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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 577 records · Page 32
All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Estimating Species-Specific Leaf Area Index and Basal Area Using Optical and SAR Remote Sensing Data in Acadian Mixed Spruce-Fir Forests, USA

This study combined Sentinel-1 synthetic aperture radar (SAR), Sentinel-2 multispectral, and site variable datasets to model leaf area index (LAI) and basal area per ha (BAPH) of two economically important tree species in Northeast, USA; red spruce (Picea rubens Sarg.; RS), and balsam fir (Abies balsamea (L.) Mill.; BF). We used Random Forest (RF), and Multi-Layer Perceptron (MLP) algorithms for LAI and BAPH modeling. The results showed that RF outperformed MLP by reducing the normalized root mean square error (nRMSE) by 0.01 and 0.06 for LAI and BAPH, respectively. The final variables selected for modeling of both LAI and BAPH indicated the superiority of Sentinel-2 variables over the Sentinel-1 SAR with minor contributions of site variables (mainly elevation). The red-edge spectral vegetation indices played a significant role in both LAI and BAPH estimation. We attained the lowest nRMSEs of 0.12, and 0.16 for the final LAI model of RS, and BF, respectively using Sentinel-2 and site variables. The lowest nRMSE for both RS and BF BAPH models was 0.12. As RS and BF are the primary host species for a cyclically occurring and most destructive pest of the region, eastern spruce budworm (Choristoneura fumiferana; SBW), these estimations will be useful to evaluate SBW dynamics in the region.

Forest inventory↗
NASA NTRS1977

Phase separation of metallic hydrogen-helium alloys

Calculations are presented for the thermodynamic functions and phase-separation boundaries of solid metallic hydrogen-helium alloys at temperatures between zero and 19,000 K and at pressures between 15 and 90 Mbar. Expressions for the band-structure energy of a randomly disordered alloy (including third order in the electron-ion interaction) are derived and evaluated. Short- and long-range orders are included by the quasi-chemical method, and lattice dynamics in the virtual-crystal harmonic approximation. It is concluded that at temperatures below 4000 K, there is essentially complete phase separation of hydrogen-helium alloys and that a miscibility gap remains at the highest temperatures and pressures considered. The relevance of these results to models of the deep interior of Jupiter is briefly discussed.

Straus, D. M.↗
NASA NTRS1978

Mapping ocean tides with satellites - A computer simulation

As a preliminary study for the future worldwide direct mapping of the open ocean tide with satellites equipped with precision altimeters we conducted a simulated study using sets of artificially generated altimeter data constructed from a realistic geoid and four pairs of major tides in the northeastern Pacific Ocean. Recovery of the original geoid and eight tidal maps is accomplished by a space-time, least squares harmonic analysis scheme. The resultant maps appear fairly satisfactory even when random noises up to + or - 100 cm are added to the altimeter data of sufficient space-time density. The method also produces a refined geoid which is rigorously corrected for the dynamic tides.

Won, I. J.↗
NASA NTRS1987

Collisional evolution of rotating, non-identical particles

Hameen-Anttila's (1984) theory of self-gravitating collisional particle disks is extended to include the effects of particle spin. Equations are derived for the coupled evolution of random velocities and spins, showing that friction and surface irregularity both reduce the local velocity dispersion and transfer significant amounts of random kinetic energy to rotational energy. Results for the equilibrium ratio of rotational energy to random kinetic energy are exact not only for identical nongravitating mass points, but also if finite size, self-gravitating forces, or size distribution are included. The model is applied to the dynamics of Saturn's rings, showing that the inclusion of rotation reduces the geometrical thickness of the layer of cm-sized particles to, at most, about one-half, with large particles being less affected.

Salo, H.↗
NASA NTRS1997

Fade Dynamics and Its Evolution: The Other Part of the Acts Rain Prediction Model

The inception of the Advanced Communication Technology Satellite (ACTS) Project has required as similarly advanced statistical mathematical modeling formalism to describe the behavior of the 30/20 GHz links emanating to and from the earth terminals through the deleterious effects of the earth's atmosphere. The resulting ACTS Rain Attenuation Prediction Model has been thoroughly described in [Manning, 1990]. In the present paper, the basic rudiments of this model will be reviewed; Section 1 covers the static or time-independent portion of the model and Section 2 covers the dynamic of time-dependent portion. The results of Section 2 are then applied to a new approximate solution of the famous problem of the time duration tau of a fade of random process below some threshold. This is known as the fade duration. The new approximate solution was published in Russian [Denisenko] and, unfortunately, was never published into English. Hence, this work is restated following [Denisenko] in Section 3 which is immediately applied to the random rain fade process. The results for all five ACTS propagation sites as well as Tampa, FL are then given.

Manning, Robert M.↗
NASA NTRS1999

Dynamics of Single Chains of Suspended Ferrofluid Particles

We present an experimental study of the dynamics of isolated chains made of super-paramagnetic particles under the influence of a magnetic field. The motivation of this work is to understand if the chain fluctuations exist and, if it does, how does the fluctuation affect chain aggregation. We find that single chains strongly fluctuate and that the characteristic frequency of their fluctuations is inversely proportional to the magnetic field strength. The higher the field the lower the characteristic frequency of the chain fluctuations. In the high magnetic field limit, chains behave like rigid rods without any internal motions. In this work, we used ferrofluid particles suspended in water. These particles do not have any intrinsic magnetization. Once a magnetic field is applied, a dipole moment is induced in each particle, proportional to the magnetic field. A dipolar magnetic interaction then occurs between particles. If dipole-dipole magnetic energy is higher than the thermal energy, the result is a structure change inside the dipolar fluid. The ratio of these two energies is expressed by a coupling constant lambda as: lambda = (pi(a(exp 3))(chi(exp 2))(mu(sub 0))(H(sub 0))(exp 2))/18kT Where a is the particle radius, mu(sub 0) is the vacuum magnetic permeability, H(sub 0) the applied magnetic field, k the Boltzmann constant and T the absolute temperature. If lambda > 1, magnetic particles form chains along the field direction. The lateral coalescence of several chains may form bigger aggregates especially if the particle volume fraction is high. While many studies and applications deal with the rheological properties and the structural changes of these dipolar fluids, this work focuses on the understanding of the chain dynamics. In order to probe the chain dynamics, we used dynamic light scattering (DLS) in self-beating mode as our experimental technique. The experimental geometry is such that the scattering plane is perpendicular to the magnetic field. Therefore, only motions in this plane are probed. A very dilute sample of a ferrofluid emulsion with a particle volume fraction of 10(exp -5) is used in this experiment. We chose such a low volume fraction to avoid multiple light scattering as well as lateral chain-chain aggregation. DLS measures the dynamic structure factor S(q,t) of the sample (q is the scattering wave vector, t is the time). In the absence of the magnetic field, identical particles of ferrofluid droplets are randomly distributed and S(q,t) reduces to exp(-q(exp 2)2D(sub 0)t). D(sub 0)=(kT/(6(pi)(eta)(a)) is the diffusion coefficient of Brownian particles (where Xi = (6(pi)(eta)(a)) is the Stokes frictional coefficient of a spherical particle in a fluid of viscosity eta). If interactions or polydispersity can not be ignored, an effective diffusion coefficient is introduced. Formally, D(sub eff) is defined as: D(sub eff) = - q(exp -2) partial derivative of (ln(S(q,t)) with respect to time, as t goes to 0. D(sub eff) reduces to D(sub 0) if no interactions and only a few particles size are present. Therefore, we can use DLS to measure particle size. The particle radius was found to be a=0.23 mu m with 7% of polydispersity. In this case, if we vary the scattering angle theta (and so q) we do not have any change in the measured diffusion coefficient: it is q-independent. When a magnetic field is applied, particles aggregate into chains if lambda > 1. We first studied the kinetics of the chain formation when lambda = 406. At a fixed scattering angle, we measured diffusion coefficient D(sub eff) as a function of time. Experimentally, we find that D(sub eff) decreases monotonously with time. Physically, this means that chains are becoming longer and longer. Since we are only sensitive to motions in the scattering plane and since chains have their main axis perpendicular to this plane, the measured diffusion coefficient is the trans-verse diffusion coefficient. We can relate D(sub eff) to the mean number of particles per chain N(t) at a given time and to the diffusion coefficient of an isolated particle D(sub 0) as D(sub eff)=f(N(t))D(sub 0). Since f(N) is known from other recent work, N can be expressed as a function of the time. We found a square root dependency: N(t) proportional to the square root of t. As expected for very low volume fraction, this behavior is characteristic of a diffusion-limited aggregation as suggested by several authors and by our previous work. In this study, we focus on the dependence of the effective diffusion coefficient on the scattering angle and the magnetic field strength. After the magnetic field is applied (lambda = 406) for a long time, typically 6 hours, kinetics of chain formation becomes very slow. Chain size does not vary much over the next hour period. Thus, we can perform different interesting experiments. First, at a fixed magnetic field, we measure the effective diffusion coefficient as a function of the scattering angle (from 5 to 130 deg). Our results show that the measured diffusion coefficient increases linearly with the scattering angle: D(sub eff) proportional to q. If we do the same experiment for different lambda values, D(sub eff) depends on lambda as D(sub eff) proportional to lambda(exp -1/2). We also find for different lambda values that the same asymptotic D(sub eff) value is obtained when q approaches zero. The angle dependency of D(sub eff) suggests that an additional motion exists besides chain drifting. Chain size is constant during experiment, which was verified by measuring the same diffusion coefficient at the beginning and at the end of the angle switching. If chains are rigid, D(sub eff) is independent of q. Therefore, we found that D(sub eff) not only measures the motion of the entire chain but also its internal fluctuations. These internal motions are the fluctuations of the particles in the chain. To understand the q dependency of D(sub eff), let us look at the probing length used. In our study, the characteristic length scale probed is l=2pi/q which is in the range of 0.9<l/a<20. When l is much larger than the particle radius (l/a going to infinity) we are mainly sensitive to the center of mass diffusion of the chain. D(sub eff) is then the diffusion of the entire chain and depends only on N but not on q and lambda. The value D(sub eff) allows us to obtain the number of particles per chain N. In the opposite limit (i.e. l/a < 1), we are sensitive to motions on the size of individual particles. The main contributions to the measured diffusion coefficient come from internal motions of the chains (i.e. particles' fluctuations inside the chain). We investigated also the effect of the chain size on D(sub eff). For the same value of the magnetic interaction lambda and different chain sizes, we found that the slope of D(sub eff) versus q decreases when N increases as a power law D(sub eff) proportional to N(exp -0.7). This is an important behavior because this means that the longer the chain the slower its internal fluctuations besides the whole chain motion.

Cutillas, S.↗
NASA NTRS2010

Ares I-X Launch Abort System, Crew Module, and Upper Stage Simulator Vibroacoustic Flight Data Evaluation, Comparison to Predictions, and Recommendations for Adjustments to Prediction Methodology and Assumptions

The National Aeronautics and Space Administration (NASA) Constellation Program (CxP) has identified a series of tests to provide insight into the design and development of the Crew Launch Vehicle (CLV) and Crew Exploration Vehicle (CEV). Ares I-X was selected as the first suborbital development flight test to help meet CxP objectives. The Ares I-X flight test vehicle (FTV) is an early operational model of CLV, with specific emphasis on CLV and ground operation characteristics necessary to meet Ares I-X flight test objectives. The in-flight part of the test includes a trajectory to simulate maximum dynamic pressure during flight and perform a stage separation of the Upper Stage Simulator (USS) from the First Stage (FS). The in-flight test also includes recovery of the FS. The random vibration response from the ARES 1-X flight will be reconstructed for a few specific locations that were instrumented with accelerometers. This recorded data will be helpful in validating and refining vibration prediction tools and methodology. Measured vibroacoustic environments associated with lift off and ascent phases of the Ares I-X mission will be compared with pre-flight vibration predictions. The measured flight data was given as time histories which will be converted into power spectral density plots for comparison with the maximum predicted environments. The maximum predicted environments are documented in the Vibroacoustics and Shock Environment Data Book, AI1-SYS-ACOv4.10 Vibration predictions made using statistical energy analysis (SEA) VAOne computer program will also be incorporated in the comparisons. Ascent and lift off measured acoustics will also be compared to predictions to assess whether any discrepancies between the predicted vibration levels and measured vibration levels are attributable to inaccurate acoustic predictions. These comparisons will also be helpful in assessing whether adjustments to prediction methodologies are needed to improve agreement between the predicted and measured flight data. Future assessment will incorporate hybrid methods in VAOne analysis (i.e., boundary element methods, BEM and finite element methods, FEM). These hybrid methods will enable the ability to import NASTRAN models providing much more detailed modeling of the underlying beams and support structure of the ARES 1-X test vehicle. Measured acoustic data will be incorporated into these analyses to improve correlation for additional post flight analysis.

Smith, Andrew↗
DOE OSTI2025

Proton radiation effects in indium oxide using cascade molecular dynamics simulations

Metal oxide (MO) semiconductors, characterized by their wide band gaps and notable charge transport properties, are promising candidates for electronic applications in extreme environments, including near-Earth space. However, atomistic simulations of radiation–matter interactions in MOs remain challenging due to the limitations of existing interatomic potentials, which often fail to capture both the short-range repulsive forces essential for radiation damage modeling and the long-range electrostatic effects governing defect evolution. In this work, we develop a customized interatomic potential tailored for radiation damage simulations in indium oxide (In 2 O 3 ) as a model system, a representative MO material. Our potential integrates the Ziegler-Biersack-Littmark potential to accurately describe short-range interactions with Buckingham and Coulombic potentials to account for long-range forces. We perform molecular dynamics simulations of low-energy proton irradiation using this custom potential. We employ the primary knock-on atom (PKA) cascade method to study atomic displacements and primary defect formation. Simulations were conducted for 1 keV proton irradiation in four randomly chosen directions, and PKA-driven defect analyses at 5, 10, and 15 keV to examine the effects of direction and energy level on damage generation. Our results provide insight into the impact of irradiation direction and energy level on the cascade evolution and defect formation mechanisms.

Atomistic simulations↗
NASA NTRS1972

An EPR investigation of the dynamic Jahn-Teller effect in SrCl2:y(2 plus) and SrCl2:Sc(2 plus)

EPR spectra have been observed for SrCl2:Y(2+) and SrCl2:Sc(2+) at liquid helium temperatures. At 1.2 K the spectra were dominated by anisotropic hyperfine patterns whose lineshapes and angular dependences were explained using second order solutions of the effective Hamiltonian for an isolated 2Eg state split by large random internal strains. Pronounced asymmetries in some of the strin produced lineshapes for Srcl2:Sc(2+) are shown to result from second order terms in the solution of the effective Hamiltonian. Coexisting with the anisotropic hyperfine patterns are weak nearly isotropic hyperfine patterns with typical lineshapes. Variations in the apparent intensity of lines in these weak hyperfine patterns as functions of the applied magnetic field direction and temperature imply that these lines result from averaging by vibronic relaxation of a portion of the anisotropic pattern. The effective Hamiltonian parameters for SrCl2:La(2+), SrCl2:y(2+), and SrCl2:SC(2+) are analyzed in terms of crystal field theory modified to include a dynamic Jahn-Teller effect.

Herrington, J. R.↗
DOE OSTI2024

Observational benchmarks inform representation of soil organic carbon dynamics in land surface models

Abstract. Representing soil organic carbon (SOC) dynamics in Earth system models (ESMs) is a key source of uncertainty in predicting carbon–climate feedbacks. Machine learning models can help identify dominant environmental controllers and establish their functional relationships with SOC stocks. The resulting knowledge can be integrated into ESMs to reduce uncertainty and improve predictions of SOC dynamics over space and time. In this study, we used a large number of SOC field observations (n=54 000), geospatial datasets of environmental factors (n=46), and two machine learning approaches (namely random forest, RF, and generalized additive modeling, GAM) to (1) identify dominant environmental controllers of global and biome-specific SOC stocks, (2) derive functional relationships between environmental controllers and SOC stocks, and (3) compare the identified environmental controllers and predictive relationships with those in models used in Phase 6 of the Coupled Model Intercomparison Project (CMIP6). Our results showed that the diurnal temperature, drought index, cation exchange capacity, and precipitation were important observed environmental predictors of global SOC stocks. While the RF model identified 14 environmental factors that describe climatic, vegetation, and edaphic conditions as important predictors of global SOC stocks (R2=0.61, RMSE = 0.46 kg m−2), current ESMs oversimplify the relationships between environmental factors and SOC, with precipitation, temperature, and net primary productivity explaining > 96 % of the variability in ESM-modeled SOC stocks. Further, our study revealed notable disparities among the functional relationships between environmental factors and SOC stocks simulated by ESMs compared with observed relationships. To improve SOC representations in ESMs, it is imperative to incorporate additional environmental controls, such as the cation exchange capacity, and refine the functional relationships to align more closely with observations.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

A globally sampled high-resolution hand-labeled validation dataset for evaluating surface water extent maps

Effective monitoring of global water resources is increasingly critical due to climate change and population growth. Advancements in remote sensing technology, specifically in spatial, spectral, and temporal resolutions, are revolutionizing water resource monitoring, leading to more frequent and high-quality surface water extent maps using various techniques such as traditional image processing and machine learning algorithms. However, satellite imagery datasets contain trade-offs that result in inconsistencies in performance, such as disparities in measurement principles between optical (e.g., Sentinel-2) and radar (e.g., Sentinel-1) sensors and differences in spatial and spectral resolutions among optical sensors. Therefore, developing accurate and robust surface water mapping solutions requires independent validations from multiple datasets to identify potential biases within the imagery and algorithms. However, high-quality validation datasets are expensive to build, and few contain information on water resources. For this purpose, we introduce a globally sampled, high-spatial-resolution dataset labeled using 3 m PlanetScope imagery. Our surface water extent dataset comprises 100 images, each with a size of 1024×1024 pixels, which were sampled using a stratified random sampling strategy covering all 14 biomes. We highlighted urban and rural regions, lakes, and rivers, including braided rivers and coastal regions. We evaluated two surface water extent mapping methods using our dataset – Dynamic World, based on Sentinel-2, and the NASA IMPACT model, based on Sentinel-1. Dynamic World achieved a mean intersection over union (IoU) of 72.16 % and F1 score of 79.70 %, while the NASA IMPACT model had a mean IoU of 57.61 % and F1 score of 65.79 %. Performance varied substantially across biomes, highlighting the importance of evaluating models on diverse landscapes to assess their generalizability and robustness. Our dataset can be used to analyze satellite products and methods, providing insights into their advantages and drawbacks. Our dataset offers a unique tool for analyzing satellite products, aiding the development of more accurate and robust surface water monitoring solutions. The dataset can be accessed via https://doi.org/10.25739/03nt-4f29.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1977

Evolution of the high-temperature plasma in the 15 June 1973 flare

The evolution of the high-temperature plasma in the solar flare of June 15, 1973, is analyzed using XUV spectroheliograms obtained from Skylab. Preflare enhancement of loops in the active region is discussed, and the temperature and density of the hot plasma are determined as a function of time. The turbulent velocity in the high-temperature plasma is deduced from a comparison of line widths of the Fe XXIV doublet at 192 and 255 A. The results indicate that: (1) the flare occurred in a low-lying loop or loops; (2) the large-scale magnetic-field configuration of the active region did not change significantly; (3) the hot plasma observed in Fe XXIII-XXIV showed considerable dynamic activity, including an initial upward motion of the whole plasma with a velocity of about 80 km/s; (4) large turbulent mass motions took place in the Fe XXIII-XXIV plasma with random velocities of 100 to 160 km/s; (5) the temperature of the hot plasma was 14 million K at peak X-ray intensity, decreased slightly, and then remained at 12.6 million K before dropping to below 10 million K; and (6) there was a temperature gradient along the length of the loop, with the 14 million-K plasma near the top and progressively lower-temperature plasmas on either side.

Cheng, C.-C.↗
NASA NTRS1985

Numerical simulation of a turbulent flame stabilized behind a rearward-facing step

Flow of combustible mixtures in a plane channel past a smooth contraction followed by an abrupt expansion, in a typical dump combustor configuration, is modeled by a two-dimensional numerical technique based on the random vortex method. Both the inert and the reacting case are considered. In the latter, the flame is treated as an interface, self-advancing at a prescribed normal burning speed, while the dynamic effects of expansion due to the exothermicity of combustion are expressed by volumetric source lines delineated by its front. Solutions are shown to be in satisfactory agreement with experimental results, especially with respect to global properties such as the average velocity profiles and the reattachment length. The stochastic turbulent velocity components manifest interesting differences, especially near the walls where three-dimensional effects of turbulence are expected to be of importance.

Hsiao, C. C.↗
NASA NTRS1987

A model-free method for mass spectrometer response correction

A new method for correction of mass spectrometer output signals is described. Response-time distortion is reduced independently of any model of mass spectrometer behavior. The delay of the system is found first from the cross-correlation function of a step change and its response. A two-sided time-domain digital correction filter (deconvolution filter) is generated next from the same step response data using a regression procedure. Other data are corrected using the filter and delay. The mean squared error between a step response and a step is reduced considerably more after the use of a deconvolution filter than after the application of a second-order model correction. O2 consumption and CO2 production values calculated from data corrupted by a simulated dynamic process return to near the uncorrupted values after correction. Although a clean step response or the ensemble average of several responses contaminated with noise is needed for the generation of the filter, random noise of magnitude not above 0.5 percent added to the response to be corrected does not impair the correction severely.

Shykoff, Barbara E.↗
NASA NTRS1990

Proposed military handbook for dynamic data acquisition and analysis - An invitation to review

A draft Military Handbook prepared under the sponsorship of the USAF Space Division is presently being distributed throughout the U.S. for review by the aerospace community. This comprehensive document provides recommended guidelines for the acquisition and analysis of structural dynamics and aeroacoustic data, and is intended to reduce the errors and variability commonly found in flight, ground and laboratory dynamic test measurements. In addition to the usual variety of measurement problems encountered in the definition of dynamic loads, the development of design and test criteria, and the analysis of failures, special emphasis is given to certain state-of-the-art topics, such as pyroshock data acquisition and nonstationary random data analysis.

Himelblau, Harry↗
NASA NTRS1997

Fade Dynamics and its Evolution: The Other Part of the ACTS Rain Prediction Model

The inception of the Advanced Communication Technology Satellite (ACTS) Project has required a similarly advanced statistical mathematical modeling formalism to describe the behavior of the 30/20 GHz links emanating to and from the earth terminals through the deleterious effects of the earth's atmosphere. The resulting ACTS Rain Attenuation Prediction Model has been thoroughly described in (Manning). In the present paper, the basic rudiments of this model will be reviewed; Section 1 covers the static or time-independent portion of the model and Section 2 covers the dynamic or time-dependent portion. The results of Section 2 are then applied to a new approximate solution of the famous problem of the time duration tau of a fade of a random process below some threshold. This is known as the fade duration. The new approximate solution was published in Russian (Denisenko) and, unfortunately, was never published into English. Hence, this work is restated following (Denisenko) in Section 3 which is immediately applied to the random rain fade process. The results for all five ACTS propagation sites as well as Tampa, FL are then given.

Manning, Robert M.↗
NASA NTRS2016

Extracting Damping Ratio from Dynamic Data and Numerical Solutions

There are many ways to extract damping parameters from data or models. This Technical Memorandum provides a quick reference for some of the more common approaches used in dynamics analysis. Described are six methods of extracting damping from data: the half-power method, logarithmic decrement (decay rate) method, an autocorrelation/power spectral density fitting method, a frequency response fitting method, a random decrement fitting method, and a newly developed half-quadratic gain method. Additionally, state-space models and finite element method modeling tools, such as COMSOL Multiphysics (COMSOL), provide a theoretical damping via complex frequency. Each method has its advantages which are briefly noted. There are also likely many other advanced techniques in extracting damping within the operational modal analysis discipline, where an input excitation is unknown; however, these approaches discussed here are objective, direct, and can be implemented in a consistent manner.

Casiano, M. J.↗
NASA NTRS2017

Computationally Efficient Motion Planning Algorithms for Agile Autonomous Vehicles in Cluttered Environments

Fast, real-time motion planning of an agile, autonomous vehicle in a cluttered environment, with many geometrically-fixed obstacles, is a very complex problem, especially because of the vehicle dynamics constraints and resource constrained computational capabilities onboard the vehicle. In this paper, we present computationally-efficient versions of our novel motion planning algorithm called the Spherical Expansion and Sequential Convex Programming (SE–SCP) algorithm. The SE–SCP algorithm first uses a spherical-expansion-based randomized sampling algorithm to explore the workspace. Oncea path is found from the start position to the goal position, the algorithm computes a locally optimal trajectory, within its homotopy class for a desired cost function, by solving a sequence of convex optimization problems. Thus, the SE–SCP algorithm is anytime locally optimal and the trajectory is globally optimal if the number of samples tends to infinity. In this paper, we further enhance the computational efficiency of the SE–SCP algorithm using uni-directional and bi-directional rewiring techniques. We also present a detailed proof of the local optimality characteristics of the new SE–SCP algorithms for aspecial case of vehicle dynamics. Simulation examples involving quadrotor and spacecraft help demonstrate the effectiveness of our new algorithms.

Bandyopadhyay, Saptarshi↗