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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 523 records · Page 29
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Trust Not Verify? The Critical Need for Data Curation Standards in Materials Informatics

The importance of data curation has been recognized in multiple areas of research; however, the discussion of this important issue is only beginning to emerge in materials science. In this Perspective, we highlight the benefits of using the standardized data curation protocols in materials science and discuss current gaps in accurate and reproducible data reporting using case studies drawn from high-impact materials science papers and well-known databases such as the Crystallography Open Database (COD) and the Cambridge Structural Database (CSD). We argue that both experimental and computational materials scientists need to embrace a culture of rigorous data curation as part of modern research data management. We propose a sample data curation pipeline for materials chemistry and illustrate its use by creating two new materials chemistry databases. Here, we hope that this perspective will serve to catalyze further discussion and promote the continuous development of rigorous data curation practices within the materials science research community. We posit that adherence to best practices of data curation will promote and enhance the reliability, reproducibility, and integrity of materials research and enable the development of reliable AI and machine learning models that critically depend on the use of quality data.

Chemical structure↗
DOE OSTI2020

HPC4Mfg with Carbon Inc.

Continuous Liquid Interface Production (CLIP) is poised to bring additive manufacturing to multiple American manufacturing sectors owing to its unique combination of rapid print speeds and material options that resemble injection molding thermoplastics. In spite of these benefits, CLIP is still a maturing process. To improve our understanding and control of the process, this project developed a multi-physics computational model that encompasses the coupled chemical-physical processes of photopolymerization and fluid flow to predict part outcomes. A physically predictive model can enable rapid optimization of CLIP and reduce the current cycle time and waste associated with optimization by four-fold. Ultimately, this effort will help open the U.S. $400B plastic manufacturing industry to the key benefits of additive manufacturing, namely mass customization, unlimited design space, and a cost- and energy-effective path to mainstream manufacturing. In the course of the project we produced a model which coupled fluid-flow, species transport, and photochemistry to model the Carbon CLIP process. As the development proceeded, we validated the code against theory and experiments. The resulting code was transferred to Carbon, and we expect it to be a useful part of their modeling capability. Future work includes improvements to the fluid solver’s robustness and performance, along with the addition of additional physics models.

42 ENGINEERING↗
DOE OSTI2021

Development of a Multi-physics Model to Optimize Continuous Liquid Interface Production (CLIP) for Additive Manufacturing (Carbon3D HPC4Mfg Final Report)

Continuous Liquid Interface Production (CLIP) is poised to bring additive manufacturing to multiple American manufacturing sectors owing to its unique combination of rapid print speeds and material options that resemble injection molding thermoplastics. In spite of these benefits, CLIP is still a maturing process. To improve our understanding and control of the process, this project developed a multi-physics computational model that encompasses the coupled chemical-physical processes of photopolymerization and fluid flow to predict part outcomes. A physically predictive model can enable rapid optimization of CLIP and reduce the current cycle time and waste associated with optimization by four-fold. Ultimately, this effort will help open the U.S. $400B plastic manufacturing industry to the key benefits of additive manufacturing, namely mass customization, unlimited design space, and a cost- and energy-effective path to mainstream manufacturing. In the course of the project we produced a model which coupled fluid-flow, species transport, and photochemistry to model the Carbon CLIP process. As the development proceeded, we validated the code against theory and experiments. The resulting code was transferred to Carbon, and we expect it to be a useful part of their modeling capability. Future work includes improvements to the fluid solver’s robustness and performance, along with the addition of additional physics models.

36 MATERIALS SCIENCE↗
NASA NTRS1991

In-situ propellant rocket engines for Mars mission ascent vehicle

When comtemplating the human exploration of Mars, many scenarios using various propulsion systems have been considered. One propulsion option among them is a vehicle stage with multiple, pump fed rocket engines capable of operating on propellants available on Mars. This reduces the Earth launch mass requirements, resulting in economic and payload benefits. No plentiful sources of hydrogen on Mars have been identified on the surface of Mars, so most commonly used high performance liquid fuels, such as hydrogen and hydrocarbons, can be eliminated as possible in-situ propellants. But 95 pct. of the Martian atmosphere consists of carbon dioxide, which can be converted into carbon monoxide and oxygen. The carbon monoxide oxygen propellant conbination is a candidate for a Martian in-situ propellant rocket engine. The feasibility is analyzed of a pump fed engine cycle using the propellant combination of carbon monoxide and oxygen.

Roncace, Elizabeth A.↗
NASA NTRS1991

In-situ propellant rocket engines for Mars missions ascent vehicle

When contemplating the human exploration of Mars, many scenarios using various propulsion systems have been considered. One propulsion option among them is a vehicle stage with multiple, pump fed rocket engines capable of operating on propellants available on Mars. This reduces the earth launch mass requirements, resulting in economic and payload benefits. No plentiful sources of hydrogen on Mars have been identified on the surface of Mars, so most commonly used high performance liquid fuels, such as hydrogen and hydrocarbons, can be eliminated as possible in situ propellants. But 95 pct of the Martian atmosphere consists of carbon dioxide, which can be converted into carbon monoxide and oxygen. The carbon monoxide oxygen propellant combination is a candidate for a Martian in situ propellant rocket engine. The feasibility is analyzed of a pump fed engine cycle using the propellant combination of carbon monoxide and oxygen.

Roncace, Elizabeth A.↗
NASA NTRS1997

Comparison of High Aspect Ratio Cooling Channel Designs for a Rocket Combustion Chamber

An analytical investigation on the effect of high aspect ratio (height/width) cooling channels, considering different coolant channel designs, on hot-gas-side wall temperature and coolant pressure drop for a liquid hydrogen cooled rocket combustion chamber, was performed. Coolant channel design elements considered were: length of combustion chamber in which high aspect ratio cooling was applied, number of coolant channels, and coolant channel shape. Seven coolant channel designs were investigated using a coupling of the Rocket Thermal Evaluation code and the Two-Dimensional Kinetics code. Initially, each coolant channel design was developed, without consideration for fabrication, to reduce the hot-gas-side wall temperature from a given conventional cooling channel baseline. These designs produced hot-gas-side wall temperature reductions up to 22 percent, with coolant pressure drop increases as low as 7.5 percent from the baseline. Fabrication constraints for milled channels were applied to the seven designs. These produced hot-gas-side wall temperature reductions of up to 20 percent, with coolant pressure drop increases as low as 2 percent. Using high aspect ratio cooling channels for the entire length of the combustion chamber had no additional benefit on hot-gas-side wall temperature over using high aspect ratio cooling channels only in the throat region, but increased coolant pressure drop 33 percent. Independent of coolant channel shape, high aspect ratio cooling was able to reduce the hot-gas-side wall temperature by at least 8 percent, with as low as a 2 percent increase in coolant pressure drop. The design with the highest overall benefit to hot-gas-side wall temperature and minimal coolant pressure drop cooling can now be done in relatively short periods of time with multiple iterations.

Wadel, Mary F.↗
NASA NTRS2002

Speaking Volumes About 3-D

In 1999, Genex submitted a proposal to Stennis Space Center for a volumetric 3-D display technique that would provide multiple users with a 360-degree perspective to simultaneously view and analyze 3-D data. The futuristic capabilities of the VolumeViewer(R) have offered tremendous benefits to commercial users in the fields of medicine and surgery, air traffic control, pilot training and education, computer-aided design/computer-aided manufacturing, and military/battlefield management. The technology has also helped NASA to better analyze and assess the various data collected by its satellite and spacecraft sensors. Genex capitalized on its success with Stennis by introducing two separate products to the commercial market that incorporate key elements of the 3-D display technology designed under an SBIR contract. The company Rainbow 3D(R) imaging camera is a novel, three-dimensional surface profile measurement system that can obtain a full-frame 3-D image in less than 1 second. The third product is the 360-degree OmniEye(R) video system. Ideal for intrusion detection, surveillance, and situation management, this unique camera system offers a continuous, panoramic view of a scene in real time.

Source record↗
NASA NTRS2012

RS-34 Phoenix (Peacekeeper Post Boost Propulsion System) Utilization Study

The Advanced Concepts Office (ACO) at the NASA Marshall Space Flight Center (MSFC) in conjunction with Pratt & Whitney Rocketdyne conducted a study to evaluate potential in-space applications for the Rocketdyne produced RS-34 propulsion system. The existing RS-34 propulsion system is a remaining asset from the decommissioned United States Air Force Peacekeeper ICBM program; specifically the pressure-fed storable bipropellant Stage IV Post Boost Propulsion System, renamed Phoenix. MSFC gained experience with the RS-34 propulsion system on the successful Ares I-X flight test program flown in October 2009. RS-34 propulsion system components were harvested from stages supplied by the USAF and used on the Ares I-X Roll control system (RoCS). The heritage hardware proved extremely robust and reliable and sparked interest for further utilization on other potential in-space applications. Subsequently, MSFC is working closely with the USAF to obtain all the remaining RS-34 stages for re-use opportunities. Prior to pursuit of securing the hardware, MSFC commissioned the Advanced Concepts Office to understand the capability and potential applications for the RS-34 Phoenix stage as it benefits NASA, DoD, and commercial industry. Originally designed, the RS-34 Phoenix provided in-space six-degrees-of freedom operational maneuvering to deploy multiple payloads at various orbital locations. The RS-34 Phoenix Utilization Study sought to understand how the unique capabilities of the RS-34 Phoenix and its application to six candidate missions: 1) small satellite delivery (SSD), 2) orbital debris removal (ODR), 3) ISS re-supply, 4) SLS kick stage, 5) manned GEO servicing precursor mission, and an Earth-Moon L-2 Waypoint mission. The small satellite delivery and orbital debris removal missions were found to closely mimic the heritage RS-34 mission. It is believed that this technology will enable a small, low-cost multiple satellite delivery to multiple orbital locations with a single boost. For both the small satellite delivery and the orbital debris mission candidates, the RS-34 Phoenix requires the least amount of modification to the existing hardware. The results of the RS-34 Phoenix Utilization Study show that the system is technically sufficient to successfully support all of the missions analyzed

Esther, Elizabeth A.↗
NASA NTRS2017

IPPW Enabled International Collaborations in EDL Lessons Learned and Recommendations:

The International Planetary Probe Workshop (IPPW) is a forum for exchanging information and encourage collaboration. The IPPW-14 (2017) in its 14th year and attracts participants mainly from US and Europe. The authors of this proposed talk are exploring and have established international collaboration in multiple areas of interest to IPPW community. The authors will present examples that illustrate the motivations for the partnership, the unique capabilities and the potential benefits of international collaboration and how to approach the collaboration in order to overcome the challenges.

Venkatapathy, Ethiraj↗
NASA NTRSDate not supplied

Enabling Thread Safety and Parallelism in the Program to Optimize Simulated Trajectories II

Development of the Program to Optimize Simulated Trajectories (POST) began in the 1970s. Since then, it has become widely utilized across NASA, industry, and academia to solve a variety of atmospheric ascent and entry problems. Its successor, POST2, has undergone many upgrades since its release in the 1990s. Recently, there has been an increasing desire to take advantage of the advances in parallel computing for both offline and online systems. Thus, modifications were made to allow POST2 to simulate multiple trajectories simultaneously without adversely affecting results. This capability is leveraged to calculate optimization solutions in parallel as opposed to sequentially. A demonstration of the benefits is presented using a small set of POST2 regression tests, as well as a project simulating a human-scale Lunar lander.

R. Anthony Williams↗
NASA NTRSDate not supplied

Enabling Thread Safety and Parallelism in the Program to Optimize Simulated Trajectories II

Development of the Program to Optimize Simulated Trajectories (POST) began in the 1970s. Since then, it has become widely utilized across NASA, industry, and academia to solve a variety of atmospheric ascent and entry problems. Its successor, POST2, has undergone many upgrades since its release in the 1990s. Recently, there has been an increasing desire to take advantage of the advances in parallel computing for both offline and online systems. Thus, modifications were made to allow POST2 to simulate multiple trajectories simultaneously without adversely affecting results. This capability is leveraged to calculate optimization solutions in parallel as opposed to sequentially. A demonstration of the benefits is presented using a small set of POST2 regression tests, as well as a project simulating a human-scale Lunar lander.

Anthony Williams↗
NASA NTRSDate not supplied

Selecting an Encapsulant for an Aerospace Superconducting Machine

Achieving larger benefits from electrified propulsion in single aisle aircraft (the largest commercial aircraft market segment) necessitates that a significant fraction of their 20 MW or greater propulsion system be electrified. These aircraft would require up to 10-20 of today’s state-of-the art machines, which have been demonstrated up to 2.5 MW for aerospace use, and could benefit further from 5 MW+ designs. However, when conventionally cooled, high power density machines still produce a significant amount of waste heat, translating into heavy thermal management and detracting from system benefits. Highly efficient fully superconducting electric machines (or those with a cryogenically cooled, high purity copper or aluminum stator) are a possible solution but have multiple barriers to overcome. One such barrier is the durability of superconducting windings. Superconductors are typically brittle, and encapsulants used to hold windings in place are a significant source of stress due to mismatches in coefficient of thermally induced contraction between ambient and operational temperatures (20 to 77 K). Lack of compliance between the materials at operational temperatures also adds significant stress. These encapsulants also form a thermal barrier that can be detrimental to cooling the superconductors. This work describes an initial study of commercially available encapsulants as it relates to superconducting machine applications, along with initial modeling of thermal stress in superconducting windings for a superconducting or cryogenically cooled stator in a 5 MW electric machine.

encapsulant↗
DOE OSTI2025

Prioritizing urban heat adaptation infrastructure based on multiple outcomes: Comfort, health, and energy

Globally, cities face increasing extreme heat, impacting comfort, health, and energy consumption. Infrastructure-based heat adaptation strategies can improve these outcomes, but each strategy has a unique mix of benefits and drawbacks. Here, we apply an urbanized meteorological model (WRF) with the newly integrated multilayer BEP-Tree street tree model to dynamically downscale Earth System Model projections and a 3-D microclimate model (TUF-Pedestrian) to simulate the street-scale radiation environment impacting pedestrians. We evaluate the performance of five heat adaptation strategies (street trees, cool roofs, green roofs, rooftop photovoltaics (PV), and reflective pavements) during extreme heat events in three cities with contrasting background climates (Toronto, Phoenix, and Miami), under contemporary and end-of-century projected climates, based on three metrics: outdoor heat stress, air conditioning (AC) energy use, and ventilation of vehicular air pollution. No single adaptation strategy improves all three outcomes. While street trees inhibit ventilation, they reduce outdoor heat stress four times more effectively than the next best strategy via shade provision, fully offsetting heat stress increases under a high-emissions end-of-century climate scenario in all cities studied. Cool roofs and green roofs moderately reduce heat stress and energy use. Alternatively, rooftop PV with energy storage can generate sufficient power for space cooling but have marginal effects on heat stress. Reflective pavements are the least effective across metrics. Where the ventilation of street-level emissions is of less concern, our results clearly support the combination of street trees and rooftop PV as a highly complementary and effective means of adaptive mitigation across different climates and neighborhood densities.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRSDate not supplied

Connecting Federal Agencies to Satellite Earth Observations: NASA’s Satellite Needs Working Group Assessment Process

The Satellite Needs Working Group (SNWG), part of the U.S. Group on Earth Observations (USGEO), surveys agencies across the U.S. Government to identify the satellite Earth observations each agency needs to fulfill its high-priority objectives and responsibilities. Around 20 civilian agencies participate in the SNWG survey every two years. After receiving the surveys, the National Aeronautics and Space Administration (NASA) conducts an in-depth evaluation of each agency's needs in collaboration with fellow satellite Earth data providers, the National Oceanic and Atmospheric Administration (NOAA) and the U.S. Geological Survey (USGS). This assessment process, which takes place over an eight-month period, is divided into distinct phases. NASA first assembles an assessment team with the necessary subject matter expertise to evaluate each submitted need. An in-depth interview with each submitting agency then follows, featuring discussion of current and upcoming satellite missions as well as potential new activities that NASA, NOAA, and/or USGS could undertake to meet the agency's needs. The assessment teams then further evaluate these potential activities or solutions to identify how many agencies would benefit and estimate how much their level of satisfaction would increase. Solutions expected to have broad-reaching and significant agency benefits are proposed by NASA for funding. SNWG agencies receive an assessment report for each submitted need, in which the tri-agency assessment teams provide a detailed evaluation of the agency need, information on relevant satellite missions, and links to specific datasets or training resources. The SNWG Management Office at NASA’s Interagency Implementation and Advanced Concepts Team (IMPACT) contributes to NASA’s SNWG assessment in a variety of capacities, including statistical analysis of the survey responses to identify trends and similar needs across multiple agencies. The Management Office also provides analytics for the new proposed solutions, demonstrating and quantifying their potential value. For activities that receive funding, the Management Office manages the implementation process and works to maximize the benefit to SNWG agencies via a Stakeholder Engagement Program.

Katrina Virts↗
DOE OSTI2024

Measuring Thread Timing to Assess the Feasibility of Early-Bird Message Delivery Across Systems and Scales

Early-bird communication is a communication/computation overlap technique that leverages fine-grained communication to improve application run-time. Communication is divided such that each individual thread can initiate transmission of its portion of the data upon completion rather than waiting for a dedicated communication phase. The benefit of early-bird communication depends on the completion timing of the individual threads: On the one hand, if all threads are complete at nearly the same time, the overheads of sending multiple messages will accumulate, leading to performance that is worse than if a single message had been sent. On the other hand, if thread completions are spread out in time, those that complete earlier can send data while others continue working, leading to performance that is better than if a single message had been sent. The challenge is that the completion times are currently unknown and can vary based on application, problem size, system software, and underlying hardware. In this paper, we address this lacuna by measuring and evaluating the potential overlap afforded by early-bird communication for a selection of proxy applications. These measurements help us understand whether a given application could benefit from early-bird communication. Here, we present our technique for gathering this data and evaluate data collected from three proxy applications: MiniFE, MiniMD, and MiniQMC. Each application is run on three systems with distinct CPU architectures and strong scales across three run sizes. To characterize the behavior of these workloads, we study the trends of thread timings at both a macro level, across all threads across all runs of an application, and a micro level, that is, within a single process of a single run. We observe that our tested applications exhibit significantly different thread arrival distributions. The machine used had a significant impact, with the window of potential overlap varying by as much as an order of magnitude.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2016

Manufacturing Challenges and Benefits when Scaling the HIAD Stacked-Torus Aeroshell to a 15m Class System

Over a decade of work has been conducted in the development of NASA's Hypersonic Inflatable Aerodynamic Decelerator (HIAD) deployable aeroshell technology. This effort has included multiple ground test campaigns and flight tests culminating in the HIAD project's second generation (Gen-2) aeroshell system. The HIAD project team has developed, fabricated, and tested stacked-torus inflatable structures (IS) with flexible thermal protection systems (F-TPS) ranging in diameters from 3-6m, with cone angles of 60 and 70 deg. To meet NASA and commercial near term objectives, the HIAD team must scale the current technology up to 12-15m in diameter. The HIAD project's experience in scaling the technology has reached a critical juncture. Growing from a 6m to a 15m class system will introduce many new structural and logistical challenges to an already complicated manufacturing process. Although the general architecture and key aspects of the HIAD design scale well to larger vehicles, details of the technology will need to be reevaluated and possibly redesigned for use in a 15m-class HIAD system. These include: layout and size of the structural webbing that transfers load throughout the IS, inflatable gas barrier design, torus diameter and braid construction, internal pressure and inflation line routing, adhesives used for coating and bonding, and F-TPS gore design and seam fabrication. The logistics of fabricating and testing the IS and the F-TPS also become more challenging with increased scale. Compared to the 6m aeroshell (the largest HIAD built to date), a 12m aeroshell has four times the cross-sectional area, and a 15m one has over six times the area. This means that fabrication and test procedures will need to be reexamined to account for the sheer size and weight of the aeroshell components. This will affect a variety of steps in the manufacturing process, such as: stacking the tori during assembly, stitching the structural webbing, initial inflation of tori, and stitching of F-TPS gores. Additionally, new approaches and hardware will be required for handling and ground testing of both individual tori and the fully assembled HIADs. There are also noteworthy benefits of scaling up the HIAD aeroshell to 15m-class system. Two complications in working with handmade textiles structures are the non-linearity of the materials and the role of human accuracy during fabrication. Larger, more capable, HIAD structures should see much larger operational loads, potentially bringing the structural response of the materials out of the non-linear regime and into the preferred linear response range. Also, making the reasonable assumption that the magnitude of fabrication accuracy remains constant as the structures grow, the relative effect of fabrication errors should decrease as a percentage of the textile component size. Combined, these two effects improve the predictive capability and the uniformity of the structural response for a 12-15m class HIAD. In this paper, the challenges and associated mitigation plans related to scaling up the HIAD stacked-torus aeroshell to a 15m class system will be discussed. In addition, the benefits of enlarging the structure will be further explored.

Decellerators↗
NASA NTRS2016

Manufacturing Challenges and Benefits when Scaling the HIAD Stacked-Torus Aeroshell to a 15m-Class System

Over a decade of work has been conducted in the development of NASAs Hypersonic Inflatable Aerodynamic Decelerator (HIAD) deployable aeroshell technology. This effort has included multiple ground test campaigns and flight tests culminating in the HIAD projects second generation (Gen-2) aeroshell system. The HIAD project team has developed, fabricated, and tested stacked-torus inflatable structures (IS) with flexible thermal protection systems (F-TPS) ranging in diameters from 3-6m, with cone angles of 60 and 70 deg. To meet NASA and commercial near term objectives, the HIAD team must scale the current technology up to 12-15m in diameter. Therefore, the HIAD projects experience in scaling the technology has reached a critical juncture. Growing from a 6m to a 15m-class system will introduce many new structural and logistical challenges to an already complicated manufacturing process.Although the general architecture and key aspects of the HIAD design scale well to larger vehicles, details of the technology will need to be reevaluated and possibly redesigned for use in a 15m-class HIAD system. These include: layout and size of the structural webbing that transfers load throughout the IS, inflatable gas barrier design, torus diameter and braid construction, internal pressure and inflation line routing, adhesives used for coating and bonding, and F-TPS gore design and seam fabrication. The logistics of fabricating and testing the IS and the F-TPS also become more challenging with increased scale. Compared to the 6m aeroshell (the largest HIAD built to date), a 12m aeroshell has four times the cross-sectional area, and a 15m one has over six times the area. This means that fabrication and test procedures will need to be reexamined to ac-count for the sheer size and weight of the aeroshell components. This will affect a variety of steps in the manufacturing process, such as: stacking the tori during assembly, stitching the structural webbing, initial inflation of tori, and stitching of F-TPS gores. Additionally, new approaches and hardware will be required for handling and ground testing of both individual tori and the fully assembled HIADs.There are also noteworthy benefits of scaling up the HIAD aeroshell to a 15m-class system. Two complications in working with handmade textile structures are the non-linearity of the material components and the role of human accuracy during fabrication. Larger, more capable, HIAD structures should see much larger operational loads, potentially bringing the structural response of the material components out of the non-linear regime and into the preferred linear response range. Also, making the reasonable assumption that the magnitude of fabrication accuracy remains constant as the structures grow, the relative effect of fabrication errors should decrease as a percentage of the textile component size. Combined, these two effects improve the predictive capability and the uniformity of the structural response for a 12-15m HIAD.In this presentation, a handful of the challenges and associated mitigation plans will be discussed, as well as an update on current 12m aeroshell manufacturing and testing that is addressing these challenges

Infatables↗
DOE OSTI2026

Online task-space motion control for positioner-coordinated multi-robot manufacturing systems

Incorporating multiple robotic manipulators into large-scale manufacturing systems enhances production efficiency and expands manufacturing capabilities beyond those of single-robot systems. Workpiece positioners in robotic manufacturing have demonstrated significant benefits for process optimization, but coordination strategies for multi-robot systems with shared positioners have received limited attention. This work presents a task-space coordinated trajectory-tracking control framework for multi-robot manufacturing systems, in which robots coordinate their motions within a shared, dynamic workpiece positioning frame. A workpiece positioner actively adjusts the pose of the manufactured component to enable greater operational concurrency and improve overall production efficiency. The proposed motion-coordination scheme employs a distributed and scalable architecture, supporting coordination across heterogeneous multi-robot systems. Two optimization methodologies are introduced to manage kinematic redundancies and maintain continuous, near-optimal operation throughout the manufacturing process. The first strategy exploits a task-space dimensionality reduction to achieve locally optimal configurations by leveraging symmetry-axis rotations of the tool. The second strategy utilizes the workpiece positioner to drive the coordinated robots toward stable and kinematically favorable configurations. For both optimization strategies, multiple objectives are defined to improve key performance metrics, including manipulability, configuration consistency, proximity to mechanical limits, and motion efficiency. Addressing a key limitation of existing coordination approaches, the framework is designed around online setpoint modification, allowing coordinated robots to respond effectively to in-situ process feedback. The proposed control framework is validated using the Robot Operating System (ROS) middleware on a combination of physical and simulated multi-robot system hardware.

Arbogast, Alex [ORNL] (ORCID:0000000154740723)↗