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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

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NASA NTRS1993

Inertial-space disturbance rejection for space-based manipulators

The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without relying on direct end-point sensing. However, this assumption is invalid if there is a significant delay in the platform position and attitude measurements, or if the kinematics of the platform are not well known, or if the platform is a non-rigid structure. In the more likely case that only the nominal platform location and upper bound on the disturbance signal are known, direct end-point sensing is needed to measure the end-effector location.

Holt, Kevin↗

NASA NTRS1985

Evaluation of a pulse control law for flexible spacecraft

The following analytical and experimental studies were conducted: (1) A simple algorithm was developed to suppress the structural vibrations of 3-dimensional distributed parameter systems, subjected to interface motion and/or directly applied forces. The algorithm is designed to cope with structural oscillations superposed on top of rigid-body motion: a situation identical to that encountered by the SCOLE components. A significant feature of the method is that only local measurements of the structural displacements and velocities relative to the moving frame of reference are needed. (2) A numerical simulation study was conducted on a simple linear finite element model of a cantilevered plate which was subjected to test excitations consisting of impulsive base motion and of nonstationary wide-band random excitation applied at its root. In each situation, the aim was to suppress the vibrations of the plate relative to the moving base. (3) A small mechanical model resembling an aircraft wing was designed and fabricated to investigate the control algorithm under realistic laboratory conditions.

Source record↗

DOE OSTI2025

A Computational Framework to design 3D stiffness gradient acoustic metamaterials for impedance matching

Acoustic waves play a crucial role in various applications, including medical imaging, non-destructive testing, and sonar systems. One of the significant challenges in these applications is impedance matching, which is essential for minimizing reflections and maximizing the transfer of acoustic energy between different media. Acoustic metamaterials offer a promising solution to this challenge. In addition to impedance control, gradient stiffness can enhance structural efficiency and enable spatial control of wave propagation, making it a valuable feature in acoustic metamaterial design. In this pa- per, we present our developed computational method to design 3D stiffness gradient acoustic metamaterials for impedance matching. The key steps in our approach include generating initial designs using a periodic covariance function to provide unit cells that are both periodic on the boundaries and randomly formed inside the unit cell. Furthermore, we integrated manufacturing constraints into the design process, ensuring that the structures are interconnected for fabrication. We propose two computational optimization algorithms: GenUnit, based on a non-dominated sorting genetic algorithm (NSGA-II), and MLMatch, which leverages differentiable machine learning. The two approaches are not separate contributions but complementary com- ponents of a unified framework. GenUnit requires no training data and directly interfaces with physics-based simulations, making it highly accurate but slower for large-scale exploration. In contrast, MLMatch is data-hungry during training but, once trained, enables near-instantaneous inference and broad design-space coverage. Together, they form a hybrid strategy: ML- Match rapidly explores the global design space, and GenUnit provides local refinement with high-fidelity accuracy. This balance between training cost, inference time, and precision is the motivation for including both methods in the same study. We applied this dual-algorithm framework to generate two metallic-based metamaterial designs that match the acoustic impedance of water while exhibiting a controlled gradient in stiffness (from stiff to soft). The stiffness gradient is particularly advantageous in applications where one side of the structure must interface with soft or sensitive surfaces, such as human tissue or delicate components. Here, this work paves the way for improved materials in various acoustic applications, particularly in ultrasound devices, by providing better impedance.

Metamaterial↗

DOE OSTI2026

Dynamic Networks Experiment 2: Measuring Associator Sensitivity to Signal Detection Errors

Using the Dynamic Networks Experiment 2 (DNE2) human-analyst event bulletin picks as a baseline signal detection dataset, we generate 47 additional datasets by gradually reducing their accuracy and completeness by randomly removing DNE2 picks, changing the initial phase labels from P to S and vice-versa, and injecting noise detections to simulate real-world signal detection algorithms.

58 GEOSCIENCES↗

NASA NTRS1973

Diagnostics of sources of disturbances and distribution of vibrations over the width of a tape in tape-feed mechanisms

Disturbances created by certain assemblies and components of tape-feed mechanisms (TFM) and acting on a moving magnetic tape are studied. The method, based on elements of digital logic, is established by stress-strain diagrams of the longitudinal deformations and vibrations across the width of a magnetic tape. Experimental studies were carried out for determination of the functional relationships of longitudinal deformations in a section of magnetic tape to the magnitude of roller play, tension vibrations rate of movement, and elasticity of magnetic tapes. A block diagram of the measurements is shown. Appropriate digital computer algorithms and programs were proposed for statistical analysis of the data obtained. Estimates of the mathematical expectation, dispersion, intercorrelation function, energy spectral density, and distribution pattern of the random process values were calculated.

Kenstavichyus, A. B. B.↗

NASA NTRS1976

On estimating gravity anomalies: A comparison of least squares collocation with least squares techniques

The least squares collocation algorithm for estimating gravity anomalies from geodetic data is shown to be an application of the well known regression equations which provide the mean and covariance of a random vector (gravity anomalies) given a realization of a correlated random vector (geodetic data). It is also shown that the collocation solution for gravity anomalies is equivalent to the conventional least-squares-Stokes' function solution when the conventional solution utilizes properly weighted zero a priori estimates. The mathematical and physical assumptions underlying the least squares collocation estimator are described, and its numerical properties are compared with the numerical properties of the conventional least squares estimator.

Argentiero, P.↗

NASA NTRS1977

On estimating gravity anomalies - A comparison of least squares collocation with conventional least squares techniques

Argentiero, P.↗

NASA NTRS1982

A new solution to parameter adaptive estimation of random processes

This paper is concerned with the development of an adaptive state estimator that is capable of tracking switched linear plants that undergo rapid configuration changes. The particular adaptive estimator developed here is called the Sliding Window Detector/Estimator (SWDE) algorithm. Unlike previous algorithms, the SWDE algorithm is designed specifically for the switched-linear plant problem. It uses a joint detection/estimation approach to give a very close approximation to the unrealizable optimum switched-linear estimator. An extremely reliable and accurate estimator can be constructed by combining a modified Parameter Adaptive Estimation (PAE) algorithm with SWDE. The algorithm has been fully verified by extensive computer simulation, and the implementation advantages afforded by this method make it suitable for use in a wide variety of applications.

Zwicke, P. E.↗

NASA NTRS1988

Time domain simulation of the response of geometrically nonlinear panels subjected to random loading

The response of composite panels subjected to random pressure loads large enough to cause geometrically nonlinear responses is studied. A time domain simulation is employed to solve the equations of motion. An adaptive time stepping algorithm is employed to minimize intermittent transients. A modified algorithm for the prediction of response spectral density is presented which predicts smooth spectral peaks for discrete time histories. Results are presented for a number of input pressure levels and damping coefficients. Response distributions are calculated and compared with the analytical solution of the Fokker-Planck equations. RMS response is reported as a function of input pressure level and damping coefficient. Spectral densities are calculated for a number of examples.

Moyer, E. Thomas, Jr.↗

NASA NTRS1991

A contention-based bus-control scheme for multiprocessor systems

The authors study contention-based bus-control schemes for scheduling processors in using a bit-parallel shared bus. The protocol is designed under the requirements that each processor exhibit a random access behavior, that there be no centralized bus control in the system, and that access be granted in real time. The proposed scheme is based on splitting algorithms used in conventional contention-resolution schemes, and utilizes two-state information obtained from collision detection. Two versions of the bus-control scheme are studied. The static one resolves contentions of N requesting processors in an average of O(logW/2N) iterations, where W is the number of bits in the bit-parallel bus. An adaptive version resolves contentions in an average time that is independent of N.

Juang, Jie-Yong↗

NASA NTRS1994

Sonic boom interaction with turbulence

A recently developed transonic small-disturbance model is used to analyze the interactions of random disturbances with a weak shock. The model equation has an extended form of the classic small-disturbance equation for unsteady transonic aerodynamics. It shows that diffraction effects, nonlinear steepening effects, focusing and caustic effects and random induced vorticity fluctuations interact simultaneously to determine the development of the shock wave in space and time and the pressure field behind it. A finite-difference algorithm to solve the mixed-type elliptic hyperbolic flows around the shock wave is presented. Numerical calculations of shock wave interactions with various deterministic vorticity and temperature disturbances result in complicate shock wave structures and describe peaked as well as rounded pressure signatures behind the shock front, as were recorded in experiments of sonic booms running through atmospheric turbulence.

Zvi Rusak↗

NASA NTRS1994

Very fast motion planning for highly dexterous-articulated robots

Due to the inherent danger of space exploration, the need for greater use of teleoperated and autonomous robotic systems in space-based applications has long been apparent. Autonomous and semi-autonomous robotic devices have been proposed for carrying out routine functions associated with scientific experiments aboard the shuttle and space station. Finally, research into the use of such devices for planetary exploration continues. To accomplish their assigned tasks, all such autonomous and semi-autonomous devices will require the ability to move themselves through space without hitting themselves or the objects which surround them. In space it is important to execute the necessary motions correctly when they are first attempted because repositioning is expensive in terms of both time and resources (e.g., fuel). Finally, such devices will have to function in a variety of different environments. Given these constraints, a means for fast motion planning to insure the correct movement of robotic devices would be ideal. Unfortunately, motion planning algorithms are rarely used in practice because of their computational complexity. Fast methods have been developed for detecting imminent collisions, but the more general problem of motion planning remains computationally intractable. However, in this paper we show how the use of multicomputers and appropriate parallel algorithms can substantially reduce the time required to synthesize paths for dexterous articulated robots with a large number of joints. We have developed a parallel formulation of the Randomized Path Planner proposed by Barraquand and Latombe. We have shown that our parallel formulation is capable of formulating plans in a few seconds or less on various parallel architectures including: the nCUBE2 multicomputer with up to 1024 processors (nCUBE2 is a registered trademark of the nCUBE corporation), and a network of workstations.

Challou, Daniel J.↗

NASA NTRS1997

The First National Student Conference: NASA University Research Centers at Minority Institutions

The conference includes contributions from 13 minority universities with NASA University Research Centers. Topics discussed include: leadership, survival strategies, life support systems, food systems, simulated hypergravity, chromium diffusion doping, radiation effects on dc-dc converters, metal oxide glasses, crystal growth of Bil3, science and communication on wheels, semiconductor thin films, numerical solution of random algebraic equations, fuzzy logic control, spatial resolution of satellite images, programming language development, nitric oxide in the thermosphere and mesosphere, high performance polyimides, crossover control in genetic algorithms, hyperthermal ion scattering, etc.

Daso, Endwell O.↗

NASA NTRS2014

Application of Machine Learning Algorithms to the Study of Noise Artifacts in Gravitational-Wave Data

The sensitivity of searches for astrophysical transients in data from the Laser Interferometer Gravitationalwave Observatory (LIGO) is generally limited by the presence of transient, non-Gaussian noise artifacts, which occur at a high-enough rate such that accidental coincidence across multiple detectors is non-negligible. Furthermore, non-Gaussian noise artifacts typically dominate over the background contributed from stationary noise. These "glitches" can easily be confused for transient gravitational-wave signals, and their robust identification and removal will help any search for astrophysical gravitational-waves. We apply Machine Learning Algorithms (MLAs) to the problem, using data from auxiliary channels within the LIGO detectors that monitor degrees of freedom unaffected by astrophysical signals. Terrestrial noise sources may manifest characteristic disturbances in these auxiliary channels, inducing non-trivial correlations with glitches in the gravitational-wave data. The number of auxiliary-channel parameters describing these disturbances may also be extremely large; high dimensionality is an area where MLAs are particularly well-suited. We demonstrate the feasibility and applicability of three very different MLAs: Artificial Neural Networks, Support Vector Machines, and Random Forests. These classifiers identify and remove a substantial fraction of the glitches present in two very different data sets: four weeks of LIGO's fourth science run and one week of LIGO's sixth science run. We observe that all three algorithms agree on which events are glitches to within 10% for the sixth science run data, and support this by showing that the different optimization criteria used by each classifier generate the same decision surface, based on a likelihood-ratio statistic. Furthermore, we find that all classifiers obtain similar limiting performance, suggesting that most of the useful information currently contained in the auxiliary channel parameters we extract is already being used. Future performance gains are thus likely to involve additional sources of information, rather than improvements in the MLAs themselves.

gravitational-wave data↗

NASA NTRS1972

Orbit determination in the presence of unmodeled accelerations.

In the investigation discussed here, the unmodeled acceleration is approximated as a first-order stationary Gauss-Markov process which can be separated into a time wise correlated component and a purely random component. An extended form of the Kalman-Bucy filter is used to estimate the state and the unmodeled accelerations at each observation epoch. Applications of the estimation algorithm to simulated data and to tracking data obtained during the Apollo 10 and 11 missions indicate that a more accurate estimate of the state is obtained using the algorithm and that the estimated values of the unmodeled accelerations can be correlated with physical phenomena neglected by the mathematical model.

Tapley, B. D.↗

NASA NTRS1988

Robot path planning using a genetic algorithm

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.

Cleghorn, Timothy F.↗

NASA NTRS1992

Atmospheric and surface temperatures and airborne dust amounts during late southern summer from Mariner 9 IRIS data

The temperature structure and dust loading of the Martian atmosphere are investigated using thermal emission spectra recorded in 1972 by the Mariner 9 infrared interferometer spectrometer (IRIS). The analysis focuses on a subset of data consisting of approximately 2400 spectra obtained near the end of the southern summer season (L(sub s) equal to 343 deg to 348 deg), after the global dust storm had largely abated and airborne dust amounts were subsiding to background values. Simultaneous retrieval of the vertical distribution of both atmospheric temperature and dust optical depth is accomplished through an iterative procedure which is performed on each individual spectrum. The atmospheric transmittances are calculated using a Voigt quasi-random band model, which includes absorption by CO2 and dust, but neglects the effects of multiple scattering. Vertical profiles of temperature and dust optical depth are obtained using modified algorithms. These profiles are used to construct global maps of temperature and dust optical depth as functions of latitude (+/- 90 deg), altitude (approximately 0-50 km), and local time of day.

Santee, M.↗

NASA NTRS1994

Solution and reasoning reuse in space planning and scheduling applications

In the space domain, as in other domains, the CSP (Constraint Satisfaction Problems) techniques are increasingly used to represent and solve planning and scheduling problems. But these techniques have been developed to solve CSP's which are composed of fixed sets of variables and constraints, whereas many planning and scheduling problems are dynamic. It is therefore important to develop methods which allow a new solution to be rapidly found, as close as possible to the previous one, when some variables or constraints are added or removed. After presenting some existing approaches, this paper proposes a simple and efficient method, which has been developed on the basis of the dynamic backtracking algorithm. This method allows previous solution and reasoning to be reused in the framework of a CSP which is close to the previous one. Some experimental results on general random CSPs and on operation scheduling problems for remote sensing satellites are given.

Verfaillie, Gerard↗