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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Design and Closed‐Loop Motion Planning of an Untethered Swimming Soft Robot Using 2D Discrete Elastic Rods Simulations

Despite tremendous progress in the development of untethered soft robots in recent years, existing systems lack the mobility, model‐based control, and motion planning capabilities of their piecewise rigid counterparts. As in conventional robotic systems, the development of versatile locomotion of soft robots is aided by the integration of hardware design and control with modeling tools that account for their unique mechanics and environmental interactions. Here, a framework for physics‐based modeling, motion planning, and control of a fully untethered swimming soft robot is introduced. This framework enables offline co‐design in the simulation of robot parameters and gaits to produce effective open‐loop behaviors and enables closed‐loop planning over motion primitives for feedback control of a frog‐inspired soft robot testbed. This pipeline uses a discrete elastic rods (DERs) physics engine that discretizes the soft robot as many stretchable and bendable rods. On hardware, an untethered aquatic soft robot that performs frog‐like rowing behaviors is engineered. Hardware validation verifies that the simulation has sufficient accuracy to find the best candidates for sets of parameters offline. The simulator is then used to generate a trajectory library of the robot's motion in simulation that is used in real‐time closed‐loop path following experiments on hardware.

Huang, Xiaonan↗
DOE OSTI2020

Fully Arbitrary Control of Frequency-Bin Qubits

Accurate control of two-level systems is a longstanding problem in quantum mechanics. One such quantum system is the frequency-bin qubit: a single photon existing in superposition of two discrete frequency modes. In this Letter, we demonstrate fully arbitrary control of frequency-bin qubits in a quantum frequency processor for the first time. Furthermore, we numerically establish optimal settings for multiple configurations of electro-optic phase modulators and pulse shapers, experimentally confirming near-unity mode-transformation fidelity for all fundamental rotations. Performance at the single-photon level is validated through the rotation of a single frequency-bin qubit to 41 points spread over the entire Bloch sphere, as well as tracking of the state path followed by the output of a tunable frequency beam splitter, with Bayesian tomography confirming state fidelities Fρ>0.98 for all cases. Overall, such high-fidelity transformations expand the practical potential of frequency encoding in quantum communications, offering exceptional precision and low noise in general qubit manipulation.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2020

Framework for Analysis and Quantification of Wide-Area Control Resilience for Power Systems

Wide-area control helps damp the inter-area oscillations in modern power systems. However, compared to traditional local control, it is more vulnerable to cyber attacks due to its dependence on remote real-time-communicated measurements. In this paper, a formal mathematical framework for analyzing resilience of various wide-area controllers under adversarial scenarios is proposed. A novel resilience index based on the $\H_2$ norm of the post-attack closed-loop system is defined. Computation of such an index is, in general, challenging due to the combinatorial nature of the attack profiles and the bilinear nature of the problem. To address these difficulties, a gradient-based path-following-like solution is developed in this paper to solve a relaxed version of the original non-convex problem. Case studies on IEEE 39-bus system are performed to demonstrate the usage of the proposed framework.

Marinovici, Laurentiu D.↗
NASA NTRS1976

Optimal control of a low wing-loading STOL aircraft

Linear optimal quadratic control theory is applied to a low wing-loading STOL aircraft for ride quality and flight path following. Design criteria include minimum rms response to wind turbulence and desired transient response characteristics. Design techniques include proper choosing of design versus evaluation models, choosing appropriate performance index responses, and use of classical evaluation techniques. Results are obtained through a combination of frequency response shaping and gust observation. Effects of control rate and authority saturation are examined with a new rapid calculation of random input describing functions. Parameter sensitivity is also evaluated using a Liapunov type matrix equation.

Cunningham, T. B.↗
NASA NTRS1977

A discrete adaptive guidance system for a roving vehicle

An adaptive guidance technique which provides a self-correcting path following capability in an environment sensitive semi-autonomous roving robot is described. A real-time maneuver planning function performs tradeoffs between speed, magnitude of expected deviations and accelerations to best satisfy the design goals of vehicle safety and reliability, subsystem autonomy, performance accuracy and operational efficiency. The appropriate combination of maneuver parameters is selected through an iterative process using knowledge of vehicle performance characteristics, environmental model updates and vehicle state

Miller, J. A.↗
NASA NTRS1981

Thunderstorm hazards flight research: Storm hazards 1980 overview

A highly instrumented NASA F-106B aircraft, modified for the storm hazards mission and protected against direct lightning strikes, was used in conjunction with various ground based radar and lightning measurement systems to collect data during thunderstorm penetration flights. During 69 thunderstorm penetrations, there were 10 direct lightning strikes to the aircraft. No problems were encountered with any of the aircraft's systems as a result of the strikes and the research instrumentation performed as designed. Electromagnetic characteristics of nine strikes were recorded, and the results of other experiments confirm the theory that X-ray radiation and nitrous oxide gas are being produced by processes associated directly with thunderstorm electric fields and lightning discharges. A better understanding of aircraft lightning attachment mechanisms and strike zones is being accomplished by careful inspection, identification, and documentation of lightning attachment points and swept stroke paths following each strike to the aircraft.

Deal, P. L.↗
NASA NTRS1985

Aerodynamics of sports balls

Research data on the aerodynamic behavior of baseballs and cricket and golf balls are summarized. Cricket balls and baseballs are roughly the same size and mass but have different stitch patterns. Both are thrown to follow paths that avoid a batter's swing, paths that can curve if aerodynamic forces on the balls' surfaces are asymmetric. Smoke tracer wind tunnel tests and pressure taps have revealed that the unbalanced side forces are induced by tripping the boundary layer on the seam side and producing turbulence. More particularly, the greater pressures are perpendicular to the seam plane and only appear when the balls travel at velocities high enough so that the roughness length matches the seam heigh. The side forces, once tripped, will increase with spin velocity up to a cut-off point. The enhanced lift coefficient is produced by the Magnus effect. The more complex stitching on a baseball permits greater variations in the flight path curve and, in the case of a knuckleball, the unsteady flow effects. For golf balls, the dimples trip the boundary layer and the high spin rate produces a lift coefficient maximum of 0.5, compared to a baseball's maximum of 0.3. Thus, a golf ball travels far enough for gravitational forces to become important.

Mehta, R. D.↗
NASA NTRS1986

Single step optimization of feedback-decoupled collision avoidance manipulator maneuvers

Simultaneous robot path planning and path following is shown to be achievable in the presence of motor saturation and obstacle avoidance requirements. The discrete time algorithm derived performs one step ahead mean square optimization of commanded joint accelerations, subject to present actuator force or torque constraints and N step ahead prediction of configuration constraints.

Chen, N.↗
NASA NTRS1991

Rotary Coupling Extends Life Of Hose

Oscillating rotary coupling enables hose to withstand bending oscillations without leakage. Intended for use where hose connects to stationary structure at one end and to oscillating structure on other end. Coupling, (a sun-and-planetary pulley system), eliminates fatigue stress at fixed end. Pulley coupling requires less hose than conventional helical-wrap couplings, and its weight, pressure drop, heat loss or gain, and fluid contents also less. Conceived for use on Space Station to transfer vapors across rotary joints to directional radiators for condensation or to transfer liquids to gimballed payloads for evaporation. On Earth, used to carry working fluids to and from evaporative solar collectors following path of Sun.

Benner, Steve↗
NASA NTRS1991

Application of surface electrical discharges to the study of lightning strikes on aircraft

Considered here is the characterization of surface discharges which provide a facility complementary to that of artificially triggered lightning. General characteristics of a simplified surface discharge, including current waveforms and the constitution of a surface discharge are outlined, and the application of this approach to the study of aircraft lightning strikes is considered. Representations of leader-streamer and return-stroke phases are discussed, and the application to the two-dimensional discharge phase is covered. It is noted that the fact that the initiation times of surface discharges could be controlled, and the path followed by the discharge channels could be predetermined, indicates that it is possible to produce a highly dedicated high performance instrumentation system.

Boulay, J. L.↗
NASA NTRS1992

The Ulysses mission

The Ulysses mission is unique in the history of the exploration of solar system by spacecraft. The path followed by Ulysses will make it possible, for the first time, to explore the heliosphere within a few astronomical units of the sun over the full range of heliographic latitudes, thereby providing the first characterization of the uncharted third heliospheric dimension. Advanced scientific instrumentation carried on board the spacecraft is designed to measure the properties of the heliospheric magnetic field, the solar wind, the sun/wind interface, solar radio bursts and plasma waves, solar energetic particles and galactic cosmic rays, solar X-rays, and interplanetary/interstellar neutral gas and dust. Ulysses will also be used to detect cosmic gamma-ray bursts and search for gravitational waves. The mission, a collaboration between ESA and NASA, was launched in October 1990 and employs a Jupiter gravity-assist to achieve the trajectory extending to high solar latitudes. The paper describes the characteristics of the Ulysses mission in order to establish a framework within which to better understand the objectives and goals of the scientific investigations.

Wenzel, K.-P.↗
NASA NTRS1992

Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

Klarer, Paul R.↗
NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗
NASA NTRS1996

History, a projection of the future: A rotary wing perspective

The success and failure of past vehicle concepts is reviewed in an attempt to highlight some of the advanced vehicle concepts attempted in the past failed because of a lack of appreciation, by both the sponsors and the developer, for the technical and societal requirements critical to their success. This paper will review the history of some attempts to provide both good hover and forward flight efficiency and will point out some of the technical and societal obstacles encountered. Two examples, that of the tiltrotor and tiltwing vehicles. will be highlighted show the different paths followed by a successful and an unsuccessful concept. The outlook for future VTOL/rotary wing concepts will be evaluated.

Huston, Robert J.↗
NASA NTRS1998

Studies of Life on Earth are Important for Mars Exploration

The search for evidence of the early martian environment and a martian biosphere is benefitted by diverse studies of life on Earth. Most fundamentally, origin-of-life research highlights the challenge in formulating a rigorous definition of life. Because such definitions typically list several of life's most basic properties, they also help to define those observable features that distinguish life and thus might be sought through telescopes, spacecraft, and analyses of extraterrestrial samples. Studies of prebiotic chemistry also help by defining the range of environments and processes that sustain prebiotic organic synthesis. These studies might indicate if and where prebiotic processes occur today on Earth and elsewhere. Such studies should also help to identify which localities are good candidates for the origin of life. A better understanding of the most fundamental principles by which molecules are assembled into living systems will help us to appreciate possible alternatives to the path followed by life on Earth. These perspectives will sharpen our ability to recognize exotic life and/or those environments that can sustain it.

DesMarais, D. J.↗
NASA NTRS1990

Ulysses Launch

Ulysses is a joint mission between the United States National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA) to explore the heliosphere over the full range of solar latitudes, especially in the polar regions. The goal of the Ulysses mission is to provide an accurate assessment of our total solar environment. This collaborative ESA/NASA mission will, for the first time, explore the heliosphere -- the region of space that is dominated by the Sun-- within a few astronomical units of the Sun over the full range of heliographic latitudes. The path followed by the spacecraft, using a Jupiter gravity-assist to achieve a trajectory extending to high solar latitudes, will enable the highly sophisticated scientific instruments on board to make measurements in the uncharted third dimension of the heliosphere. The Ulysses spacecraft will carry nine scientific instruments to measure the properties of the solar corona, the solar wind, the Sun/wind interface, the heliospheric magnetic field, solar radio bursts, plasma waves, solar X-rays, solar and galactic cosmic rays, and the interplanetary/interstellar neutral gas and dust. Scientists will take advantage of the enormous distance between the spacecraft and the Earth to perform astrophysical measurements and to search for gravitational waves. In conjunction with instrumentation on Earth-orbiting spacecraft, Ulysses will help to precisely locate the mysterious sources of cosmic gamma bursts. The results obtained will help to solve outstanding problems in solar and heliospheric physics, while undoubtedly revealing new and unanticipated phenomena.

Source record↗
NASA NTRS2007

Terrain Adaptive Navigation for Mars Rovers

A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

traversabiity analysis↗