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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 451 records · Page 25

Fault Detection and Performance Monitoring of Propellers in Electric UAV

Unmanned aerial vehicles (UAVs) are used in various industries such as agriculture and logistics, to name but a few, where their applications are beyond basic mapping, surveillance, and photography. In near future, UAVs are expected to be used in package delivery service and larger electric vertical takeoff and landing vehicles will be employed for urban air mobility applications (air taxi). Thus, several electric propulsion systems will enter the low-altitude airspace with frequent take offs and landings. To achieve state-of-the-art safety standards under such high traffic density, UAVs will require in-time fault detection and performance monitoring of critical powertrain components. This work focuses on propeller blade performance and damage detection in electric UAVs. Propellers are the fastest moving component in an UAV; even a minor defect in the propeller blades could cause performance deterioration, with consequent challenges in flying through the planned trajectory or adhere to the safety requirements of the operation. Monitoring and updating aerodynamic efficiency of each rotor would therefore enable the detection of off-nominal propeller conditions thus magnifying the state-awareness of powertrain monitoring systems based on the acquired electrical signals. We use an extended Kalman filter-based parameter estimation algorithm that incorporates time history responses from UAV powertrain in conjunction with a full powertrain system model. Propeller fault detection is achieved by incorporating the aerodynamic parameters of propeller into the powertrain model. The proposed technique is successfully validated with numerical simulations.

Unmanned aerial vehicles↗

Topographic Slant Range Modeling and Fault Detection for Precision Planetary Landing

This work presents a novel landing site relative topographic measurement model for aslant range sensor being utilized for precision planetary landing operations. The measurement model accounts for the local terrain the slant range sensor captures and leverages knowledge of the estimated landing site provided by the navigation filter. Notably, in contrast to previous works, the new model does not rely on surface normal approximation, reducing the model’s sensitivity to noisy digital elevation maps which represent the local topography. In addition to the measurement model, this work introduces a novel fault detection method, denoted the probabilistic inspection of topographic filter altitude likelihood (PITFAL) algorithm, that implements a statistical outlier rejection algorithm. PITFAL is designed for multi-beam slant range sensors, such as the Navigation Doppler LIDAR (NDL), and identifies statistically inconsistent range estimates through a consensus check on the set of apparent altitudes computed for each individual beam. These models are numerically validated by the Safe and Precise Landing Capability Evolution (SPLICE) project’s high-fidelity terrestrial and lunar lander simulations.

Davis W Adams↗

Topographic Slant Range Modeling and Fault Detection for Precision Planetary Landing

This work presents a novel landing site relative topographic measurement model for aslant range sensor being utilized for precision planetary landing operations. The measurement model accounts for the local terrain the slant range sensor captures and leverages knowledge of the estimated landing site provided by the navigation filter. Notably, in contrast to previous works, the new model does not rely on surface normal approximation, reducing the model’s sensitivity to noisy digital elevation maps which represent the local topography. In addition to the measurement model, this work introduces a novel fault detection method, denoted the probabilistic inspection of topographic filter altitude likelihood (PITFAL) algorithm, that implements a statistical outlier rejection algorithm. PITFAL is designed for multi-beam slant range sensors, such as the Navigation Doppler LIDAR (NDL), and identifies statistically inconsistent range estimates through a consensus check on the set of apparent altitudes computed for each individual beam. These models are numerically validated by the Safe and Precise Landing Capability Evolution (SPLICE) project’s high-fidelity terrestrial and lunar lander simulations.

Davis W Adams↗

Lithium-Ion Battery Diagnostics Using Electrochemical Impedance via Machine-Learning

Diagnosing battery states such as health, state-of-charge, or temperature is crucial for ensuring the safety and reliability of electrochemical energy storage systems. While some states, such as temperature, may be measured using cheap sensors, accurate diagnosis of battery health metrics usually requires time-consuming performance measurements, making them infeasible for use in real-world operation. These health metrics can be measured during lab-testing and then estimated on-line using predictive life models or via state observer algorithms such as Kalman filters, but these predictive methods should be supplemented by actual measurement of battery health whenever possible to ensure reliability. Rapid measurement of battery health may be done by various types of fast diagnostic techniques such as electrochemical impedance spectroscopy (EIS), which can be performed in only a few minutes and require only a fraction of the energy and power needed for a full charge and discharge measurement. But there is a substantial challenge for estimating battery health using EIS data, as EIS is sensitive to cell temperature, state-of-charge, current, and resting time in addition to health. Thus, utilizing EIS data to predict battery capacity requires correcting for all these additional variables, a task that is extremely difficult to handle analytically. This talk utilizes machine-learning methods to estimate the effectiveness of battery capacity prediction from EIS data, leveraging a data set of hundreds of EIS measurements recorded at varying temperature and state-of-charge throughout a 500-day aging study of 32 commercial, large-format NMC-Graphite lithium-ion batteries. Using EIS as input to machine-learning models is complicated by the nonlinear response of impedance to battery health, temperature, and state-of-charge, as well as the collinearity between the impedance response at neighboring frequencies, which can easily lead to overfit models. To train robust models, features from EIS data need to be extracted from the data or some subset of critical frequencies selected. Many approaches for extracting and selecting features from EIS data from electrochemical analysis and machine-learning fields were identified for analysis: using the entire raw spectra; selection of one, two, or many frequencies from the entire spectra; selecting interesting points from the EIS measurement using domain knowledge; fitting EIS with an equivalent-circuit model; calculating statistics on the raw impedance values; and reducing the dimensionality of the data using unsupervised linear (principal component analysis) and non-linear (uniform manifold approximation and projection) methods. These approaches were rigorously compared using a machine-learning pipeline approach, training linear, Gaussian process, and random forest regression models and quantifying performance using cross-validation as well as a held-out test set. An artificial neural network model trained on the raw spectra was also tested. Promising pipelines were fine-tuned via Bayesian hyperparameter optimization using cross-validation loss and training with class-specific weights to counter data set imbalance. The most reliable method for utilizing impedance in this work was the selection of two optimal frequencies through an exhaustive search, resulting in about 2% mean absolute error on test data for both Gaussian process and random forest model architectures. Interrogation of a variety of models reveals critical frequencies of 100 Hz and 103 Hz for this data set, though the optimal set of frequencies is not necessarily intuitive, i.e., the best performing models are not simply those that use impedance at frequencies that have the highest correlation to the relative discharge capacity. The best performing model is an ensemble model, which is able to predict battery capacity with 1.9% mean absolute error for unseen cells using impedance recorded at a variety of temperatures and states-of-charge.

battery↗

Generalizing mkFit and its Application to HL-LHC

mkFit is an implementation of the Kalman filter-based track reconstruction algorithm that exploits both thread- and data-level parallelism. In the past few years the project transitioned from the R&D phase to deployment in the Run-3 offline workflow of the CMS experiment. The CMS tracking performs a series of iterations, targeting reconstruction of tracks of increasing difficulty after removing hits associated to tracks found in previous iterations. mkFit has been adopted for several of the tracking iterations, which contribute to the majority of reconstructed tracks. When tested in the standard conditions for production jobs, speedups in track pattern recognition are on average of the order of 3.5x for the iterations where it is used (3-7x depending on the iteration). Multiple factors contribute to the observed speedups, including vectorization and a lightweight geometry description, as well as improved memory management and single precision. Efficient vectorization is achieved with both the icc and the gcc (default in CMSSW) compilers and relies on a dedicated library for small matrix operations, Matriplex, which has recently been released in a public repository. While the mkFit geometry description already featured levels of abstraction from the actual Phase-1 CMS tracker, several components of the implementations were still tied to that specific geometry. We have further generalized the geometry description and the configuration of the run-time parameters, in order to enable support for the Phase-2 upgraded tracker geometry for the HL-LHC and potentially other detector configurations. The implementation strategy and high-level code changes required for the HL-LHC geometry are presented. Speedups in track building from mkFit imply that track fitting becomes a comparably time consuming step of the tracking chain.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Single-mode projection filters for modal parameter identification for flexible structures

Single-mode projection filters are developed for eigensystem parameter identification from both analytical results and test data. Explicit formulations of these projection filters are derived using the orthogonal matrices of the controllability and observability matrices in the general sense. A global minimum optimization algorithm is applied to update the filter parameters by using the interval analysis method. The updated modal parameters represent the characteristics of the test data. For illustration of this new approach, a numerical simulation for the MAST beam structure is shown by using a one-dimensional global optimization algorithm to identify modal frequencies and damping. The projection filters are practical for parallel processing implementation.

Huang, Jen-Kuang↗

Tests of Radar Rainfall Retrieval Algorithms

The NASA/JPL Airborne Rain Mapping Radar (ARMAR) operates at 14 GHz. ARMAR flew on the NASA DC-8 aircraft during Tropical Ocean Global Atmosphere (TOGA) Coupled Ocean Atmosphere Response Experiment (COARE), collecting data in oceanic mesoscale convective systems, similar to those now being observed by the Tropical Rainfall Measuring Mission (TRMM) satellite, which includes a 14-GHz precipitation radar. Several algorithms for retrieving rain rate from downward looking radars are in existence. These can be categorized as deterministic and stochastic. Deterministic algorithms use the path integrated attenuation (PIA), measured by the surface reference technique, as a constraint. One deterministic algorithm corrects the attenuation-rainfall (k-R) relation, while another corrects the reflectivity rainfall (ZR) relation. Stochastic algorithms apply an Extended Kalman Filter to the reflectivity profile. One employs radar reflectivity only; the other additionally uses the PIA. We find that the stochastic algorithm with PIA is the most robust algorithm with regard to incorrect assumptions about the drop-size distribution (DSD). The deterministic algorithm that uses the PIA to adjust the Z-R relation is also fairly robust and produces rain rates similar to the stochastic algorithm that uses the PIA. The deterministic algorithm that adjusts only the k-R relation and the stochastic radar-only algorithm are more sensitive to assumptions about the DSD. It is likely that they underestimate convective rainfall, especially if the DSD is erroneously assumed to be appropriate for stratiform rain conditions. The underestimation is illustrated in the diagram. The algorithm labeled D IS initially assumes a DSD that is appropriate for stratiform. rain, while the rain is most likely convective. The PIA constraint causes the k-R relation to be adjusted, resulting in a much lower rain rate than the other algorithms. Additional information is contained in the original.

Durden, Stephen L.↗

Search for Intermediate Mass Black Hole Binaries in the First and Second Observing Runs of the Advanced LIGO and VIRGO Network

Gravitational-wave astronomy has been firmly established with the detection of gravitational waves from the merger of ten stellar-mass binary black holes and a neutron star binary. This paper reports on the all-sky search for gravitational waves from intermediate mass black hole binaries in the first and second observing runs of the Advanced LIGO and Virgo network. The search uses three independent algorithms: two based on matched filtering of the data with waveform templates of gravitational-wave signals from compact binaries, and a third, model-independent algorithm that employs no signal model for the incoming signal. No intermediate mass black hole binary event is detected in this search. Consequently, we place upper limits on the merger rate density for a family of intermediate mass black hole binaries. In particular, we choose sources with total masses 𝑀=𝑚1+𝑚2∈[120,800] 𝑀⊙ and mass ratios 𝑞=𝑚2/𝑚1∈[0.1,1.0]. For the first time, this calculation is done using numerical relativity waveforms (which include higher modes) as models of the real emitted signal. We place a most stringent upper limit of 0.20 Gpc−3 yr−1 (in comoving units at the 90% confidence level) for equal-mass binaries with individual masses 𝑚1,2=100 𝑀⊙ and dimensionless spins 𝜒1,2=0.8 aligned with the orbital angular momentum of the binary. This improves by a factor of ∼5 that reported after Advanced LIGO’s first observing run.

B. P. Abbott↗

Model based estimation of image depth and displacement

Passive depth and displacement map determinations have become an important part of computer vision processing. Applications that make use of this type of information include autonomous navigation, robotic assembly, image sequence compression, structure identification, and 3-D motion estimation. With the reliance of such systems on visual image characteristics, a need to overcome image degradations, such as random image-capture noise, motion, and quantization effects, is clearly necessary. Many depth and displacement estimation algorithms also introduce additional distortions due to the gradient operations performed on the noisy intensity images. These degradations can limit the accuracy and reliability of the displacement or depth information extracted from such sequences. Recognizing the previously stated conditions, a new method to model and estimate a restored depth or displacement field is presented. Once a model has been established, the field can be filtered using currently established multidimensional algorithms. In particular, the reduced order model Kalman filter (ROMKF), which has been shown to be an effective tool in the reduction of image intensity distortions, was applied to the computed displacement fields. Results of the application of this model show significant improvements on the restored field. Previous attempts at restoring the depth or displacement fields assumed homogeneous characteristics which resulted in the smoothing of discontinuities. In these situations, edges were lost. An adaptive model parameter selection method is provided that maintains sharp edge boundaries in the restored field. This has been successfully applied to images representative of robotic scenarios. In order to accommodate image sequences, the standard 2-D ROMKF model is extended into 3-D by the incorporation of a deterministic component based on previously restored fields. The inclusion of past depth and displacement fields allows a means of incorporating the temporal information into the restoration process. A summary on the conditions that indicate which type of filtering should be applied to a field is provided.

Damour, Kevin T.↗

An Ensemble Recentering Kalman Filter with an Application to Argo Temperature Data Assimilation into the NASA GEOS-5 Coupled Model

A two-step ensemble recentering Kalman filter (ERKF) analysis scheme is introduced. The algorithm consists of a recentering step followed by an ensemble Kalman filter (EnKF) analysis step. The recentering step is formulated such as to adjust the prior distribution of an ensemble of model states so that the deviations of individual samples from the sample mean are unchanged but the original sample mean is shifted to the prior position of the most likely particle, where the likelihood of each particle is measured in terms of closeness to a chosen subset of the observations. The computational cost of the ERKF is essentially the same as that of a same size EnKF. The ERKF is applied to the assimilation of Argo temperature profiles into the OGCM component of an ensemble of NASA GEOS-5 coupled models. Unassimilated Argo salt data are used for validation. A surprisingly small number (16) of model trajectories is sufficient to significantly improve model estimates of salinity over estimates from an ensemble run without assimilation. The two-step algorithm also performs better than the EnKF although its performance is degraded in poorly observed regions.

Particle Filter↗

Gain calibrating nonuniform image-array data using only the image data

An algorithm is developed for calibrating the spatial nonuniformity of image-array (CCD-type) detectors. Like other techniques this approach uses multiple, spatially displaced images. In circumstances where high-precision flat fields are not available by other means (i.e., sky flats) this technique is advantageous as it uses the data frames for gain calibration even when the array images extended, nonuniform, sources. Numerical experiments and direct observations with intrinsically uniform and quite nonuniform detectors show that this algorithm is useful when data frames are crowded with sources - circumstance where 'median filtering' flatfielding techniques often fail. The algorithm described is robust and efficiently uses information from multiple data frames to determine pixel gain variations, using visible and IR array observations of extended sources.

Kuhn, J. R.↗

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, G.↗

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, Guillermo↗

Vision-based Velocimetry over Unknown Terrain with a Low-Noise IMU

This paper presents a novel approach to terrain-relative navigation with a visual camera and Inertial Measurement Unit (IMU). The proposed algorithm uses an Extended Kalman Filter (EKF) to combine an IMU propagated state estimate with batch correction estimates computed over a sliding window of measurements. The batch correction algorithm follows the Maximum Likelihood Estimation (MLE) approach used in other Bundle Adjustment systems. Unlike other systems, the proposed system parameterizes the state over the entire window in terms of the state at a single epoch. By ignoring IMU error over the window duration, we obtain a state epoch MLE that jointly estimates the epoch state and terrain parameters with drastically reduced computationally cost. This paper presents the general architecture which can be adapted for various state parameterizations and measurement inputs. For space applications with high-accuracy IMUs, the reduction in computational cost comes with only a modest increase in estimation errors. The increase in error is quantified via a linear covariance analysis presented in this paper. Furthermore, we present simulation results which show the applicability of this algorithm to planetary landing problems.

San Martin, A. Miguel↗

Single-Mode Projection Filters for Modal Parameter Identification for Flexible Structures

Single-mode projection filters are developed for eigensystem parameter identification from both analytical results and test data. Explicit formulations of these projection filters are derived using the orthogonal matrices of the controllability and observability matrices in the general sense. A global minimum optimization algorithm is applied to update the filter parameters by using the interval analysis method. The updated modal parameters represent the characteristics of the test data. For illustration of this new approach, a numerical simulation for the MAST beam structure is shown by using a one-dimensional global optimization algorithm to identify modal frequencies and damping. Another numerical simulation of a ten-mode structure is also presented by using a two-dimensional global optimization algorithm to illustrate the feasibility of the new method. The projection filters are practical for parallel processing implementation.

Huang, Jen-Kuang↗

Control system estimation and design for aerospace vehicles with time delay

The problems of estimation and control of discrete, linear, time-varying systems are considered. Previous solutions to these problems involved either approximate techniques, open-loop control solutions, or results which required excessive computation. The estimation problem is solved by two different methods, both of which yield the identical algorithm for determining the optimal filter. The partitioned results achieve a substantial reduction in computation time and storage requirements over the expanded solution, however. The results reduce to the Kalman filter when no delays are present in the system. The control problem is also solved by two different methods, both of which yield identical algorithms for determining the optimal control gains. The stochastic control is shown to be identical to the deterministic control, thus extending the separation principle to time delay systems. The results obtained reduce to the familiar optimal control solution when no time delays are present in the system.

Allgaier, G. R.↗

Identifying insects, clouds, and precipitation using vertically pointing polarimetric radar Doppler velocity spectra

Abstract. This study presents a method to identify and distinguish insects, clouds, and precipitation in 35 GHz (Ka-band) vertically pointing polarimetric radar Doppler velocity power spectra and then produce masks indicating the occurrence of hydrometeors (i.e., clouds or precipitation) and insects at each range gate. The polarimetric radar used in this study transmits a linear polarized wave and receives signals in collinear (CoPol) and cross-linear (XPol) polarized channels. The measured CoPol and XPol Doppler velocity spectra are used to calculate linear depolarization ratio (LDR) spectra. The insect–hydrometeor discrimination method uses CoPol and XPol spectral information in two separate algorithms with their spectral results merged and then filtered into single value products at each range gate. The first algorithm discriminates between insects and clouds in the CoPol Doppler velocity power spectra based on the spectra texture, or spectra roughness, which varies due to the scattering characteristics of insects vs. cloud particles. The second algorithm distinguishes insects from raindrops and ice particles by exploiting the larger Doppler velocity spectra LDR produced by asymmetric insects. Since XPol power return is always less than CoPol power return for the same target (i.e., insect or hydrometeor), fewer insects and hydrometeors are detected in the LDR algorithm than the CoPol algorithm, which drives the need for a CoPol based algorithm. After performing both CoPol and LDR detection algorithms, regions of insect and hydrometeor scattering from both algorithms are combined in the Doppler velocity spectra domain and then filtered to produce a binary hydrometeor mask indicating the occurrence of cloud, raindrops, or ice particles at each range gate. Forty-seven summertime days were processed with the insect–hydrometeor discrimination method using US Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) program Ka-band zenith pointing radar observations in northern Oklahoma, USA. For these 47 d, over 70 % of the hydrometeor mask column bottoms were within ±100 m of simultaneous ceilometer cloud base heights. All datasets and images are available to the public on the DOE ARM repository.

54 ENVIRONMENTAL SCIENCES↗

COBE experience with filter QUEST

A gyro based filter variation on the standard QUEST attitude determination algorithm is applied to the Cosmic Background Explorer (COBE). Filter QUEST is found to be three times as fast as the batch estimator and slightly more accurate than regular QUEST. Perhaps more important than its speed or accuracy is the fact that Filter QUEST can provide real time attitude solutions when regular QUEST cannot, due to lack of observability. Filter QUEST is also easy to use and adjust for the proper memory length. Suitable applications for Filter QUEST include coarse and real time attitude determination.

Filla, O.↗