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Results for “Simultaneous Localization and Mapping”

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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Oxidation Behavior of Carbon Fiber-Reinforced Composites

OXIMAP is a numerical (FEA-based) solution tool capable of calculating the carbon fiber and fiber coating oxidation patterns within any arbitrarily shaped carbon silicon carbide composite structure as a function of time, temperature, and the environmental oxygen partial pressure. The mathematical formulation is derived from the mechanics of the flow of ideal gases through a chemically reacting, porous solid. The result of the formulation is a set of two coupled, non-linear differential equations written in terms of the oxidant and oxide partial pressures. The differential equations are solved simultaneously to obtain the partial vapor pressures of the oxidant and oxides as a function of the spatial location and time. The local rate of carbon oxidation is determined at each time step using the map of the local oxidant partial vapor pressure along with the Arrhenius rate equation. The non-linear differential equations are cast into matrix equations by applying the Bubnov-Galerkin weighted residual finite element method, allowing for the solution of the differential equations numerically.

Sullivan, Roy M.↗
NASA NTRS2018

Interstellar Mapping and Acceleration Probe (IMAP): A New NASA Mission

The Interstellar Mapping and Acceleration Probe (IMAP) is a revolutionary mission that simultaneously investigates two of the most important overarching issues in Heliophysics today: the acceleration of energetic particles and interaction of the solar wind with the local interstellar medium. While seemingly disparate, these are intimately coupled because particles accelerated in the inner heliosphere play critical roles in the outer heliospheric interaction. Selected by NASA in 2018, IMAP is planned to launch in 2024. The IMAP spacecraft is a simple sun-pointed spinner in orbit about the Sun-Earth L1 point. IMAP's ten instruments provide a complete and synergistic set of observations to simultaneously dissect the particle injection and acceleration processes at 1 AU while remotely probing the global heliospheric interaction and its response to particle populations generated by these processes. In situ at 1 AU, IMAP provides detailed observations of solar wind electrons and ions; suprathermal, pickup, and energetic ions; and the interplanetary magnetic field. For the outer heliosphere interaction, IMAP provides advanced global observations of the remote plasma and energetic ions over a broad energy range via energetic neutral atom imaging, and precise observations of interstellar neutral atoms penetrating the heliosphere. Complementary observations of interstellar dust and the ultraviolet glow of interstellar neutrals further deepen the physical understanding from IMAP. IMAP also continuously broadcasts vital real-time space weather observations. Finally, IMAP engages the broader Heliophysics community through a variety of innovative opportunities. This papersummarizes the IMAP mission at the start of Phase A development.

McComas, D. J.↗
DOE OSTI2026

Supervised Learning-Based Spatial Position Estimation with Vertical Displacement for Hovering UAV Wireless Power Transfer

This study presents a supervised learning-based spatial position estimation approach for wireless power transfer (WPT) systems supporting hovering unmanned aerial vehicle (UAV) charging. Unlike stationary charging scenarios, hovering UAVs introduce continuous lateral misalignment and vertical displacement, leading to variations in magnetic coupling and reduced power transfer efficiency. To address this challenge, the proposed method estimates the relative spatial position of the receiver coil using only electrical measurements obtained at the secondary side. A supervised learning model is trained to map output voltage and current features to spatial coordinates, enabling position awareness without requiring external sensors, vision systems, or communication links. The sensing functionality is inherently integrated into the WPT system, allowing simultaneous power transfer and localization through the same magnetic interface. Experimental validation is conducted on a laboratory-scale prototype under varying lateral offsets and air-gap conditions. In addition, spline-based interpolation is employed to increase spatial data density for training. The results demonstrate that the proposed framework can capture spatial variations associated with both lateral and vertical displacement, providing reliable position estimation under hovering conditions. This work establishes a hardware-efficient, sensorless solution for UAV wireless charging and serves as a baseline for advanced data-driven position estimation methods in dynamic WPT systems.

Asa, Erdem [ORNL] (ORCID:0000000190884812)↗
NASA NTRS2003

A Model for the Oxidation of C/SiC Composite Structures

A mathematical theory and an accompanying numerical scheme have been developed for predicting the oxidation behavior of C/SiC composite structures. The theory is derived from the mechanics of the flow of ideal gases through a porous solid. Within the mathematical formulation, two diffusion mechanisms are possible: (1) the relative diffusion of one species with respect to the mixture, which is concentration gradient driven and (2) the diffusion associated with the average velocity of the gas mixture, which is total gas pressure gradient driven. The result of the theoretical formulation is a set of two coupled nonlinear differential equations written in terms of the oxidant and oxide partial pressures. The differential equations must be solved simultaneously to obtain the partial vapor pressures of the oxidant and oxides as a function of space and time. The local rate of carbon oxidation is determined as a function of space and time using the map of the local oxidant partial vapor pressure along with the Arrhenius rate equation. The nonlinear differential equations are cast into matrix equations by applying the Bubnov-Galerkin weighted residual method, allowing for the solution of the differential equations numerically. The end result is a numerical scheme capable of determining the variation of the local carbon oxidation rates as a function of space and time for any arbitrary C/SiC composite structures.

Sullivan, Roy M.↗
NASA NTRS1984

Active attenuation of propeller blade passage noise

Acoustic measurements are presented to show that active cancellation can be used to achieve significant reduction of blade passage noise in a turboprop cabin. Simultaneous suppression of all blade passage frequencies was attained. The spatial volume over which cancellation occurred, however, is limited. Acoustic intensity maps are presented to show that the acoustic input to the fuselage was sufficiently non-localized so as to require more judicious selection of cancellation speaker location.

Zalas, J. M.↗
DOE OSTI2024

Correlating activities and defects in (photo)electrocatalysts using in-situ multi-modal microscopic imaging

Photo(electro)catalysts use sunlight to drive chemical reactions such as water splitting. A major factor limiting photocatalyst development is physicochemical heterogeneity which leads to spatially dependent reactivity. To link structure and function in such systems, simultaneous probing of the electrochemical environment at microscopic length scales and a broad range of timescales (ns to s) is required. Here, we address this challenge by developing and applying in- situ (optical) microscopies to map and correlate local electrochemical activity, with hole lifetimes, oxygen vacancy concentrations and photoelectrode crystal structure. Using this multi-modal approach, we study prototypical hematite (α-Fe 2 O 3 ) photoelectrodes. We demonstrate that regions of α-Fe 2 O 3 , adjacent to microstructural cracks have a better photoelectrochemical response and reduced back electron recombination due to an optimal oxygen vacancy concentration, with the film thickness and extended light exposure also influencing local activity. Our work highlights the importance of microscopic mapping to understand activity, in even seemingly homogeneous photoelectrodes.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2024

Tailoring Interlayer Coupling in Few-Layer MoS 2 with Stacking Configuration

Here we manipulated the stacking configuration of a few-layer MoS 2 to investigate the impact of interlayer coupling on electrical band engineering. By simultaneously synthesizing two distinct stacking types of MoS2 islands, wedding cake (W) and spiral (S), on the same substrate, we explored layer-dependent electrical properties under identical experimental conditions. We used multiple scanning probe microscopy techniques to map local electronic properties with respect to the number of layers, stacking configurations, and local heterogeneities. First-principles calculations verified the role of distinct interlayer coupling in terms of the interlayer distance. Our findings highlight the critical role of interlayer coupling in applications of transition metal dichalcogenides.

36 MATERIALS SCIENCE↗
DOE OSTI2022

A process optimization framework for laser direct energy deposition: Densification, microstructure, and mechanical properties of an Fe-Cr alloy

Laser Direct Energy Deposition (DED) is a metal additive manufacturing technique with the ability to fabricate large and complex parts through deposition of metal powders. However, achieving high-density parts and targeted build heights using DED can be challenging due to the large number of highly sensitive process variables. This work proposes a robust fabrication parameter optimization framework to generate process maps for primary parameters in DED, including laser power, scan speed, mass flow rate, hatch spacing, and layer height. Simple single-track experiments were utilized to map out the parameter space, and a combination of geometric criteria for hatch spacing and layer height were proposed to determine parameter sets that achieve both targeted build heights and mitigate porosity formation. Using this framework, specimens with >99 % density and consistent mechanical properties were successfully fabricated over a wide range of process parameters for an Fe-9wt.%Cr (Fe9Cr) alloy, a surrogate for radiation damage-resistant reduced activation ferritic/martensitic (RAFM) steels. Processing these materials using DED is of particular interest in the development of plasma facing components for nuclear fusion applications. The microstructure and mechanical properties of as-printed Fe9Cr were characterized using optical and electron microscopy, X-ray diffraction, and uniaxial tensile tests. As-printed Fe9Cr displayed ~25 % elongation and ultimate tensile strengths of up to 475 MPa which is comparable to similar wrought alloys. Finally, the proposed framework will allow for accelerated DED parameter optimization for novel alloy systems, as well as open the possibility for local microstructure control while simultaneously mitigating defect formation.

42 ENGINEERING↗
NASA NTRS1982

Direct force wall shear measurements in pressure-driven three-dimensional turbulent boundary layers

Unique, simultaneous direct measurements of the magnitude and direction of the local wall shear stress in a pressure-driven three-dimensional turbulent boundary layer are presented. The flow is also described with an oil streak wall flow pattern, a map of the wall shear stress-wall pressure gradient orientations, a comparison of the wall shear stress directions relative to the directions of the nearest wall velocity as measured with a typical, small boundary layer directionally sensitive claw probe, as well as limiting wall streamline directions from the oil streak patterns, and a comparison of the freestream streamlines and the wall flow streamlines. A review of corrections for direct force sensing shear meters for two-dimensional flows is presented with a brief discussion of their applicability to three-dimensional devices.

Mcallister, J. E.↗
DOE OSTI2025

Deep learning of structural morphology imaged by scanning X-ray diffraction microscopy

Scanning X-ray nanodiffraction microscopy is a powerful technique for spatially resolving nanoscale structural morphologies by diffraction contrast. One of the critical challenges in experimental nanodiffraction data analysis is posed by the convergence angle of nanoscale focusing optics which creates simultaneous dependency of the far-field scattering data on three independent components of the local strain tensor-corresponding to dilation and two potential rigid body rotations of the unit cell. All three components are in principle resolvable through a spatially mapped sample tilt series; however, traditional data analysis is computationally expensive and prone to artifacts. In this study, we implement NanobeamNN, a convolutional neural network specifically tailored to the analysis of scanning probe X-ray microscopy data. NanobeamNN learns lattice strain and rotation angles from simulated diffraction of a focused X-ray nanobeam by an epitaxial thin film and can directly make reasonable predictions on experimental data without the need for additional fine-tuning. We demonstrate that this approach represents a significant advancement in computational speed over conventional methods, as well as a potential improvement in accuracy over the current standard.

Luo, Aileen [Cornell Univ., Ithaca, NY (United Sta↗
NASA NTRS1990

Electric field measurements during the MAC/EPSILON campaign

The MAC/EPSILON observational campaign in northern Norway involved the taking of three-axis electric field measurements of the middle atmosphere by means of five rocketborne payloads during October and November, 1987. Simultaneous horizontal electric field measurements made by two of the rocket flights were in general agreement in their limited overlap region. The more extensive horizontal E-field measurements exhibited a decreasing mapping function with decreasing altitude, thereby indicating the presence of fields from a local auroral patch. Small-scale variations in the horizontal fields of the lights were similar to observed wavelike variations in the neutral wind field.

Croskey, C. L.↗
NASA NTRS1989

Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.

Colbaugh, R.↗
NASA NTRS1990

Distributed memory approaches for robotic neural controllers

The suitability is explored of two varieties of distributed memory neutral networks as trainable controllers for a simulated robotics task. The task requires that two cameras observe an arbitrary target point in space. Coordinates of the target on the camera image planes are passed to a neural controller which must learn to solve the inverse kinematics of a manipulator with one revolute and two prismatic joints. Two new network designs are evaluated. The first, radial basis sparse distributed memory (RBSDM), approximates functional mappings as sums of multivariate gaussians centered around previously learned patterns. The second network types involved variations of Adaptive Vector Quantizers or Self Organizing Maps. In these networks, random N dimensional points are given local connectivities. They are then exposed to training patterns and readjust their locations based on a nearest neighbor rule. Both approaches are tested based on their ability to interpolate manipulator joint coordinates for simulated arm movement while simultaneously performing stereo fusion of the camera data. Comparisons are made with classical k-nearest neighbor pattern recognition techniques.

Jorgensen, Charles C.↗
NASA NTRS1981

Venus gravity fields

Results of Pioneer Venus Orbiter observations concerning the gravity field of Venus are presented. The gravitational data was obtained from reductions of Doppler radio tracking data for the Orbiter, which is in a highly eccentric orbit with periapsis altitude varying from 145 to 180 km and nearly fixed periapsis latitude of 15 deg N. The global gravity field was obtained through the simultaneous estimation of the orbit state parameters and gravity coefficients from long-period variations in orbital element rates. The global field has been described with sixth degree and order spherical harmonic coefficients, which are capable of resolving the three major topographical features on Venus. Local anomalies have been mapped using line-of-sight accelerations derived from the Doppler residuals between 40 deg N and 10 deg S latitude at approximately 300 km spatial resolution. Gravitational data is observed to correspond to topographical data obtained by radar altimeter, with most of the gravitational anomalies about 20-30 milligals. Simulations evaluating the isostatic states of two topographic features indicate that at least partial isostasy prevails, with the possibility of complete compensation.

Sjogren, W. L.↗
NASA NTRS2003

Structure and Variability of Water Vapor in the Upper Troposphere and Lower Stratosphere

An algorithm has been developed to synoptically-map asynoptic measurements, while rejecting small-scale under-sampled variance that is intrinsic to satellite measurements of water vapor, cloud, and other convective properties. The algorithm has been validated against high-resolution Global Cloud Imagery (GCI) , constructed from 6 satellites simultaneously viewing the global convective pattern. It has been applied to synoptically map Upper-tropospheric humidity (UTH) from UARS/MLS. Mapped distributions of UTH have been used, jointly with the GCI, to study how the upper troposphere is humidified. The time-mean distribution of UTH is spatially correlated to the time-mean distribution of cold cloud fraction eta(sub c) (T less than 230 K). Regions of large UTH coincide with regions of large eta(sub c), which mark deep convection. They also coincide with regions of reduced vertical stability, in which the vertical gradient of Theta is weakened by convective mixing. Coldest cloud cover is attended convective overshoots above the local tropopause, which is simultaneously coldest and highest. Together, these features reflect the upper-troposphere being ventilated by convection, which mixes in air from lower levels.

Salby, Murry L.↗
NASA NTRS1973

Conformal mapping technique for two-dimensional porous media and jet impingement heat transfer

Transpiration cooling and liquid metals both provide highly effective heat transfer. Using Darcy's law in porous media, and the inviscid approximation for liquid metals, the local fluid velocity in these flows equals the gradient of a potential, The energy equation and flow region are simplified when transformed into potential plane coordinates. In these coordinates the present problems are reduced to heat conduction solutions which are mapped into the physical geometry. Results are obtained for a porous region with simultaneously prescribed surface temperature and heat flux, heat transfer in a two-dimensional porous bed, and heat transfer for two liquid metal slot jets impinging on a heated plate.

Siegel, R.↗
NASA NTRS1974

Conformal mapping technique for two-dimensional porous media and jet impingement heat transfer

Transpiration cooling and liquid metals both provide highly effective heat transfer. Using Darcy's law in porous media and the inviscid approximation for liquid metals, the local fluid velocity in these flows equals the gradient of a potential. The energy equation and flow region are simplified when transformed into potential plane coordinates. In these coordinates, the present problems are reduced to heat conduction solutions which are mapped into the physical geometry. Results are obtained for a porous region with simultaneously prescribed surface temperature and heat flux, heat transfer in a two-dimensional porous bed, and heat transfer for two liquid metal slot jets impinging on a heated plate.

Siegel, R.↗
NASA NTRS2005

Vision Based Localization in Urban Environments

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

unmanned-ground vehicles↗