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DLTS analysis of amphoteric interface defects in high-TiO{sub 2} MOS structures prepared by sol-gel spin-coating
High-κ TiO{sub 2} thin films have been fabricated from a facile, combined sol – gel spin – coating technique on p and n type silicon substrate. XRD and Raman studies headed the existence of anatase phase of TiO{sub 2} with a small grain size of 18 nm. The refractive index ‘n’ quantified from ellipsometry is 2.41. AFM studies suggest a high quality, pore free films with a fairly small surface roughness of 6 Å. The presence of Ti in its tetravalent state is confirmed by XPS analysis. The defect parameters observed at the interface of Si/TiO{sub 2} were studied by capacitance – voltage (C – V) and deep level transient spectroscopy (DLTS). The flat – band voltage (V{sub FB}) and the density of slow interface states estimated are – 0.9, – 0.44 V and 5.24×10{sup 10}, 1.03×10{sup 11} cm{sup −2}; for the NMOS and PMOS capacitors, respectively. The activation energies, interface state densities and capture cross – sections measured by DLTS are E{sub V} + 0.30, E{sub C} – 0.21 eV; 8.73×10{sup 11}, 6.41×10{sup 11} eV{sup −1} cm{sup −2} and 5.8×10{sup −23}, 8.11×10{sup −23} cm{sup 2} for the NMOS and PMOS structures, respectively. A low value of interface state density in both P- and N-MOS structures makes it a suitable alternate dielectric layer for CMOS applications. And also very low value of capture cross section for both the carriers due to the amphoteric nature of defect indicates that the traps are not aggressive recombination centers and possibly can not contribute to the device operation to a large extent.
Algorithms for Autonomous GPS Orbit Determination and Formation Flying: Investigation of Initialization Approaches and Orbit Determination for HEO
This report summarizes the efforts to date in processing GPS measurements in High Earth Orbit (HEO) applications by the Colorado Center for Astrodynamics Research (CCAR). Two specific projects were conducted; initialization of the orbit propagation software, GEODE, using nominal orbital elements for the IMEX orbit, and processing of actual and simulated GPS data from the AMSAT satellite using a Doppler-only batch filter. CCAR has investigated a number of approaches for initialization of the GEODE orbit estimator with little a priori information. This document describes a batch solution approach that uses pseudorange or Doppler measurements collected over an orbital arc to compute an epoch state estimate. The algorithm is based on limited orbital element knowledge from which a coarse estimate of satellite position and velocity can be determined and used to initialize GEODE. This algorithm assumes knowledge of nominal orbital elements, (a, e, i, omega, omega) and uses a search on time of perigee passage (tau(sub p)) to estimate the host satellite position within the orbit and the approximate receiver clock bias. Results of the method are shown for a simulation including large orbital uncertainties and measurement errors. In addition, CCAR has attempted to process GPS data from the AMSAT satellite to obtain an initial estimation of the orbit. Limited GPS data have been received to date, with few satellites tracked and no computed point solutions. Unknown variables in the received data have made computations of a precise orbit using the recovered pseudorange difficult. This document describes the Doppler-only batch approach used to compute the AMSAT orbit. Both actual flight data from AMSAT, and simulated data generated using the Satellite Tool Kit and Goddard Space Flight Center's Flight Simulator, were processed. Results for each case and conclusion are presented.
Microgrid Energy Management System Integration with Advanced Distribution Management System
The Integrated Distribution Management System (IDMS) project was initiated to demonstrate the interactive operation of microgrid systems and the distribution systems with which they interconnect. The key technologies for this are the microgrid management system and the utility distribution management system. The IDMS project successfully demonstrated that a utility’s advanced distribution management system/distributed energy resources management system (ADMS/DERMS) could effectively manage microgrids to provide visibility and control functionalities as well as use the microgrid as a dispatchable resource to support the utility grid. The DERMS accomplishes this by determining active and reactive power needs at the point of common coupling (PCC) using advanced applications like volt/VAR watt optimization (VVWO) and load relief (LR) with the underlying core applications state estimation (SE) and load flow (LF). The ADMS/DERMS can use the microgrid as a resource to resolve and prevent violations in the grid and to optimize the operational working state of the grid. The IDMS project demonstrated that a utility-operated ADMS with embedded DERMS functionality can flexibly manage a variety of microgrids and other aggregated distributed energy resources (DER) in concert with the wider distribution grid. Microgrids can provide grid services in any number of different ways to meet the operational needs of the distribution utility. The manner of aggregation — microgrid or virtual power plant — is not necessarily relevant to the utility as long as the grid services from the aggregated DER are available and can be managed by its ADMS/DERMS for the stability and reliability of the grid. The IDMS project demonstrated this integrated ADMS concept by combining hardware/software-in-the-loop testing with commercial products from different vendors and a utility’s network model. The project integrated the Schneider Electric EcoStruxure™ ADMS with DERMS with the Schweitzer Engineering Laboratories (SEL) POWERMAX ® Microgrid Control System, and the simulated resources with energy company PECO’s model of a utility-owned microgrid, establishing an operational relationship in which the utility manages the operational functionality of a microgrid at the PCC and that provides the utility with the capability to control the comprehensive power system, inclusive of the macrogrid and microgrid.
Active Flutter Suppression Using Reduced-Order Modeling for Transonic Aeroservoelastic Control Law Development
In this paper, several aerodynamic reduced-order models (ROMs) are generated and coupled with structural models to form aeroelastic ROMs. The aerodynamic ROMs generated here include the effects of control surface motion and are appropriate for use in aeroservoelastic applications. Simple observer-based full-state feedback controllers were designed from these aeroelastic ROMs. Additionally, observer gain matrices were designed from and coupled to the aeroelastic ROMs. Each (linear) observer was then used to estimate the dynamics of a (nonlinear) stand-alone computational fluid-structure dynamics simulation. Then, using the estimated states and the full-state feedback controller, control surface commands were fed back into the computational fluid-structure dynamics simulation to successfully achieve active flutter suppression. The process, as well as some results, are presented in this paper.
On attitude estimation schemes for fine-pointing control
This paper studies single-axis equations of motion that are applicable to a spacecraft or to a space experiment pointing assembly whose motion has been perfectly isolated from the carrier vehicle. It considers four state estimators for implementation in the control loop for a stellar observation experiment. The first three estimators are very general and do not make use of input torque in their prediction models, while the proposed fourth estimator utilizes this information. It is shown via closed-loop covariance analysis that the best achievable pointing performance with the best of the first three estimators is limited to about 0.125 arc-sec (rms) with the given rate-gyro and star-tracker inaccuracies. It is also shown that the fourth estimator has the capability of achieving a pointing performance far superior to the performance achievable using the first three estimators. The fourth estimator relies on the ability to accurately generate the desired control torque (i.e., low input noise).
GPS Spoofing Mitigation and Timing Risk Analysis in Networked Phasor Measurement Units via Stochastic Reachability
To address phasor measurement unit (PMU) vulnerability to spoofing, we propose the use of a set-valued state estimation technique known as stochastic reachability (SR)-based distributed Kalman filter (DKF) that computes secure global positioning system (GPS) timing across a network of receivers. Utilizing SR, we estimate not only GPS time but also its stochastic reachable set, which is parameterized by probabilistic zonotope (p-Zonotope). While requiring known measurement error bounds in only non-spoofed conditions, we designed a two-tiered approach. We first performed measurement-level spoofing mitigation via deviation of a measurement innovation from its expected p-Zonotope. We then performed state-level timing risk analysis via a determination of the intersection probability of the estimated p-Zonotope with an unsafe set that violates IEEE C37.118.1a-2014 standards. Finally, we validated our SR-DKF algorithm by subjecting it to a simulated receiver network to coordinate signal-level spoofing. We demonstrate improved timing accuracy and successful spoofing mitigation via the use of our SR-DKF algorithm. We also validated the robustness of the estimated timing risk as the number of receivers were varied.
Evaluation of Machine Learning Approaches to Estimate Aerosol Mixing State Metrics in Atmospheric Models
Aerosol mixing state describes how aerosol compositions are distributed among atmospheric aerosol particles in a population. Oversimplified assumptions of aerosol mixing state in atmospheric modeling can introduce errors in estimations of weather and climate-relevant aerosol microphysical properties. A more comprehensive representation of the aerosol mixing state can be achieved in principle with a Particle-resolved Monte Carlo (PartMC) model but at added computational cost that may be prohibitive for direct invocation in operational numerical weather prediction or multi-year climate simulations. The aim of our research is to explore the machine learning (ML) methodologies for estimating aerosol mixing state metrics, which we define here in three different ways: with respect to (a) hygroscopicity; (b) optical properties; and (c) chemical species abundance. We adopted a data-driven approach, leveraging deep learning and statistical learning techniques, to take advantage of massive PartMC model simulations. First, we performed particle-resolved simulations by PartMC to create a series of scenarios considering a range of global environmental conditions. Each scenario consists of aerosol populations and corresponding mixing state metrics. The gas concentration, aerosol mass concentration, environmental variables and mixing state metrics of each population constitute the datasets for machine learning implementations. We have adopted and evaluated various configurations of machine learning methodologies in this investigation, embracing deep learning, Extreme Gradient Boosting (XGBoost) algorithm, and the ensemble approaches. After a rigorous model selection process, we identified an appropriate model to derive estimates of aerosol mixing state metrics. We used the computational and data resources of the Oak Ridge Leadership Computing Facility (OLCF) and the ORNL Compute and Data Environment for Science (CADES). The NVIDIA DGX-1 hardware was used for the prototyping of the ML models. Our approach has allowed us to gain a new understanding of how machine learning methodologies can be applied to improve the representation of aerosol mixing state in atmospheric models and benefit the atmospheric research community. Next, we plan to extend our research and methodology to quantify some of the aerosol-related uncertainties in the E3SM Atmospheric Model (EAM) Version 1.
A Battery Health Monitoring Framework for Planetary Rovers
Batteries have seen an increased use in electric ground and air vehicles for commercial, military, and space applications as the primary energy source. An important aspect of using batteries in such contexts is battery health monitoring. Batteries must be carefully monitored such that the battery health can be determined, and end of discharge and end of usable life events may be accurately predicted. For planetary rovers, battery health estimation and prediction is critical to mission planning and decision-making. We develop a model-based approach utilizing computaitonally efficient and accurate electrochemistry models of batteries. An unscented Kalman filter yields state estimates, which are then used to predict the future behavior of the batteries and, specifically, end of discharge. The prediction algorithm accounts for possible future power demands on the rover batteries in order to provide meaningful results and an accurate representation of prediction uncertainty. The framework is demonstrated on a set of lithium-ion batteries powering a rover at NASA.
Towards Autonomous Lunar Resource Excavation via Reinforcement Learning
To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.
Estimation in satellite control.
The use of estimators or observers is discussed as applied to satellite attitude control and the control of drag-free satellites. The practical problems of implementation are discussed, and the relative advantages of full and reduced state estimators are compared, particularly in terms of their effectiveness and bandwidth as filters. Three applications are used to illustrate the principles. They are: (1) a reaction wheel control system, (2) a spinning attitude control system, and (3) a drag-free satellite translational control system. Fixed estimator gains are shown to be adequate for these (and many other) applications. Our experience in the hardware realization of estimators has led to categorize the error sources in terms of those that improve with increased estimator gains and those that get worse with increased estimator gains.
Starling Formation-Flying Optical Experiment: Initial Operations and Flight Results
This paper presents initial flight results for angles-only navigation of a swarm of small spacecraft, conducted during the Starling Formation-Flying Optical Experiment (StarFOX). StarFOX is one of four experiments aboard the NASA Starling mission, which consists of four CubeSats launched in July 2023. Angles-only methods apply inter-satellite bearing angles obtained by on-board cameras for navigation, increasing satellite autonomy and enabling new mission concepts. Nevertheless, prior flight demonstrations have only featured one observer and target and have relied upon a-priori target orbit knowledge for initialization, translational maneuvers to resolve target range, and external absolute orbit updates to maintain convergence. StarFOX overcomes these limitations by applying the angles-only Absolute and Relative Trajectory Measurement System (ARTMS), which integrates three novel algorithms. Image Processing detects and tracks multiple targets in images, using multi-hypothesis methods and domain-specific kinematic modeling, and computes target bearing angles. Batch Orbit Determination computes initial swarm orbit estimates from bearing angle batches, via iterative batch least squares and sampling of the weakly observable target range. Sequential Orbit Determination leverages an adaptive, efficient unscented Kalman filter with nonlinear models to refine swarm state estimates over time. Multi-observer measurements shared over an intersatellite link are seamlessly fused to enable robust absolute and relative orbit determination. Initial StarFOX experiments are the first demonstrations of autonomous angles-only navigation for a satellite swarm, including multi-target and multi-observer relative navigation; autonomous initialization of navigation for unknown targets; and simultaneous absolute and relative orbit determination. Relative navigation accuracy of 1% (single observer) and 0.2% (multi-observer) of the inter-satellite range is achieved under challenging measurement conditions. Results demonstrate promising performance with regards to ongoing StarFOX campaigns and the application of angles-only navigation to future distributed missions.
Relating the Hadamard Variance to MCS Kalman Filter Clock Estimation
The Global Positioning System (GPS) Master Control Station (MCS) currently makes significant use of the Allan Variance. This two-sample variance equation has proven excellent as a handy, understandable tool, both for time domain analysis of GPS cesium frequency standards, and for fine tuning the MCS's state estimation of these atomic clocks. The Allan Variance does not explicitly converge for the nose types of alpha less than or equal to minus 3 and can be greatly affected by frequency drift. Because GPS rubidium frequency standards exhibit non-trivial aging and aging noise characteristics, the basic Allan Variance analysis must be augmented in order to (a) compensate for a dynamic frequency drift, and (b) characterize two additional noise types, specifically alpha = minus 3, and alpha = minus 4. As the GPS program progresses, we will utilize a larger percentage of rubidium frequency standards than ever before. Hence, GPS rubidium clock characterization will require more attention than ever before. The three sample variance, commonly referred to as a renormalized Hadamard Variance, is unaffected by linear frequency drift, converges for alpha is greater than minus 5, and thus has utility for modeling noise in GPS rubidium frequency standards. This paper demonstrates the potential of Hadamard Variance analysis in GPS operations, and presents an equation that relates the Hadamard Variance to the MCS's Kalman filter process noises.
A Bayesian analysis of classical shadows
Abstract The method of classical shadows proposed by Huang, Kueng, and Preskill heralds remarkable opportunities for quantum estimation with limited measurements. Yet its relationship to established quantum tomographic approaches, particularly those based on likelihood models, remains unclear. In this article, we investigate classical shadows through the lens of Bayesian mean estimation (BME). In direct tests on numerical data, BME is found to attain significantly lower error on average, but classical shadows prove remarkably more accurate in specific situations—such as high-fidelity ground truth states—which are improbable in a fully uniform Hilbert space. We then introduce an observable-oriented pseudo-likelihood that successfully emulates the dimension-independence and state-specific optimality of classical shadows, but within a Bayesian framework that ensures only physical states. Our research reveals how classical shadows effect important departures from conventional thinking in quantum state estimation, as well as the utility of Bayesian methods for uncovering and formalizing statistical assumptions.
Off-line tracking of series parameters in distribution systems using AMI data
Electric distribution systems have historically lacked measurement points, and equipment is often operated to its failure point, resulting in customer outages. The widespread deployment of sensors at the distribution level is enabling observability. This paper presents an off-line parameter value tracking procedure that takes advantage of the increasing number of measurement devices being deployed at the distribution level to estimate changes in series impedance parameter values over time. The tracking of parameter values enables non-diurnal and non-seasonal change to be flagged for investigation. The presented method uses an unbalanced Distribution System State Estimation (DSSE) and a measurement residual-based parameter estimation procedure. Measurement residuals from multiple measurement snapshots are combined in order to increase the effective local redundancy and improve the robustness of the calculations in the presence of measurement noise. Data from devices on the primary distribution system and from customer meters, via an AMI system, form the input data set. Results of simulations on the IEEE 13-Node Test Feeder are presented to illustrate the proposed approach applied to changes in series impedance parameters. A 5% change in series resistance elements can be detected in the presence of 2% measurement error when combining less than 1 day of measurement snapshots into a single estimate.
An approach to online network monitoring using clustered patterns
Network traffic monitoring is a core element in network operations and management for various purposes such as anomaly detection, change detection, and fault/failure detection. In this study, we introduce a new approach to online monitoring using a pattern-based representation of the network traffic. Unlike the past online techniques limited to a single variable to summarize (e.g., sketch), the focus of this study is on capturing the network state from the multivariate attributes under consideration. To this end, we employ clustering with its benefit of the aggregation of multidimensional variables. The clustered result represents the state of the network with regard to the monitored variables, which can also be compared with the previously observed patterns visually and quantitatively. Finally, we demonstrate the proposed method with two popular use cases, one for estimating state changes and the other for identifying anomalous states, to confirm its feasibility.
Parameter identification of linear discrete stochastic systems with time delays
An identification algorithm that uses the maximum likelihood technique to identify the unknown time delays, plant parameters, and noise covariances of linear discrete stochastic systems is presented. Cases of additive white noise and colored measurement noises are considered. The likelihood function is evaluated using either a minimum-variance (Kalman) filter or a minimal-order observer. The Kalman filter is used in the identification algorithm to provide minimum-variance estimates. The minimal-order observer is a lower-dimensional and computationally simpler filter, and is advantageous especially for systems with long delays. It provides a less optimal solution to the minimum-mean-square state estimation problem. The colored-noise observer algorithm has the disadvantage of having to compute an extra error covariance matrix of lower order.
Classification and regression models of audio and vibration signals for machine state monitoring in precision machining systems
Here we present a data-driven method for monitoring machine status in manufacturing processes. Audio and vibration data from precision machining are used for inference in two operating scenarios: (a) variable machine health states (anomaly detection); and (b) settings of machine operation (state estimation). Audio and vibration signals are first processed through Fast Fourier Transform and Principal Component Analysis to extract transformed and informative features. These features are then used in the training of classification and regression models for machine state monitoring. Specifically, three classifiers (K-nearest neighbors, convolutional neural networks and support vector machines) and two regressors (support vector regression and neural network regression) were explored, in terms of their accuracy in machine state prediction. It is shown that the audio and vibration signals are sufficiently rich in information about the machine that 100% state classification accuracy could be accomplished. Data fusion was also explored, showing overall superior accuracy of data-driven regression models.