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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 1,081 records · Page 60
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

A discrete decentralized variable structure robotic controller

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for.

Tumeh, Zuheir S.↗
NASA NTRS2016

Global Optimization of N-Maneuver, High-Thrust Trajectories Using Direct Multiple Shooting

The performance of impulsive, gravity-assist trajectories often improves with the inclusion of one or more maneuvers between flybys. However, grid-based scans over the entire design space can become computationally intractable for even one deep-space maneuver, and few global search routines are capable of an arbitrary number of maneuvers. To address this difficulty a trajectory transcription allowing for any number of maneuvers is developed within a multi-objective, global optimization framework for constrained, multiple gravity-assist trajectories. The formulation exploits a robust shooting scheme and analytic derivatives for computational efficiency. The approach is applied to several complex, interplanetary problems, achieving notable performance without a user-supplied initial guess.

optimization↗
NASA NTRS2015

Global Optimization of N-Maneuver, High-Thrust Trajectories Using Direct Multiple Shooting

The performance of impulsive, gravity-assist trajectories often improves with the inclusion of one or more maneuvers between flybys. However, grid-based scans over the entire design space can become computationally intractable for even one deep-space maneuver, and few global search routines are capable of an arbitrary number of maneuvers. To address this difficulty a trajectory transcription allow-ing for any number of maneuvers is developed within a multi-objective, global optimization framework for constrained, multiple gravity-assist trajectories. The formulation exploits a robust shooting scheme and analytic derivatives for com-putational efficiency. The approach is applied to several complex, interplanetary problems, achieving notable performance without a user-supplied initial guess.

trajectory design↗
NASA NTRS2017

Spacecraft Mission Design for the Mitigation of the 2017 PDC Hypothetical Asteroid Threat

This paper presents a detailed mission design analysis results for the 2017 Planetary Defense Conference (PDC) Hypothetical Asteroid Impact Scenario, documented at https:cneos.jpl.nasa.govpdcspdc17. The mission design includes campaigns for both reconnaissance (flyby or rendezvous) of the asteroid (to characterize it and the nature of the threat it poses to Earth) and mitigation of the asteroid, via kinetic impactor deflection, nuclear explosive device (NED) deflection, or NED disruption. Relevant scenario parameters are varied to assess the sensitivity of the design outcome, such as asteroid bulk density, asteroid diameter, momentum enhancement factor, spacecraft launch vehicle, and mitigation system type. Different trajectory types are evaluated in the mission design process from purely ballistic to those involving optimal midcourse maneuvers, planetary gravity assists, and/or low-thrust solar electric propulsion. The trajectory optimization is targeted around peak deflection points that were found through a novel linear numerical technique method. The optimization process includes constrain parameters, such as Earth departure date, launch declination, spacecraft, asteroid relative velocity and solar phase angle, spacecraft dry mass, minimum/maximum spacecraft distances from Sun and Earth, and Earth-spacecraft communications line of sight. Results show that one of the best options for the 2017 PDC deflection is solar electric propelled rendezvous mission with a single spacecraft using NED for the deflection.

Barbee, Brent W.↗
NASA NTRS1992

A method for planning collision free trajectories for two cooperating robots

Robotic systems designed specifically for space applications often exhibit a high level of autonomy to reduce the costs associated with having humans in space. This paper presents a method for autonomously planning collision free paths for two cooperating robots in a static environment. The method performs selective mapping of configuration space while attempting to locate a safe path. The method is based around an algorithm aimed at transversing a space of arbitrary dimension which contains both safe and unsafe regions. While the procedure cannot guarantee finding a solution even if one may exist, it is intended to find a solution to many practical path planning problems within a reasonable amount of time. Results are presented for applying the procedure to two cooperating six degree of freedom manipulators (Puma 560s).

Weaver, Jonathan M.↗
NASA NTRSDate not supplied

Shadow Evaluation of the ATD-2 Phase 3Trajectory Option Set Reroute Capability in the North Texas Metroplex

This paper presents results of NASA’s Airspace Technology Demonstration 2 Phase 3 Trajectory Option Set reroute capability designed to resolve a demand capacity imbalance along the terminal airspace boundary. We focus on Candidate flights generated during the Stormy 2020 Shadow Evaluation which was the result of using the system to passively collect predictions for each flight at the OUT event. Benefit metrics associated with the predictions are defined for the individual rerouted flight and also the system-wide savings. Candidate flights are grouped into three distinct use cases and the benefit mechanism is explained for each use case along with illustrative data. Analysis of the different use cases shed light on the underlying causes of the reroute opportunities. Lessons learned from the Stormy 2020 Shadow Evaluation including the importance of reroutes during recovery from Severe Weather Avoidance Programs and also reroutes in the absence of terminal airspace constraints will be incorporated into the Phase 3 Field Evaluation in 2021 to maximize reroute opportunities.

Airspace Technology Demonstration 2↗
NASA NTRS1984

An intersection algorithm for moving parts

The problem of deciding whether moving mechanical parts will collide during motion arises frequently in computer-aided design of machinery and in robotics. In machinery design, the problem becomes acute when there are various complex curved mechanical parts that will follow planned trajectories. There is a need to know at an early stage in the design process whether there will be collisions between parts necessitating changes in part shapes, trajectories, or in the overall design. This paper describes a collision detection algorithm that is guaranteed to detect a collision if one will occur, and it also computes the earliest point of contact.

Esterling, D. M.↗
NASA NTRS1990

Shuttle rendezvous and proximity operations

Shuttle rendezvous and proximity operations trajectory control techniques are reviewed and it is noted that they have been affected by many factors including Shuttle system design constraints such as limited forward RCS and single point radar failures. Crew training requirements and mission operations constraints such as large launch windows, flexibility, and contingency profile interrupts are also integral factors. The resulting trajectory control design primarily uses ground support for the launch and orbit adjust phases, standardized crew techniques utilizing onboard software for the relative navigation flight phase, and mission unique manual control for a flexible proximity operations phase.

Pearson, Don J.↗
NASA NTRS2014

Pair-Wise Trajectory Management-Oceanic (PTM-O)

This document describes the Pair-wise Trajectory Management-Oceanic (PTM-O) Concept of Operations (ConOps). Pair-wise Trajectory Management (PTM) is a concept that includes airborne and ground-based capabilities designed to enable and to benefit from, airborne pair-wise distance-monitoring capability. PTM includes the capabilities needed for the controller to issue a PTM clearance that resolves a conflict for a specific pair of aircraft. PTM avionics include the capabilities needed for the flight crew to manage their trajectory relative to specific designated aircraft. Pair-wise Trajectory Management PTM-Oceanic (PTM-O) is a regional specific application of the PTM concept. PTM is sponsored by the National Aeronautics and Space Administration (NASA) Concept and Technology Development Project (part of NASA's Airspace Systems Program). The goal of PTM is to use enhanced and distributed communications and surveillance along with airborne tools to permit reduced separation standards for given aircraft pairs, thereby increasing the capacity and efficiency of aircraft operations at a given altitude or volume of airspace.

Jones, Kenneth M.↗
NASA NTRSDate not supplied

An Optimized Trajectory for a Two-Stage, Surface to Orbit Titan Launch Vehicle

As part of a NIAC funded Titan sample return mission, NASA GRC’s Compass Team has investigated a two-stage, in-situ propellant, launch vehicle design. This paper presents a proposed trajectory for the vehicle and mission of interest. This trajectory is optimally solved to balance drag losses in the denser atmosphere along with gravity losses accumulated during vehicle ascent to select an optimal path from Titan’s surface to a parking orbit. The resulting trajectory is characterized by a slow, vertical climb to an altitude above the densest part of the atmosphere followed by a vehicle pitch-over and climb to orbital insertion. The resulting ∆V is 3.96 km/s.

trajectory↗
NASA NTRS2010

Ares I First Stage Propulsion System Status

With the retirement of the Space Shuttle inevitable, the US is faced with the need to loft a reliable cost-effective, technologically viable solution to bring the nation s fleet of spacecraft back up to industry standard. It must not only support the International Space Station (ISS), it must also be capable of supporting human exploration beyond low Earth orbit (LEO). NASA created the Constellation Program to develop a new fleet including the launch vehicles, the spacecraft, and the mission architecture to meet those objectives. The Ares First Stage Team is tasked with developing a propulsion system capable of safely, dependably and repeatedly lofting that new fleet. To minimize technical risks and development costs, the Solid Rocket Boosters (SRBs) of Shuttle were used as a starting point in the design and production of a new first stage element. While the first stage will provide the foundation, the structural backbone, power, and control for launch, the new propulsive element will also provide a greater total impulse to loft a safer, more powerful, fleet of space flight vehicles. Substantial design and system upgrades were required to meet the mass and trajectory requisites of the new fleet. Noteworthy innovations and design features include new forward structures, new propellant grain geometry, a new internal insulation system, and a state-of-the art avionics system. Additional advances were in materials and composite structures development, case bond liners, and thermal protection systems. Significant progress has been made in the design, development and testing of the propulsion and avionics systems for the new first stage element. Challenges, such as those anticipated with thrust oscillation, have been better characterized, and are being effectively mitigated. The test firing of the first development motor (DM-1) was a success that validated much of the engineering development to date. Substantive data has been collected and analyzed, allowing the Ares First Stage team to move forward, fine-tune the design, and advance to production of the second development motor (DM-2), which is now in fabrication. This paper will provide an overview of the design, development, challenges, and progress on the production of the new Ares First Stage propulsion system

Priskos, Alex S.↗
NASA NTRS1988

Robot trajectory tracking with self-tuning predicted control

A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

Cui, Xianzhong↗
DOE OSTI2018

The FUNPET—a New Hybrid Ion Funnel-Ion Carpet Atmospheric Pressure Interface for the Simultaneous Transmission of a Broad Mass Range

An atmospheric pressure interface transports ions from ambient pressure to the low-pressure environment of a mass spectrometer. A capillary coupled to an ion funnel is widely used. However, conventional ion funnels do little to negate the large amount of energy picked up by high-mass ions from the gas flow through the capillary. There has been little work done on the effects of gas flow on ion transmission, and the previous studies have all been limited to low-mass, low-charge ions. In this work, we account for the effects of gas flow, diffusion, and electric fields (static and oscillating) on ion trajectories and use simulations to design a new hybrid ion funnel-ion carpet (FUNPET) interface that transmits a broad mass range with a single set of instrument conditions. The design incorporates a virtual jet disruptor where pressure buildup and counter flow dissipate the supersonic jet that results from gas flow into the interface. This, and the small exit aperture that can be used with the FUNPET, reduces the gas flow into the next stage of differential pumping. The virtual jet disruptor thermalizes ions with a broad range of masses (1 kDa to 1 GDa), and once thermalized, they are transmitted into next region of the mass spectrometer with low excess kinetic energy. The FUNPET interface is easy to fabricate from flexible printed circuit board and a support frame made by 3D printing. The performance of the interface was evaluated using charge detection mass spectrometry. .

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

A Privacy Preserving Model-Free Optimization and Control Framework for Demand Response from Residential Thermal Loads

We consider the problem of optimizing the cost of procuring electricity for a large collection of homes managed by a load serving entity, by pre-cooling or pre-heating the thermal inertial loads in the homes to avoid procuring power during periods of peak electricity pricing. We would like to accomplish this objective in a completely privacy-preserving and model-free manner, that is, without direct access to the state variables (temperatures or power consumption) or the dynamical models (thermal characteristics) of individual homes, while guaranteeing personal comfort constraints of the consumers. We propose a two-stage optimization and control framework to address this problem. In the first stage, we use a long short-term memory (LSTM) network to predict hourly electricity prices, based on historical pricing data and weather forecasts. Given the hourly price forecast and thermal models of the homes, the problem of designing an optimal power consumption trajectory that minimizes the total electricity procurement cost for the collection of thermal loads can be formulated as a large-scale integer program (with millions of variables) due to the on-off cyclical dynamics of such loads. We provide a simple heuristic relaxation to make this large-scale optimization problem model-free and computationally tractable. In the second stage, we translate the results of this optimization problem into distributed open-loop control laws that can be implemented at individual homes without measuring or estimating their state variables, while simultaneously ensuring consumer comfort constraints. We demonstrate the performance of this approach on a large-scale test case comprising of 500 homes in the Houston area and benchmark its performance against a direct model-based optimization and control solution.

Sivaranjani, S.↗
DOE OSTI2014

SU-E-J-156: Preclinical Inverstigation of Dynamic Tumor Tracking Using Vero SBRT Linear Accelerator: Motion Phantom Dosimetry Study

Purpose: Following the ‘end-to-end testing’ paradigm of Dynamic Target Tracking option in our Image-Guided dedicated SBRT VeroTM linac, we verify the capability of the system to deliver planned dose to moving targets in the heterogeneous thorax phantom (CIRSTM). The system includes gimbaled C-band linac head, robotic 6 degree of freedom couch and a tumor tracking method based on predictive modeling of target position using fluoroscopically tracked implanted markers and optically tracked infrared reflecting external markers. Methods: 4DCT scan of the motion phantom with the VisicoilTM implanted marker in the close vicinity of the target was acquired, the ‘exhale’=most prevalent phase was used for planning (iPlan by BrainLabTM). Typical 3D conformal SBRT treatment plans aimed to deliver 6-8Gy/fx to two types of targets: a)solid water-equivalent target 3cm in diameter; b)single VisicoilTM marker inserted within lung equivalent material. The planning GTV/CTV-to-PTV margins were 2mm, the block margins were 3 mm. The dose calculated by MonteCarlo algorithm with 1% variance using option Dose-to-water was compared to the ion chamber (CC01 by IBA Dosimetry) measurements in case (a) and GafchromicTM EBT3 film measurements in case (b). During delivery, the target 6 motion patterns available as a standard on CIRSTM motion phantom were investigated: in case (a), the target was moving along the designated sine or cosine4 3D trajectory; in case (b), the inserted marker was moving sinusoidally in 1D. Results: The ion chamber measurements have shown the agreement with the planned dose within 1% under all the studied motion conditions. The film measurements show 98.1% agreement with the planar calculated dose (gamma criteria: 3%/3mm). Conclusion: We successfully verified the capability of the SBRT VeroTM linac to perform real-time tumor tracking and accurate dose delivery to the target, based on predictive modeling of the correlation between implanted marker motion and external surrogate of breathing motion.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2023

FY23 Year End Report of Delivery Environments Predictive Capabilities Use in Analysis of SRP Programs

As was established in a previous milestone report for FY20, W-13 continues to be tasked with analyses that require knowledge of in-flight environments and require an in-house capability to generate such environments. To this end, FY21 work included obtaining and benchmarking the use of such tools for an in-house capability. With these tools available for analysis tasks, ongoing work has been to continue the development of analysis capabilities and understanding while specifically using the tools for Responsive Development Experiment (ReDX) flights in the Stockpile Responsiveness Program (SRP). In FY23, design and analysis of ReDX flight 3A continued while targeting an FY24 launch date. This report shows that a variety of vehicle characterization and flight analysis tools were used in W-13, under the Delivery Environments Program. This work was performed in order to aid in vehicle design by predicting flight stability, trajectory, and induced environments while adapting to a series of changing internal payload configurations that resulted in significant changes to mass properties and associated flight stability.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS1977

The Ranger program

Lunar spacecraft missions and the Ranger spacecraft are described. These spacecrafts were designed to achieve lunar impact trajectories and to transmit high resolution photographs of the lunar surface during the final minutes of flight. The television experiments are briefly evaluated.

Source record↗