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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 127 records · Page 7

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DOE OSTI2022

Charge carrier motion and effect of fixed oxide charge in a microstructured silicon radiation detector

Signal formation in a microstructured semiconductor neutron detector is more complex than in planar diode geometry. Three-dimensional microstructures are laterally smaller than the ionization cloud length, and the electric fields may be weak enough to exhibit plasma time effects. This work is the first detailed treatment of charge carrier motion in these complex semiconductor devices to replicate the time profile and signal magnitude. Simulations were performed using COMSOL Multiphysics to investigate various parameters that affect the propagation of the charge cloud. It was observed that the size of the simulated three-dimensional structure had an impact on the induced current pulse, indicating the importance of simulation geometry optimization to accurately simulate charge cloud expansion. COMSOL Multiphysics was used to replicate accurate charge creation profiles using energy deposition information imported from radiation transport codes. A detailed simulation methodology is presented to benchmark preamplifier event pulses along with complexities in modeling the charge carrier motion along the etched microstructured trenches with Si–SiO 2 boundary conditions, including fixed oxide charge and interface trapping.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS1994

Identification and control of structures in space

During the last phase of the project, emphasis has changed to flexible space robotics, by mutual agreement between Dr. R. C. Montgomery, NASA Technical Officer, and the Principal Investigator. Significant advances have been achieved over the period covered by this report. Research has been concerned with two main subjects: (1) the maneuvering and control of freely floating flexible space robots, and (2) the development of a theory for the motion of flexible multibody systems. Work on the first subject has resulted in two papers, both of them concerned with planar maneuvers. The first is concerned with the maneuvering and delivery of a payload to a certain point and in a certain orientation in space. The second is concerned with the docking maneuver with a target whose motion is not known a priori. Both papers will appear in the 'Journal of Guidance, Control, and Dynamics.' The second subject is concerned with the development of hybrid (ordinary and partial) differential equations for the three dimensional motion of flexible multibody systems, a subject of vital interest in flexible space robotics. The paper will appear in the 'Journal of Guidance, Control and Dynamics' in an issue dedicated to the memory of Lawrence W. Taylor, Jr. Abstracts and copies of the papers are hereby included.

Meirovitch, Leonard↗

NASA NTRS1987

An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Bourgeois, B. J.↗

NASA NTRS1987

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

Bourgeois, B. J.↗

NASA NTRS1990

Identification and control for a manipulator with two flexible links

The authors investigate the effectiveness of an online identification scheme for tracking the modal frequencies of a two-link flexible mechanism executing large-angle movements and carrying an unknown payload. A decentralized, gain-scheduled, adaptive control scheme is employed in conjunction with the identification scheme in order to illustrate the feasibility of online controller adjustment for endpoint position control in terms of vibration suppression after large-angle movements. Motivation for adopting the autoregressive-moving-average-model perspective is based on the convenient representation for online controller tuning and on the assumption that flexibility dynamics, for small deflections after a nonlinear large-angle motion, exhibit linear behavior. Experimental results are presented for a two-link planar mechanism in which both links are very flexible.

Yurkovich, Stephen↗

NASA NTRS1992

Canonical transformations for space trajectory optimization

Canonical transformations are developed between the Cartesian coordinates, equinoctial elements, trajectory variables, and orbital elements for coplanar space trajectory optimization problems. The canonical transformations permit the state and adjoint or their solution, transversality conditions, the optimal control, and integrals of the motion, to be transformed between any of the common sets of coordinates for planar space trajectory optimization problems. Variations on the canonical transformations shown are straightforward to develop given the group properties of the canonical transformations.

Haissig, Christine M.↗

DOE OSTI2021

Transient heat transfer of superfluid He 4 in nonhomogeneous geometries: Second sound, rarefaction, and thermal layer

Transient heat transfer in superfluid 4 He (He II) is a complex process that involves the interplay of the unique counterflow heat-transfer mode, the emission of second-sound waves, and the creation of quantized vortices. Many past researches focused on homogeneous heat transfer of He II in a uniform channel driven by a planar heater. Here, we report our systematic study of He II transient heat transfer in nonhomogeneous geometries that are pertinent to emergent applications. By solving the He II two-fluid equations of motion coupled with Vinen's equation for vortex-line density, we examine and compare the characteristics of transient heat transfer from planar, cylindrical, and spherical heaters in He II. Our results show that as the heater turns on, an outgoing second-sound pulse emerges, within which the vortex-line density grows rapidly. These vortices attenuate the second sound and result in a heated He II layer in front of the heater, i.e., the thermal layer. In the planar case where the vortices are created throughout the space, the second-sound pulse is continuously attenuated, leading to a thick thermal layer that diffusely spreads following the heat pulse. On the contrary, in the cylindrical and the spherical heater cases, vortices are created mainly in a thin thermal layer near the heater surface. As the heat pulse ends, a rarefaction tail develops following the second-sound pulse, in which the temperature drops. This rarefaction tail can promptly suppress the thermal layer and take away the deposited thermal energy. The effects of the heater size, heat flux, pulse duration, and temperature on the thermal-layer dynamics are discussed. We also show how the peak heat flux for the onset of boiling in He II can be studied in our model.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2020

Experimental and modeling analysis of detonation in circular arcs of the conventional high explosive PBX 9501

We examine the diffraction dynamics of a two-dimensional (2D) detonation in a circular arc of the conventional HMX-based, high performance, solid explosive PBX 9501, for which the detonation reaction zone length scale is estimated to be of the order of 100–150 µm. In this configuration, a steady propagating detonation will develop, sweeping around the arc with constant angular speed. We report on results from three PBX 9501 arc experiments, exploring the variation in linear speed on the inner and outer arc surfaces for the steady wave along with the structure of the curved detonation front, as a function of varying inner surface radius and arc thickness. Comparisons of the properties of the motion of the steady wave for each arc configuration are then made with a spatially-distributed PBX 9501 reactive burn model, calibrated to detonation performance properties in a 2D planar slab geometry. We show that geometry-induced curvature of the detonation near the inner arc surface has a significant effect on the detonation motion even for conventional high explosives. We also examine the detonation driving zone structure for each arc case, and thus the subsonic regions of the flow that determine the influence of the arc geometry on the detonation propagation. In addition, streamline paths and reaction progress isolines are calculated. Overall, we conclude that a common approximation for modeling conventional high explosive detonation, wherein the shock-normal detonation speed is assumed equal to the Chapman–Jouguet speed, can lead to significant errors in describing the speed at which the detonation propagates.

42 ENGINEERING↗

NASA NTRS1992

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗

NASA NTRS1992

Planar H2O masers in star-forming regions

The paper examines the planar geometry of shocked material, which is the key property in enabling the high brightness temperatures of H2O masers in star-forming regions. The brightness temperature, beaming angle, and the maser spot size are determined for thin, saturated planar masers under the assumption that the velocity change across the maser due to ordered motions is small compared with the thermal or microturbulent line width. For a given set of physical parameters, the brightness temperature is essentially fully determined by the length of the velocity-coherent region in the shocked plane along the line of sight. Effective aspect ratios (about 5-50) are found that are in agreement with values previously inferred from observed brightness temperatures.

Elitzur, Moshe↗

NASA NTRS1987

Unsteady three-dimensional simulation of VTOL upwash fountain turbulence

Numerical simulations of a planar turbulent wall jet and a planar VTOL upwash fountain were performed. These are three dimensional simulations which resolve large scale unsteady motions in the flows. The wall jet simulation shows good agreement with experimental data and is presented to verify the simulation methodology. Simulation of the upwash fountain predicts elevated shear stress and a half velocity width spreading rate of 33% which agrees well with experiment. Turbulence mechanisms which contribute to the enhanced spreading rate are examined.

Childs, Robert E.↗

NASA NTRS1989

Flexible robot control: Modeling and experiments

Described here is a model and its use in experimental studies of flexible manipulators. The analytical model uses the equivalent of Rayleigh's method to approximate the displaced shape of a flexible link as the static elastic displacement which would occur under end rotations as applied at the joints. The generalized coordinates are thereby expressly compatible with joint motions and rotations in serial link manipulators, because the amplitude variables are simply the end rotations between the flexible link and the chord connecting the end points. The equations for the system dynamics are quite simple and can readily be formulated for the multi-link, three-dimensional case. When the flexible links possess mass and (polar moment of) inertia which are small compared to the concentrated mass and inertia at the joints, the analytical model is exact and displays the additional advantage of reduction in system dimension for the governing equations. Four series of pilot tests have been completed. Studies on a planar single-link system were conducted at Carnegie-Mellon University, and tests conducted at Toshiba Corporation on a planar two-link system were then incorporated into the study. A single link system under three-dimensional motion, displaying biaxial flexure, was then tested at Carnegie-Mellon.

Oppenheim, Irving J.↗

DOE OSTI2025

Decoherence and Brownian motion of a polarizable particle near a medium

Optically levitated nanoparticles are ideal experimental testbeds for investigating macroscopic superpositions and microscopic thermodynamics. Integrating such levitated nanoparticles with photonic structures can enable strong coupling between their center-of-mass motion and guided photonic modes, facilitating enhanced control and probing of their motion. When coupling a particle to a photonic structure, such as a waveguide, the effects of fluctuations become prominent at nanoscales. In this work, we analyze the classical and quantized center-of-mass motion of a polarizable particle interacting with the fluctuations of the electromagnetic field in the presence of a medium. We derive a position localization master equation for the particle's quantized center of mass, and examine its classical center-of-mass momentum diffusion, elucidating correspondences between classical and quantum Brownian motion of polarizable particles near media. We study the decoherence rate of the particle in the presence of a planar surface as a function of temperature and distance from the surface, comparing it to common sources of decoherence. Our results are pertinent to experiments aimed at preparing levitated nanospheres in macroscopic quantum states and investigating their Brownian dynamics.

Brownian motion↗

DOE OSTI2025

Autonomous direct freeform fabrication strategy for multi-axis additive manufacturing

Multi-axis additive manufacturing (M-AM) enables precise material deposition along both planar and curved layers, eliminating the need for support structures through a continuous material deposition approach. In contrast to conventional 2-dimensional planar layers constrained to a fixed building orientation, the deposition on freeform layers demands the specification of guided curves to determine material deposition directions which are no longer to be fixed to a build direction. There are challenges that arise when fabricating components with multiple “build” directions, necessitating the decomposition of geometries and the specification of guided curves for the resulting volumes. Furthermore, multi-axis systems introduce heightened challenges due to an increased degree of freedom in motion. Consequently, the potential risks of collision between the deposited geometry and the motion platform become a notable concern. This research proposes a freeform layering algorithm to address the challenge of seamless transitions between planar and curved layers in the process planning of M-AM. The algorithm computes 3D “printable” layers by leveraging topological information derived from the geometry to be built and integrates collision-free manufacturability considerations into the computational process. These accumulated volumes serve as a “substrate” and support volumes for subsequent deposition, allowing later layers to be built without the need for additional support material. In conclusion, the proposed method successfully devises a freeform layering approach suitable for intricate models that demand substantial support, thus enabling the fabrication of diverse geometries in a manner previously unachievable.

36 MATERIALS SCIENCE↗

DOE OSTI2024

Photo-induced structural dynamics of o -nitrophenol by ultrafast electron diffraction

The photo-induced dynamics of o-nitrophenol, particularly its photolysis, has garnered significant scientific interest as a potential source of nitrous acid in the atmosphere. Although the photolysis products and preceding photo-induced electronic structure dynamics have been investigated extensively, the nuclear dynamics accompanying the non-radiative relaxation of o-nitrophenol on the ultrafast timescale, which include an intramolecular proton transfer step, have not been experimentally resolved. Herein, we present a direct observation of the ultrafast nuclear motions mediating photo-relaxation using ultrafast electron diffraction. Here, this work spatiotemporally resolves the loss of planarity which enables access to a conical intersection between the first excited state and the ground state after the proton transfer step, on the femtosecond timescale and with sub-Angstrom resolution. Our observations, supported by ab initio multiple spawning simulations, provide new insights into the proton transfer mediated relaxation mechanism in o-nitrophenol.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS1973

Nonlinear transient responses of structures by the spatial finite-element method.

Based upon the Principle of Virtual Work and D'Alembert's Principle, the assumed-displacement version of the spatial finite-element method is developed to predict the large deflection transient responses of structures including elastic-plastic, strain hardening, and strain-rate material behavior. The formulations are developed in detail for curved beamlike structures undergoing planar (1) Bernouilli-Euler-type or (2) Timoshenko-type deformation behavior. The resulting equations of motion are solved timewise by a finite-difference numerical procedure. The present predictions are evaluated via several beam and ring examples for which experimental measurements and independent finite-difference predictions in both space and time are available; very good agreement is noted. The consequences of employing several types of timewise finite-difference operators are examined. Also, some comparisons between finite-element predictions and finite-difference predictions are shown to illustrate 'typical comparisons' of efficiency for a given prediction accuracy.

Wu, R. W.-H.↗

NASA NTRS1991

Dynamics modeling of multibody flexible systems with traveling multi-point joints

This paper presents a general methodology for modeling the dynamics of a flexible structure which moves on the surface of another flexible structure. The relative motion of the two bodies need not follow a straight line, nor need the contact surfaces be planar in their undeformed state. A model reduction approach is also developed, which makes the methodology applicable to large structural systems. The Space Station Freedom Mobile Transporter represents one such system, when attached to the Shuttle Orbiter. Numerical examples are provided.

Messac, Achille↗

NASA NTRS1999

IMF Length Scales and Predictability: The Two Length Scale Medium

We present preliminary results from a systematic study using simultaneous data from three spacecraft, Wind, IMP 8 (Interplanetary Monitoring Platform) and Geotail to examine interplanetary length scales and their implications on predictability for magnetic field parcels in the typical solar wind. Time periods were selected when the plane formed by the three spacecraft included the GSE (Ground Support Equipment) x-direction so that if the parcel fronts were strictly planar, the two adjacent spacecraft pairs would determine the same phase front angles. After correcting for the motion of the Earth relative to the interplanetary medium and deviations in the solar wind flow from radial, we used differences in the measured front angle between the two spacecraft pairs to determine structure radius of curvature. Results indicate that the typical radius of curvature for these IMF parcels is of the order of 100 R (Sub E). This implies that there are two important IMF (Interplanetary Magnetic Field) scale lengths relevant to predictability: (1) the well-established scale length over which correlations observed by two spacecraft decay along a given IMF parcel, of the order of a few tens of Earth radii and (2) the scale length over which two spacecraft are unlikely to even observe the same parcel because of its curvature, of the order of a hundred Earth radii.

Collier, Michael R.↗