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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 829 records · Page 46
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Dual-arm manipulators with adaptive control

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗
NASA NTRS1995

Method and apparatus for adaptive force and position control of manipulators

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗
NASA NTRS1972

Cable manufacture

A survey is presented of flat electrical cable manufacturing, with particular reference to patented processes. The economics of manufacture based on an analysis of material and operating costs is considered for the various methods. Attention is given to the competitive advantages of the several processes and their resulting products. The historical area of flat cable manufacture is presented to give a frame of reference for the survey.

Gamble, P.↗
NASA NTRS1986

The resolved layer of a collisionless, high beta, supercritical, quasi-perpendicular shock wave. I - Rankine-Hugoniot geometry, currents, and stationarity

Data collected by the ISEE dual-spacecraft mission (on November 7, 1977) on a slowly moving, supercritical, high-beta, quasi-perpendicular bow shock are presented, and the local geometry, spatial scales, and stationarity of this shock wave are assessed in a self-consistent Rankine-Hugoniot-constrained frame of reference. Included are spatial profiles of the ac and dc magnetic and electric fields, electron and proton fluid velocities, current densities, electron and proton number densities, temperatures, pressures, and partial densities of the reflected protons. The observed layer profile is shown to be nearly phase standing and one-dimensional in a Rankine-Hugoniot frame, empirically determined by the magnetofluid parameters outside the layer proper.

Scudder, J. D.↗
NASA NTRS2022

UAM Research – X4: Introduction to Community Based Rules (CBRs)

Recent advances in technology have enabled industry development of new and innovative vehicle types, offering lower operating costs and highly automated functionality that facilitates the introduction of new types of operations. These include low-altitude airspace operations with small Unmanned Aircraft Systems (UASs), short distance urban and intercity operations, and high- altitude Upper Class E operations. These and other new operations are expected to result in a much higher operational tempo than is currently experienced across the National Airspace System (NAS). The projected increase in operations, as well as the introduction of new aircraft form factors and supporting technologies—including increasing autonomy—will present challenges to the existing Air Traffic Management (ATM) system, which is currently unable to cost-effectively scale and deliver needed services. In response to these challenges and opportunities, a highly automated, cooperative environment incorporating a federated network has been envisioned and described through multiple operational concepts, depicting the future operating environment as part of the NAS. Foundational to the success of this future operating environment is the establishment of common business rules and understandings across relevant stakeholders, referred to as Community Based Rules (CBRs). Development, adoption, and implementation of CBRs will require collaboration across multiple stakeholders, including operators, support services (industry), and the Federal Aviation Administration (FAA), to identify and resolve a broad range of questions and challenges. Examples of these questions include “what rules are needed?”, “how are they expressed?”, and “how will they be managed?” This document identifies and describes an initial set of questions and considerations to be examined as efforts begin to create the innovative, automated, cooperative operating environment of the future. The goal is to establish a common frame of reference to support discussions and decisions regarding the future implementation of CBRs as part of the NAS.

Community Based Rules↗
NASA NTRS1994

Differential GPS and system integration of the Low Visibility Landing and Surface Operations (LVLASO) demonstration

The LVLASO Flight Demonstration of ASTA concepts (FDAC) integrates NASA-Langley's electronic moving map display and Transport Systems Research Vehicle (TSRV) (a modified Boeing 737 aircraft); ARINC's VHF data link, GPS ground station, and automated controller workstation; and Norden's surface radar/airport movement safety system. Aircraft location is shown on the electronic map display in the cockpit. An approved taxi route as well as other aircraft and surface traffic are also displayed. An Ashtech Z12 Global Positioning System (GPS) receiver on the TSRV estimates the aircraft's position. In Differential mode (DSPS), the Ashtech receiver accepts differential C/A code pseudorange corrections from a GPS ground station. The GPS ground station provides corrections up to ten satellites. The corrections are transmitted on a VHF data link at a 1 Hz. rate using the RTCM-104 format. DGPS position estimates will be within 5 meters of actual aircraft position. DGPS position estimates are blended with position, velocity, acceleration, and heading data from the TSRV Air Data/Inertial Reference System (ADIRS). The ADIRS data is accurate in the short-term, but drifts over time. The DGPS data is used to keep the ADIRS position accurate. Ownship position, velocity, heading, and turn rate are sent at a 20 Hz. rate to the electronic map display. Airport traffic is detected by the airport surface radar system. Aircraft and vehicles such as fuel trucks and baggage carts are detected. The traffic's location, velocity, and heading are sent to the TSRV. To prevent traffic symbology from jumping each second when a location update arrives, velocity and heading are used to predict a new traffic location for each display update. Possible runway incursions and collisions can be shown on the electronic map. Integrating the different systems used in the FDAC requires attention to the underlying coordinate systems. The airport diagram displayed on the electronic map is obtained from published navigational charts. The charts reference the North American Datum of 1927 (NAD27) or a local state-plane coordinate system. GPS uses the World Geodetic Standard of 1984 (WGS84). Both NAD27 and WGS84 model the Earth as an ellipsoid, however, they use a different origin and different size ellipsoids. Latitudes and longitudes given in these systems can be converted to a Cartesian system with the origin at the Earth's center. The surface radar detects traffic in a locally-level, rho-theta coordiante system. The electronic airport diagram is stored using a flat XY coordinate system. The map origin is at the tower and is referenced as True North up. All ownship and other traffic positions must be converted to the electronic map's frame of reference for display.

Rankin, James M.↗
NASA NTRS2013

Misalignment Effect Function Measurement for Oblique Rotation Axes: Counterintuitive Predictions and Theoretical Extensions

The Misalignment Effect Function (MEF) describes the decrement in manual performance associated with a rotation between operators' visual display frame of reference and that of their manual control. It now has been empirically determined for rotation axes oblique to canonical body axes and is compared with the MEF previously measured for rotations about canonical axes. A targeting rule, called the Secant Rule, based on these earlier measurements is derived from a hypothetical process and shown to describe some of the data from three previous experiments. It explains the motion trajectories determined for rotations less than 65deg in purely kinematic terms without the need to appeal to a mental rotation process. Further analysis of this rule in three dimensions applied to oblique rotation axes leads to a somewhat surprising expectation that the difficulty posed by rotational misalignment should get harder as the required movement is shorter. This prediction is confirmed. Geometry underlying this rule also suggests analytic extensions for predicting more generally the difficulty of making movements in arbitrary directions subject to arbitrary misalignments.

rotated control frames↗
DOE OSTI2026

An Optimized Parameterization of Sub‐Grid Scale Advection for Convection Permitting Models

Convection‐permitting models (CPMs) explicitly resolve deep convection yet under‐resolve the organized lateral exchanges among drafts and their environment that control entrainment/detrainment, precipitation efficiency, and mesoscale structure. In this work, we introduce the Optimized Advection Scheme (OAS), which introduces a small rotation of the Cartesian frame of reference for the horizontal winds relative to other variables used in advection that induces cross‐gradient transport to mimic under‐resolved convective mixing. The rotation angle is selected to minimize the Kullback–Leibler divergence between the simulated and satellite observed precipitation intensity distributions, yielding a physically consistent perturbation that is computationally inexpensive and portable. Optimized Advection Scheme is implemented in WRF and evaluated over Amazon (April 2014). It shifts precipitation–precipitable‐water joint distributions toward lighter rain, reduces overly intense rates, and improves mesoscale convective system (MCS) lifetime and propagation. Mechanistically, the added cross‐gradient transport promotes convective detrainment and environmental mixing, which cools and moistens the mid‐troposphere, weakens downward momentum transport, alleviates excessive downwelling shortwave biases, and warms the surface temperature. The optimized rotation angle yields comparable improvements at 4‐km and 1‐km grid spacing, demonstrating resolution‐independent benefits across the CPM gray zone. By targeting the dynamical root of under‐mixed convective circulations, rather than tuning model microphysics or closures, OAS delivers robust, scale‐aware improvements in precipitation statistics, cloud vertical structure, and characteristics of MCS (MCSs), offering a practical pathway to more reliable CPM simulations for weather and climate applications.

CPM↗
DOE OSTI2024

Explicit simulation of the Brownian rotation of arbitrary shaped aerosol particles using quaternions

The shape of an aerosol particle strongly influences its mass and momentum transfer cross-sections, charging properties, and other physical properties. Here, we present an explicit time-stepping procedure to simulate the rotational Brownian motion of arbitrary shaped aerosol particles by solving Euler’s equation of rotation. A Langevin formulation of the rotation equations is used, wherein Brownian motion due to thermal collisions between a particle and background gas molecules is represented using a stochastic fluctuating torque and fluid resistance is included as a drag torque. To avoid singularities associated with describing the orientation of a shape with Euler angles, we employ a quaternion formulation that leads to first-order stochastic differential equations to describe the evolution of the angular position and angular velocity of a rigid body. We perform all the rotational dynamics calculations in the body-fixed frame of reference attached to the rotating shape whose basis vectors are the normalized eigenvectors of the inertia tensor of the particle. Numerical solutions to rotation under torque-free conditions, damped rotation without Brownian motion, and stochastic rotation for arbitrary shapes are presented and discussed. The presented method enables time-resolved simulation of Brownian rotation for direct comparison with experimentally measured trajectories or statistical measures. The second order accuracy of the used time-stepping procedure places a severe restriction on the timestep that can be used for obtaining accurate results. Animations of presented simulations are included for visualizing rotational motion at various gas pressures. To aid implementation, MATLAB ® codes are also provided. Extension to include translation Brownian motion is straightforward.

Roy, Mrittika↗
DOE OSTI2025

Generalized parton distributions from lattice QCD with asymmetric momentum transfer: Unpolarized quarks at nonzero skewness

We extend the formalism of asymmetric frames of reference for generalized parton distributions (GPDs) to the case of nonzero skewness, i.e., including longitudinal momentum transfer. The framework, based on Lorentz-invariant amplitudes and previously developed and numerically implemented for unpolarized, helicity and transversity GPDs at zero skewness, gives efficient access to a broad range of kinematics, making full mapping of GPDs from the lattice realistic. The general-skewness formalism is tested using lattice data with both transverse and longitudinal or only longitudinal momentum transfer, the latter being a special case with a reduced number of independent amplitudes. We extract the amplitudes in coordinate space and express the GPDs 𝐻 and 𝐸 in terms of these amplitudes. This is followed by reconstruction of quasidistributions and their matching to the light cone. We further identify and discuss the principal challenges for nonzero skewness GPDs.

Lattice QCD↗
DOE OSTI2026

Comprehensive framework for assessing and optimizing existing research networks

Conservation, monitoring, and research networks, or collections of ecological research sites unified under a common mission of data collection or a research mission, are essential infrastructure for understanding large landscapes. However, most networks developed opportunistically over decades rather than through systematic design, creating potential limitations in the ability to address conservation challenges across entire regions. We developed a framework to evaluate how well an existing research network represents the environmental conditions its members study and devised an approach to rank sites of priority for strategic expansion. Our approach measures performance through environmental representativeness, geographic coverage, and adequacy for scientific inference and thus optimizes limited monitoring resources to maximize scientific impact. We demonstrated this approach with the U.S. Department of Agriculture (USDA) Forest Service Experimental Forests and Ranges Network (EFRN), a 79‐site network across the United States that grew opportunistically over a century. At the national scale, the network effectively captured high‐biomass forests important for carbon cycle research; 82% of forest biomass was in well‐represented areas. Some areas in Texas, Florida, the Rocky Mountains, and the West Coast had no relevant EFRN sites, which limits the ability to make regional inferences. A fundamental challenge for the EFRN was that sites improving regional extent coverage sometimes provided minimal national benefits, which can create conflicts between local and global priorities. Adding the highest‐ranked candidate site provided a relevant site for 17% of currently poorly represented 1‐km pixel cells nationally, but regional and national site rankings varied considerably due to nested spatial inference. This framework provides quantitative tools for strategic infrastructure decision‐making, ensures that limited monitoring resources maximize conservation impact, and can be applied broadly to address the widespread challenge of optimizing conservation and monitoring networks worldwide.

additional site↗
DOE OSTI2026

Finite deformation implementation of a mixed-mode single-integral type cohesive zone with reorienting surfaces of separation

To model material ductile failure and crack propagation, cohesive zone elements can be embedded along potential fracture paths in a finite element simulation. When damage criteria are met, elements in the mesh decohere, simulating the formation and propagation of a crack. In this paper, we present a novel computational algorithm based on finite deformation theory, essential to modeling crack initiation and growth in solids undergoing large deformations. This new algorithm was formulated within a Lagrangian frame of reference to extend previous cohesive zone algorithms to include modeling crack growth in finite deformation contexts. The local coordinate system, necessary for defining an embedded cohesive zone, is constructed based upon the current configuration and is updated within the nonlinear iteration process, thereby resulting in the convergence of the solution for a growing crack in a large deformation quasi-static setting. The model’s accuracy was demonstrated by comparing finite element model simulation results with the analytic case of a constant surface separation, as shown in the verification examples. The power and efficacy of the algorithm to capture large deformations during crack growth were then demonstrated with a double cantilever beam example case. It indicates that the model can be applied to a variety of physical circumstances for predicting crack initiation and growth with delamination and fracture.

42 ENGINEERING↗
DOE OSTI2026

From Raw to Curated Data: A Lakehouse Approach for Scientific Workflows

This report provides a technical overview of how to go from raw to curated data in three stages using a lakehouse approach. We focus on the application of open source tools in scientific use cases (while noting parallels to enterprise and commercial alternatives). Our goal is to provide scientific data managers and infrastructure providers with a common frame of reference for understanding and applying modern lakehouse technologies and approaches.

96 KNOWLEDGE MANAGEMENT AND PRESERVATION↗
DOE OSTI2026

A State-Space Model for Stability Boundary Analysis of Grid-Following Voltage Source Converters Considering Grid Conditions

With the growing significance of renewable energy resources and energy storage systems, the number of grid-connected inverters has been rising at an increasingly rapid pace. Generally, these inverters are directly integrated with the distribution network by synchronizing with the grid voltage at the point of common coupling. However, the low grid strength and varying R/X ratios, as the common characteristics of most distribution networks or weak grids, can lead to dynamic interactions that comprise stability and limit the power transfer capacity of grid-connected inverters. To ensure stable operation of the inverters, researchers must determine the stability boundary, described as the maximum power transfer capacity of grid-connected inverters under the premise of maintaining system small-signal stability. For this purpose, we propose to formulate a state-space model of the system in the synchronously rotating dq-frame of reference and perform eigenvalue analysis to determine the stability boundary. With a detailed model of the control structure and parameters of the grid-connected inverters, the stability boundary is identified as a surface with respect to different grid strengths and R/X ratios. Case study results of proposed eigenvalue analysis are compared with those of admittance model-based stability analysis as well as time-domain simulation using a switching model in Matlab/Simulink, validating the effectiveness and accuracy of the proposed eigenvalue analysis for stability boundary identification.

grid-connected inverters↗
NASA NTRS1966

Some unique applications of intense magnetic fields

A brief history of our knowledge of ordinary magnetism and electromagnetism is given, from the time of the Roman poet, Lucretius Carus, to the present. Practical examples of magnetic field strength associated with objects familiar to all are discussed, and a frame of reference regarding magnetic field strength is thereby established. The earliest known investigators of intense transient magnetic field manipulation of solid conductor materials are mentioned, and the phenomena described. Systems, apparatus, and basic theory of operation are detailed. The importance of adequate diagnostics is discussed, and some techniques employed are illustrated. The "magnetic sawing" phenomenon is described, and implications explained. Typical applications are shown, including swaging, sizing, sealing. clamping, forming, and other unique neoterisms. A particularly successful application, the magnetomotive sizer, is described in detail, and beneficial application in the Saturn V program is described. Potential industrial applications are prognosticated, and developmental trends are indicated.

Electromagnetic field↗
NASA NTRS1968

The Compton-getting effect.

Transformation of differential mean and current densities and anisotropy of cosmic ray particles and photons observed in frames of reference relative to each other with isotropic flux

Axford, W. I.↗
NASA NTRS1970

Technique for analyzing human respiratory process

Electronic system /MIRACLE 2/ places frequency and gas flow rate of the respiratory process within a common frame of reference to render them comparable and compatible with ''real clock time.'' Numerous measurements are accomplished accurately on a strict one-minute half-minute, breath-by-breath, or other period basis.

Liu, F. F.↗