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Multiphasic size-dependent growth dynamics of nanoparticle ensembles
Colloidal nanoparticles are of great interest in modern science and industry. However, the thermodynamic mechanism and dynamics of nanoparticle growth have yet to be understood. Addressing these issues, we tracked hundreds of in-situ growth trajectories of a nanoparticle ensemble using liquid-phase TEM and found that the nanoparticle growth, including coalescence, exhibits nanoparticle size-dependent multiphasic dynamics, unexplainable by current theories. Motivated by this finding, we developed a model and theory for an ensemble of growing nanoparticles, providing a unified, quantitative understanding of the time-dependent mean and fluctuation of nanoparticle size and size-dependent growth rate profiles across various nanoparticle systems and experimental conditions. Our work reveals that the chemical potential in a small nanoparticle strongly deviates from the Gibbs-Thomson equation, shedding light on how it governs the size-dependent growth dynamics of nanoparticles.
Model Predictive Control-Based Trajectory Shaper for Safe and Efficient Adaptive Cruise Control
Recent studies show that commercially-available adaptive cruise control (ACC) systems are string-unstable, indicating that ACC-driven vehicles amplify speed fluctuations from downstream traffic and induce stop-and-go waves. Moreover, it is challenging to revise the original control algorithm of an ACC system to achieve string stability due to its internal complexity and powertrain uncertainties. To achieve desired control performance given a string-unstable ACC system and circumvent revising the original control algorithm, this study proposes a model predictive control-based trajectory shaper (MPC-TS), which only modifies the sensor-measured trajectory information (i.e., position and speed) of the preceding vehicle. The proposed MPC-TS leverages the input shaping technique to generate reference trajectory to improve string stability, while incorporating tracking errors and vehicle acceleration/deceleration magnitude in the MPC cost function and constraining fluctuations of vehicle speed and spacing to ensure desired car-following performance. Numerical experiments validate the control performance of ACC with the proposed MPC-TS in terms of string stability, safety, traffic efficiency, and comfort.
Frosted Tracks
SAND2025-01893O Frosted Tracks is a software tool to group trajectories according to sequences of their behavior. The goal is to start with a very large number of trajectories and identify groups that exhibit similar behavior patterns. The application combines TICC and Metric DBSCAN clustering algorithms for behavioral segmentation and labeling of air/sea trajectory data. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.
The sources and diurnal variations of submicron aerosols in a coastal–rural environment near Houston, US
Aerosol properties were characterized at a rural site southwest of Houston from May to September 2022 during the intensive operation periods (IOPs) of the Tracking Aerosol Convection Interactions ExpeRiment (TRACER). Backward trajectory analysis reveals three major air mass types: marine air mass from the Gulf, urban air mass influenced by urban emissions, and regional air mass. Marine aerosols typically show a bimodal size distribution and have the lowest particle number and mass concentrations of PM 1 (particulate matter with an aerodynamic diameter of less than 1 µm), while aerosols from air masses strongly influenced by urban emissions exhibit the highest concentrations. Organic aerosol (OA) accounts for more than 50 % of PM 1 for urban and regional air masses, whereas sulfate is comparable to OA in marine air masses. Positive matrix factorization (PMF) analysis of aerosol mass spectra identifies 6 OA factors: hydrocarbon-like OA (HOA), OA from the oxidation of monoterpenes (MT-SOA), OA from the reactive uptake of isoprene epoxydiols by acidic sulfate particles (isoprene-SOA), oxygenated OA arising from shipping emissions (shipping-OOA), and two oxygenated OA factors with high O : C ratios (OOA1 and OOA2). OOA2 has the highest O : C ratio and exhibits elevated mass concentration in the afternoon. Similar diurnal variation of highly oxidized OA factors was commonly observed in the Houston area during previous studies and attributed to the SOA formation by photochemistry and mixing from aloft. Here, using air mass backward trajectories and a 1-D box model, we show the diurnal trend of OOA2 mass concentration is instead driven by changes in air mass arriving at the rural site. The air mass changes are likely caused by the shift between land breezes and sea/bay breezes. Within the same air mass type (e.g., either urban or marine air mass), OOA2 mass concentration is largely independent of wind direction and shows essentially no diurnal variation, suggesting OOA2 is related to aged OA with minimal influence by local emissions. This study helps identify the major sources of OA in the Houston region and highlights the impacts of both atmospheric chemistry and meteorology on aerosol properties in the coastal–rural environment.
Plasma electron hole kinematics. Hole tracking Particle-In-Cell simulation
The kinematics of a 1-D electron hole is studied using a novel Particle-In-Cell simulation code. A hole tracking technique enables us to follow the trajectory of a fast-moving solitary hole and study quantitatively hole acceleration and coupling to ions. We observe a transient at the initial stage of hole formation when the hole accelerates to several times the cold-ion sound speed. Artificially imposing slow ion speed changes on a fully formed hole causes its velocity to change even when the ion stream speed in the hole frame greatly exceeds the ion thermal speed, so there are no reflected ions. The behavior that we observe in numerical simulations agrees very well with our analytic theory of hole momentum conservation and the effects of “jetting.”
Investigation of planetary navigation using spacecraft-based measurements.
Planetary navigation using spacecraft measurements and Doppler data from earth-based radio tracking, determining accuracy for earth-Mars trajectory
Low cost tracking Navaids error model verification
Features and characteristics of the tracking navaids (Microwave Scanning Beam Landing System, Radar Altimeter, Tacan, rendezvous radar and one way Doppler extracter) were investigated. From the investigation, a set of specifications were developed for building equipment to verify the error model of the tracking navaids. Breadboard verification equipment (BVE) was built for the Microwave Scanning Beam Landing System and the radar altimeter. The breadboard verification equipment generates signals to the tracking navaids which simulate the space shuttles trajectory in the terminal area. The BVE simulates sources of navaids error by generating pseudorandom perturbations on the navaids signals. Differences between the trajectory value and the navaid derived values are taped and form the basis for the navaids error model.
Astrometric needs for the ISEE-3/ICE mission to Comet Giocobini-Zinner
The Third International Sun-Earth Explorer satellite (ISEE-3) was rechristened Internation Cometary Explorer (ICE) when the spacecraft left the Earth-Moon system after a close Lunar flyby on 1983 December 22. On 1985 September 11, ICE will pass through the inner parts of the tail of Comet Giacobini-Zinner to obtain the first in-situ measurements of any comet. Since the spacecraft has no cameras, its trajectory will be determined only from radio tracking. Astrometric updates of Comet Giacobini-Zinner will be critical for the final targeting of the spacecraft to achieve a successful encounter. ICE's flyby of Comet Giacobini-Zinner will provide valuable experience for the astrometry needed to target other spacecraft to encounter Hally's Comet six months later.
An optimized rotation-axis model-following controller for STS orbiter attitude maneuvers
This paper describes a new controller for automatic attitude maneuvers of the Space Shuttle Orbiter. The controller incorporates a new solution algorithm for partially linearized, fuel-optimal maneuvers for RCS jet controlled spacecraft. These solutions provide model trajectories and jet commands that are easily tracked using a feed-forward, feedback controller structure. The result is a substantial performance improvement over the current Orbiter attitude maneuver controller. The paper discusses optimal maneuvers for this type of vehicle, giving detail of the solution algorithm. Closed-loop controller design and implementation is discussed. Detailed performance results are presented.
Bilevel shared control for teleoperators
A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space.
On controlling robots with redundancy
An adaptive position control scheme for manipulators possessing either kinematic or actuator redundancy is presented. The controller is developed by considering the end-effector position control problem and redundancy resolution problem separately. The end-effector position control problem is solved by using an adaptive scheme to generate the Cartesian-space control input required to track the desired end-effector position trajectory; this control problem is nonredundant even for redundant robots. The Cartesian-space position controller is derived using a model reference adaptive control (MRAC) approach, and does not require knowledge of the complex robot dynamic model or parameter values for the robot or the payload. As a result, the scheme is applicable to both open-chain and closed-chain robots, and is computationally efficient for on-line implementations.
Preliminary design of an intermittent smoke flow visualization system
A prototype intermittent flow visualization system that was designed to study vortex flow field dynamics has been constructed and tested through its ground test phase. It produces discrete pulses of dense white smoke consisting of particles of terephthalic acid by the pulsing action of a fast-acting three-way valve. The trajectories of the smoke pulses can be tracked by a video imaging system without intruding in the flow around in flight. Two methods of pulsing the smoke were examined. The simplest and safest approach is to simply divert the smoke between the two outlet ports on the valve; this approach should be particularly effective if it were desired to inject smoke at two locations during the same test event. The second approach involves closing off one of the outlet ports to momentarily block the flow. The second approach requires careful control of valve dwell times to avoid excessive pressure buildup within the cartridge container. This method also increases the velocity of the smoke injected into the flow. The flow of the smoke has been blocked for periods ranging from 30 to 80 milliseconds, depending on the system volume and the length of time the valve is allowed to remain open between valve closings.
Experimental Verification of Electric Drive Technologies Based on Artificial Intelligence Tools
A laboratory implementation of a fuzzy logic-tracking controller using a low cost Motorola MC68HC11E9 microprocessor is described in this report. The objective is to design the most optimal yet practical controller that can be implemented and marketed, and which gives respectable performance, even when the system loads, inertia and parameters are varying. A distinguishing feature of this work is the by-product goal of developing a marketable, simple, functional and low cost controller. Additionally, real-time nonlinearities are not ignored, and a mathematical model is not required. A number of components have been designed, built and tested individually, and in various combinations of hardware and software segments. These components have been integrated with a brushless motor to constitute the drive system. A microprocessor-based FLC is incorporated to provide robust speed and position control. Design objectives that are difficult to express mathematically can be easily incorporated in a fuzzy logic-based controller by linguistic information (in the form of fuzzy IF-THEN rules). The theory and design are tested in the laboratory using a hardware setup. Several test cases have been conducted to confirm the effectiveness of the proposed controller. The results indicate excellent tracking performance for both speed and position trajectories. For the purpose of comparison, a bang-bang controller has been tested. The fuzzy logic controller performs significantly better than the traditional bang-bang controller. The bang-bang controller has been shown to be relatively inaccurate and lacking in robustness. Description of the implementation hardware system is also given.
Spacecraft Formation Flying near Sun-Earth L2 Lagrange Point: Trajectory Generation and Adaptive Full-State Feedback Control
In this paper, we present a method for trajectory generation and adaptive full-state feedback control to facilitate spacecraft formation flying near the Sun-Earth L2 Lagrange point. Specifically, the dynamics of a spacecraft in the neighborhood of a Halo orbit reveals that there exist quasi-periodic orbits surrounding the Halo orbit. Thus, a spacecraft formation is created by placing a leader spacecraft on a desired Halo orbit and placing follower spacecraft on desired quasi-periodic orbits. To produce a formation maintenance controller, we first develop the nonlinear dynamics of a follower spacecraft relative to the leader spacecraft. We assume that the leader spacecraft is on a desired Halo orbit trajectory and the follower spacecraft is to track a desired quasi-periodic orbit surrounding the Halo orbit. Then, we design an adaptive, full-state feedback position tracking controller for the follower spacecraft providing an adaptive compensation for the unknown mass of the follower spacecraft. The proposed control law is simulated for the case of the leader and follower spacecraft pair and is shown to yield global, asymptotic convergence of the relative position tracking errors.
Locating the LCROSS Impact Craters
The Lunar CRater Observations and Sensing Satellite (LCROSS) mission impacted a spent Centaur rocket stage into a permanently shadowed region near the lunar south pole. The Sheperding Spacecraft (SSC) separated approx. 9 hours before impact and performed a small braking maneuver in order to observe the Centaur impact plume, looking for evidence of water and other volatiles, before impacting itself. This paper describes the registration of imagery of the LCROSS impact region from the mid- and near-infrared cameras onboard the SSC, as well as from the Goldstone radar. We compare the Centaur impact features, positively identified in the first two, and with a consistent feature in the third, which are interpreted as a 20 m diameter crater surrounded by a 160 m diameter ejecta region. The images are registered to Lunar Reconnaisance Orbiter (LRO) topographical data which allows determination of the impact location. This location is compared with the impact location derived from ground-based tracking and propagation of the spacecraft's trajectory and with locations derived from two hybrid imagery/trajectory methods. The four methods give a weighted average Centaur impact location of −84.6796 deg, −48.7093 deg, with a 1σ uncertainty of 115 m along latitude, and 44 m along longitude, just 146 m from the target impact site. Meanwhile, the trajectory-derived SSC impact location is −84.719 deg, −49.61 deg, with a 1 alpha uncertainty of 3 m along the Earth vector and 75 m orthogonal to that, 766 m from the target location and 2.803 km south-west of the Centaur impact. We also detail the Centaur impact angle and SSC instrument pointing errors. Six high-level LCROSS mission requirements are shown to be met by wide margins. We hope that these results facilitate further analyses of the LCROSS experiment data and follow-up observations of the impact region
AMPS and Its Use
Analyze charged particle trajectories moving in plasma. Post processing tool: use pre-calculated plasma and magnetic field. Import of the plasma flow simulations into AMPS. Time-dependent results of the plasma modeling is saved in files. Output: 1) Individual particle trajectories, 2) Samples of the distribution functions. Particle trajectory integration in AMPS. Trajectory affected by the Lorentz force. Particle tracking along a magnetic field line.
Data Analysis and Detector Troubleshooting for the Silicon Muon Scanner
Muon tomography is the calculation of the density distribution of a material from the probable angles of muon Coulomb scattering in a sampled object. This allows the probing of internal object structures that cannot otherwise be observed. It has many important applications for both national security and other fields, such as archaeology and geology. Its uses range from detecting radioactive material intended for nuclear weaponry to searching for hidden chambers in the Egyptian pyramids. In this project we intend to demonstrate the capability of a tomographic system which uses cosmic rays as the muon source and tracks each muon's initial and final trajectories to ascertain information about their scattering pattern. This method can be used to determine the structure or composition of an object, such as testing to see if a nuclear fuel cask is empty or full. We intend this as an early R&D exploration into the practicality of implementing silicon microstrip sensors in border scans for radioactive contraband, as an alternative to existing drift tube technology.