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NASA NTRS1988

Dynamic evaluation of a traction-drive joint for space telerobots

Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stability, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented.

Desilva, Clarence W.↗

NASA NTRS1991

Dynamic evaluation of the NASA-ORNL traction-drive joint

Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stabiliby, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented.

De Silva, Clarence W.↗

DOE OSTI2022

RAFT (Response Amplitudes of Floating Turbines) [SWR-22-40]

RAFT is a Python code for frequency-domain analysis of floating wind turbines. RAFT works in the frequency domain to provide efficient computations of a floating wind system's response spectra accounting for platform hydrodynamics, quasi-static mooring reactions, rotor aerodynamics, and linearized control. It can be used to calculate response amplitude operators (RAO's), power spectral densities, mean/static properties, and response metrics based on mean and root-mean-square values of each output. RAFT serves as the Level 1 model in the WEIS (Wind Energy with Integrated Servo-control) toolkit, and features an OpenMDAO wrapper.

Hall, Matthew↗

NASA NTRS1990

Modeling and control design of a wind tunnel model support

The 12-Foot Pressure Wind Tunnel at Ames Research Center is being restored. A major part of the restoration is the complete redesign of the aircraft model supports and their associated control systems. An accurate trajectory control servo system capable of positioning a model (with no measurable overshoot) is needed. Extremely small errors in scaled-model pitch angle can increase airline fuel costs for the final aircraft configuration by millions of dollars. In order to make a mechanism sufficiently accurate in pitch, a detailed structural and control-system model must be created and then simulated on a digital computer. The model must contain linear representations of the mechanical system, including masses, springs, and damping in order to determine system modes. Electrical components, both analog and digital, linear and nonlinear must also be simulated. The model of the entire closed-loop system must then be tuned to control the modes of the flexible model-support structure. The development of a system model, the control modal analysis, and the control-system design are discussed.

Howe, David A.↗

NASA NTRS1991

Modeling and control design of a wind tunnel model support

Howe, David A.↗

NASA NTRS2006

Robust Coordination for Large Sets of Simple Rovers

The ability to coordinate sets of rovers in an unknown environment is critical to the long-term success of many of NASA;s exploration missions. Such coordination policies must have the ability to adapt in unmodeled or partially modeled domains and must be robust against environmental noise and rover failures. In addition such coordination policies must accommodate a large number of rovers, without excessive and burdensome hand-tuning. In this paper we present a distributed coordination method that addresses these issues in the domain of controlling a set of simple rovers. The application of these methods allows reliable and efficient robotic exploration in dangerous, dynamic, and previously unexplored domains. Most control policies for space missions are directly programmed by engineers or created through the use of planning tools, and are appropriate for single rover missions or missions requiring the coordination of a small number of rovers. Such methods typically require significant amounts of domain knowledge, and are difficult to scale to large numbers of rovers. The method described in this article aims to address cases where a large number of rovers need to coordinate to solve a complex time dependent problem in a noisy environment. In this approach, each rover decomposes a global utility, representing the overall goal of the system, into rover-specific utilities that properly assign credit to the rover s actions. Each rover then has the responsibility to create a control policy that maximizes its own rover-specific utility. We show a method of creating rover-utilities that are "aligned" with the global utility, such that when the rovers maximize their own utility, they also maximize the global utility. In addition we show that our method creates rover-utilities that allow the rovers to create their control policies quickly and reliably. Our distributed learning method allows large sets rovers be used unmodeled domains, while providing robustness against rover failures and changing environments. In experimental simulations we show that our method scales well with large numbers of rovers in addition to being robust against noisy sensor inputs and noisy servo control. The results show that our method is able to scale to large numbers of rovers and achieves up to 400% performance improvement over standard machine learning methods.

Tumer, Kagan↗

NASA NTRS1990

Active control of bearing preload using piezoelectric translators

In many spacecraft applications, mechanisms are required to perform precision pointing operations or to sometimes dither about or track a moving object. These mechanisms perform in a predictable and repeatable manner in benign temperature environments. Severe thermal gradients experienced in actual space applications however, cause assemblies to expand and contract around their bearings. This results in unpredictable changes in bearing preload, and hence bearing friction. This becomes a limitation for servos controlling pointing accuracy. Likewise, uncontrollable vibrations may couple into fixed preload (hence, fixed stiffness) mechanisms and limit pointing accuracy. Consequently, a complex problem faced today is how to design mechanisms that remain insensitive to changing thermal and vibrational spacecraft environments. Research presented involves the simplified modeling and test results of an actuator module that used piezoelectrically preload controlled bearings. The feasibility of actively controlling bearing preload was demonstrated. Because bearing friction is related to preload, a thermally active system designed with aluminum components and a 440 C bearing, was friction tested at temperatures ranging from 0 to 70 C (32 to 158 F). Effectiveness of the translators were demonstrated by mapping a controllable friction range throughout tested temperatures. It was learned that constant preload for this system could be maintained over an approximate 44 C (79 F) temperature span. From testing, it was also discovered that at the more deviate temperatures, expansions were so large that radial clearances were taken up and the duplex bearing became radially preloaded. Thus, active control of bearing preload is feasible but may be limited by inherent geometry constraints and materials used in the system.

Nye, Ted W.↗

NASA NTRSDate not supplied

Implementation of Field-Oriented Control in Joint Actuator Electronics for Satellite-Servicing Robotics

NASA’s OSAM-1 (On-orbit Servicing, Assembly, and Manufacturing 1) is a robotic spacecraft designed to extend the life of a satellite. Launching in 2026, the OSAM-1 servicer will use a robotic arm to grasp, refuel, and relocate Landsat 7. In order to accomplish the various servicing operations, including the critical auto-grapple capturing operation, the robot arm uses active compliance and visual servo control loops. These sophisticated control algorithms are enabled by the high performance Joint Control Boards (JCBs). At the core of the robot arm control architecture, the JCBs employ field-oriented control (FOC) to accurately commutate and efficiently control joint actuator torque. FOC offers numerous benefits over other current control methods, allowing the JCBs to achieve the high bandwidth and performance required by the outer control loops. As an added benefit, a torque feed-forward term allows the FOC loop to simulate microgravity actuator performance during ground testing. In this paper, a FOC implementation for space robotics applications and an end-to-end actuator calibration process are discussed.

Sam Zhao↗

NASA NTRS1999

The Effects of Partial Mechanical Loading and Ibandronate on Skeletal Tissues in the Adult Rat Hindquarter Suspension Model for Microgravity

We report initial data from a suspended rat model that quantitatively relates chronic partial weightbearing to bone loss. Chronic partial weightbearing is our simulation of the effect of limited artificial gravity aboard spacecraft or reduced planetary gravity. Preliminary analysis of bone by PQCT, histomorphometry, mechanical testing and biochemistry suggest that chronic exposure to half of Earth gravity is insufficient to prevent severe bone loss. The effect of episodic full weightbearing activity (Earth Gravity) on rats otherwise at 50% weightbearing was also explored. This has similarity to treatment by an Earth G-rated centrifuge on a spacecraft that normally maintained artificial gravity at half of Earth G. Our preliminary evidence, using the above techniques to analyze bone, indicate that 2 hours daily of full weightbearing was insufficient to prevent the bone loss observed in 50% weightbearing animals. The effectiveness of partial weightbearing and episodic full weightbearing as potential countermeasures to bone loss in spaceflight was compared with treatment by ibandronate. Ibandronate, a long-acting potent bisphosphonate proved more effective in preventing bone loss and associated functionality based upon structure than our first efforts at mechanical countermeasures. The effectiveness of ibandronate was notable by each of the testing methods we used to study bone from gross structure and strength to tissue and biochemistry. These results appear to be independent of generalized systemic stress imposed by the suspension paradigm. Preliminary evidence does not suggest that blood levels of vitamin D were affected by our countermeasures. Despite the modest theraputic benefit of mechanical countermeasures of partial weightbearing and episodic full weightbearing, we know that some appropriate mechanical signal maintains bone mass in Earth gravity. Moreover, the only mechanism that correctly assigns bone mass and strength to oppose regionally specific force applied to bone is mechanical, a process based upon bone strain. Substantial evidence indicates that the specifics of dynamic loading i.e. time-varying forces are critical. Bone strain history is a predictor of the effect that mechanical conditions have on bone structure mass and strength. Using servo-controlled force plates on suspended rats with implanted strain gauges we manipulated impact forces of ambulation in the frequency (Fourier) domain. Our results indicate that high frequency components of impact forces are particularly potent in producing bone strain independent of the magnitude of the peak force or peak energy applied to the leg. Because a servo-system responds to forces produced by the rat's own muscle activity during ambulation, the direction of ground-reaction loads act on bone through the rat's own musculature. This is in distinction to passive vibration of the floor where forces reach bone through the natural filters of soft tissue and joints. Passive vibration may also be effective, but it may or may not increase bone in the appropriate architectural pattern to oppose the forces of normal ambulatory activity. Effectiveness of high frequency mechanical stimulation in producing regional (muscle directed) bone response will be limited by 1. the sensitivity of bone to a particular range of frequencies and 2. the inertia of the muscles, limiting their response to external forces by increasing tension along insertions. We have begun mathematical modeling of normal ambulatory activity. Effectiveness of high frequency mechanical stimulation in producing regional (muscle directed) bone response will be limited by 1. the sensitivity of bone to a particular range of frequencies and 2. the inertia of the muscles, limiting their response to external forces by increasing tension along insertions. We have begun mathematical modeling of the rat forelimb as a transfer function between impact force and bone strain to predict optimal dynamic loading conditions for this system. We plan additional studies of mechanical counter-measures that incorporate improved dynamic loading, features relevant to anticipated evaluation of artificial gravity, exercise regimens and exposure to Martian gravity, The combination of mechanical countermeasures with ibandronate will also be investigated for signs of synergy.

Schultheis, Lester W.↗

NASA NTRS1988

Tuning and scanning control system for high resolution alexandrite lasers

An alexandrite laser is spectrally narrowed and tuned by the use of three optical elements. Each element provides a successively higher degree of spectral resolution. The digitally controlled tuning and scanning control servo system simultaneously positions all three optical elements to provide continuous high resolution laser spectral tuning. The user may select manual, single, or continuous modes of automated scanning of ranges up to 3.00/cm and at scan rates up to 3.85/cm/min. Scanning over an extended range of up to 9.999/cm may be achieved if the highest resolution optic is removed from the system. The control system is also capable of being remotely operated by another computer or controller via standard RS-232 serial data link.

Smith, James C.↗

NASA NTRS1994

Hydrogen masers and cesium fountains at NRC

The NRC masers H-3 and H-4 have been operating since June 1993 with cavity servo control. These low-flux active H masers are showing stabilities of about 10(exp -15) from 1 hour to several days. Stability results are presented, and the current and planned uses of the masers are discussed. A cesium fountain primary frequency standard project has been started at NRC. Trapping and launching experiments with the goal of 7 m/s launches are beginning. We discuss our plans for a local oscillator and servo that exploit the pulsed aspect of cesium fountain standards, and meet the challenge of 10(exp -14) tau(exp -1/2) stability without requiring masers. At best, we expect to run this frequency standard initially for periods of hours each working day rather than continuously for years, and so frequency transfer to outside laboratories has been carefully considered. We conclude that masers (or other even better secondary clocks) are required to exploit this potential accuracy of the cesium fountain. We present and discuss our conclusion that it is feasible to transfer frequency in this way with a transfer-induced uncertainty of less than 10(exp -15), even in the presence of maser frequency drift and random walk noise.

Boulanger, J.-S.↗

NASA NTRS1982

Parachute suspended solar pointing control system

A high altitude parachute suspended solar pointing control system has been developed and flight tested for use in the altitude range of 30 to 70 kilometers. This development provides an opportunity for extended solar observations at altitudes higher than that attainable by helium balloons. The new system utilizes the NASA high altitude cross parachute to slow the descent of a rocket launched payload allowing observations in the region of interest. Solar pointing is established by using solar sensors in conjunction with a servo controlled platform and cold gas thrusters for payload roll control. The inherent spin of the cross parachute is decoupled by a swivel joint attached to the parachute suspension lines. This paper describes the design, test and flight performance of the new system.

Sakoda, G. T.↗

DOE OSTI2023

Utah FORGE: Fault Shear Reactivation Experimental Data for Fluid Injection-Rate Controls on Seismic Moment

Included are experimental data recorded from shear experiments that specifically explore the link between fluid-injection rate and seismic moment resulting from shear reactivation of laboratory faults. Raw mechanical data from three experiments are included alongside corresponding MATLAB scripts that import and plot the data, as well as use it to calculate shear and normal stress. Experiments are performed on 2.5-3 inch long granitoid cores from the Utah FORGE EGS demonstration site, containing a single inclined fracture with small-scale roughness added to the fracture surface. The raw data included here were recorded from an aluminum triaxial pressure vessel (TEMCO) configured with three independent servo-controlled pumps, with distilled water used as the working fluid. The pumps control confining pressure, upstream pore pressure, and axial pressure, with each pump connected to a LabView interface to record applied pressures, cumulative injected water volumes, and pump flow rates. The downstream outlet from the fracture is closed to allow pressurization, which is measured by an external pressure transducer. A linear variable differential transformer (LVDT) attached to the axial piston measures axial displacement, from which we calculate shear displacement along the fracture. Additionally, P-wave transducers are used to record acoustic signatures, where acoustic emission events and maximum amplitudes are compared against seismic moment and shear slip velocity. Fluid injection rates range between 0.05 mL/min, 0.25 mL/min, and 0.75 mL/min for each experiment. Along-fault pressure distributions are progressively less uniform as injection rates increase, representing a switch from steady-state to transient conditions. Triggered shear displacement is used as a proxy for seismic moment and is indexed against cumulative injection volume and rate. Each experiment is performed under constant shear stress conditions, and the sample is fully saturated with DI water. Axial and confining stresses are applied to 3 MPa through pressure-stepping in 500 kPa increments. The pore pressure is held constant at 200 kPa prior to initiating the experiment, and initial axial displacement is recorded. The axial stress is then increased to initiate shear mobilization during the loading phase (run-in) until a peak steady state is achieved. The initial shear stress is reduced to approximately 80% of the peak shear stress by decreasing the axial stress, then held constant for the duration of each experiment.

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NASA NTRS1978

Temperature control analysis and flight results for the Viking Orbiter 1975 Mars atmospheric water detection instrument

The Mars atmospheric water detector (MAWD) instrument required a temperature of -70 C at the detector. The monochromator housing required +20 C + or - 1 C. This instrument was located on the scan platform, and slewed across two solar panels. The thermal design for the detector was an open flat plate radiator thermally isolated on four 1-in. tubes, with a flexible strap to the detector. MAWD radiator view factors and heat loads from the spacecraft were determined for the Lander on and off, for all angular positions of the scan platform. Subsystem and system tests were performed using the 25-ft diameter solar simulator. In-flight results have shown no anomalies, and no degradation has been observed. Servo-controlled heaters are used to control the temperature.

Kavanagh, H. M.↗

NASA NTRS2005

Controlling Force and Depth in Friction Stir Welding

Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).

Adams, Glynn↗

NASA NTRS2016

[EC5-Space Suit Assembly Team- Internship]

There were three main projects in this internship. The first pertained to the Bearing Dust Cycle Test, in particular automating the test to allow for easier administration. The second concerned modifying the communication system setup in the Z2 suit, where speakers and mics were adjusted to allow for more space in the helmet. And finally, the last project concerned the tensile strength testing of fabrics deemed as candidates for space suit materials and desired to be sent off for radiation testing. The major duties here are split up between the major projects detailed above. For the Bearing Dust Cycle Test, the first objective was to find a way to automate administration of the test, as the previous version was long and tedious to perform. In order to do this, it was necessary to introduce additional electronics and perform programming to control the automation. Once this was done, it would be necessary to update documents concerning the test setup, procedure, and potential hazards. Finally, I was tasked with running tests using the new system to confirm system performance. For the Z2 communication system modifications, it was necessary to investigate alternative speakers and microphones which may have better performance than those currently used in the suit. Further, new speaker and microphone positions needed to be identified to keep them out of the way of the suit user. Once this was done, appropriate hardware (such as speaker or microphone cases and holders) could be prototyped and fabricated. For the suit material strength testing, the first task was to gather and document various test fabrics to identify the best suit material candidates. Then, it was needed to prepare samples for testing to establish baseline measurements and specify a testing procedure. Once the data was fully collected, additional test samples would be prepared and sent off-site to undergo irradiation before being tested again to observe changes in strength performance. For the Bearing Dust Cycle Test, automation was achieved through use of a servo motor and code written in LabVIEW. With this a small electrical servo controller was constructed and added to the system. For the Z2 communication modifications speaker cases were developed and printed, and new speakers and mics were selected. This allowed us to move the speakers and mics to locations to remain out of the suit users way. For the suit material strength testing, five material candidates were identified and test samples were created. These samples underwent testing, and baseline test results were gathered, though these results are currently being investigated for accuracy. The main process efficiency developed during the course of this internship comes from automation of the Bearing Dust Cycle Test. In particular, many hours of human involvement and precise operation are replaced with a simple motor setup. Thus it is no longer required to man the test, saving valuable employee time. This internship has confirmed a few things for me, namely that I both want to work as an engineer for an aerospace firm and that in particular I want to work for the Johnson Space Center. I am also confirmed in my desire to work with electronics, though I was surprised to enjoy prototyping 3D CAD design as much as I did. Therefore, I will make an effort to build my skills in this area so that I can continue to design mechanical models. In fact, I found the process of hands-on prototyping to be perhaps the most fun aspect of my time working here. This internship has also furthered my excitement for continual education, and I will hopefully be pursuing a masters in my field in the near future.

Maicke, Andrew↗

NASA NTRS2006

Adaptive Changes In Postural Equilibrium And Motion Sickness Following Repeated Exposures To Virtual Environments

Virtual environments offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Two unresolved human factors issues in virtual reality (VR) systems are: 1) potential "cybersickness", and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Changes in the environmental sensory stimulus conditions and the way we interact with the new stimuli may result in motion sickness, and perceptual, spatial orientation and sensorimotor disturbances. Initial interpretation of novel sensory information may be inappropriate and result in perceptual errors. Active exploratory behavior in a new environment, with resulting feedback and the formation of new associations between sensory inputs and response outputs, promotes appropriate perception and motor control in the new environment. Thus, people adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, unilateral labyrinthectomy and experimentally produced stimulus rearrangements. Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays, and to examine the effects of exposure duration, and repeated exposures to VR systems. Forty-one subjects (21 men, 20 women) participated in the study with an age range of 21-49 years old. One training session was completed in order to achieve stable performance on the posture and VR tasks before participating in the experimental sessions. Three experimental sessions were performed each separated by one day. The subjects performed a navigation and pick and place task in either a dome or head-mounted display (HMD) VR system for either 30 or 60 min. The environment was a square room with 15 pedestals on two opposite walls. The objects appeared on one set of pedestals and the subject s objective was to move the objects to the other set of pedestals. After the subject picked up an object, a pathway appeared and they were required to follow the pathway to the other side of the room. The subject was instructed to perform the task as quickly and accurately as possible, avoiding hitting walls and other any obstacles and placing the object on the center of the pedestal. Postural equilibrium was measured (using the Equitest CDP balance system, Neurocom, International) before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. Postural equilibrium was measured during quiet stance with eyes open, eyes closed and vision and/or ankle proprioceptive inputs selectively altered by servo-controlling the visual surround and/or support surface to the subject s center of mass sway. Posture data was normalized using a log transformation and motion sickness data were normalized using the square root. In general, we found that exposure to VR resulted in decrements in postural stability. The largest decrements were observed in the tests performed immediately following exposure to VR and showed a fairly rapid recovery across the remaining test sessions. In addition, subjects generally showed improvement across days. We found significant main effects for day and time for the composite equilibrium score and for sensory organization tests (SOT) 1, 2 and 6. Significant main effects were observed for day for SOT 3 and 5. Although we found no significant main effects for gender (when center of gravity was used as a covariate), we did observe significant gender X time interaction effects for composite equilibrium and for SOT 1, 3, 4 and 5. Women appeared to show larger decrements in postural stability immediately after exposure to VR than men, but recover more quickly than n. Finally, we found no significant main effects for type of VR device or for exposure duration, however, these factors did interact with other factors during some of the SOTs. Subjects exhibited rapid recovery of motion sickness symptoms across time following exposure to VR and significantly less severe symptoms across days. We did not observe main effects for gender, type of device or duration of exposure. Individuals recovered from the detrimental effects of exposure to virtual reality on postural control and motion sickness within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight.

Harm, D. L.↗

DOE OSTI2021

Processed Lab Data for Neural Network-Based Shear Stress Level Prediction

Machine learning can be used to predict fault properties such as shear stress, friction, and time to failure using continuous records of fault zone acoustic emissions. The files are extracted features and labels from lab data (experiment p4679). The features are extracted with a non-overlapping window from the original acoustic data. The first column is the time of the window. The second and third columns are the mean and the variance of the acoustic data in this window, respectively. The 4th-11th column is the the power spectrum density ranging from low to high frequency. And the last column is the corresponding label (shear stress level). The name of the file means which driving velocity the sequence is generated from. Data were generated from laboratory friction experiments conducted with a biaxial shear apparatus. Experiments were conducted in the double direct shear configuration in which two fault zones are sheared between three rigid forcing blocks. Our samples consisted of two 5-mm-thick layers of simulated fault gouge with a nominal contact area of 10 by 10 cm^2. Gouge material consisted of soda-lime glass beads with initial particle size between 105 and 149 micrometers. Prior to shearing, we impose a constant fault normal stress of 2 MPa using a servo-controlled load-feedback mechanism and allow the sample to compact. Once the sample has reached a constant layer thickness, the central block is driven down at constant rate of 10 micrometers per second. In tandem, we collect an AE signal continuously at 4 MHz from a piezoceramic sensor embedded in a steel forcing block about 22 mm from the gouge layer The data from this experiment can be used with the deep learning algorithm to train it for future fault property prediction.

15 GEOTHERMAL ENERGY↗