scientific/technical report for Two Project Concepts on Skills Matching for an Equitable Energy Transition. The primary objective of this research into skills matching is to aid in the development and implementation of locally tailored policies to support the US energy workforce as it transitions in the years ahead.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2025

Using stable isotopes in water vapor to study the interdependence of clouds, atmospheric aerosols, and precipitation processes

This project deployed water vapor isotope measurements at the La Porte, Texas TRACER site during June-September 2022 to quantify mixing processes in sea breeze circulations. Using a Picarro L2130 analyzer, we collected high-frequency measurements of δD and δ¹⁸O that revealed how marine and terrestrial air masses mix during 46 identified sea breeze events. The isotopic tracers showed systematic changes during frontal passages, with composite analyses demonstrating vertical mixing between cool marine air and warmer air aloft. We developed a transilient matrix model that explicitly treats non-local mixing and isotopic fractionation to interpret the observations. The work directly supports TRACER's core objective of understanding convective initiation by constraining the vertical transport of water vapor and its interaction with Houston's aerosol-laden urban plume during sea breeze-convection coupling.

58 GEOSCIENCES↗
DOE OSTI2024

Technology Integration 2023 Annual Progress Report

This document summarizes the progress of VTO Technology Integration projects supported during the fiscal year 2023. VTO's Technology Integration Program supports a broad technology portfolio that includes alternative fuels, energy efficient mobility systems and technologies, and other efficient advanced technologies that can reduce transportation energy costs for businesses and consumers. The program provides objective, unbiased data and real-world lessons learned to inform future research needs and support local decision making. It also includes projects to disseminate data, information, and insight, as well as online tools and technology assistance to cities and regions working to implement alternative fuels and energy efficient mobility technologies and systems.

33 ADVANCED PROPULSION SYSTEMS↗