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DOE OSTI2015

WE-AB-201-04: The Recommendations of MPPG #5 and Practical Implementation Strategies

Treatment planning systems (TPS) are a cornerstone of modern radiation therapy. Errors in their commissioning or use can have a devastating impact on many patients. To support safe and high quality care, medical physicists must conduct efficient and proper commissioning, good clinical integration, and ongoing quality assurance (QA) of the TPS. AAPM Task Group 53 and related publications have served as seminal benchmarks for TPS commissioning and QA over the past two decades. Over the same time, continuing innovations have made the TPS even more complex and more central to the clinical process. Medical goals are now expressed in terms of the dose and margins around organs and tissues that are delineated from multiple imaging modalities (CT, MR and PET); and even temporally resolved (i.e., 4D) imaging. This information is passed on to optimization algorithms to establish accelerator movements that are programmed directly for IMRT, VMAT and stereotactic treatments. These advances have made commissioning and QA of the TPS much more challenging. This education session reviews up-to-date experience and guidance on this subject; including the recently published AAPM Medical Physics Practice Guideline (MPPG) #5 “Commissioning and QA of Treatment Planning Dose Calculations: Megavoltage Photon and Electron Beams”. Treatment Planning System Commissioning and QA: Challenges and Opportunities (Greg Salomons) This session will provide some key background and review publications describing prominent incidents relating to TPS commissioning and QA. Traditional approaches have been hardware and feature oriented. They aim to establish a functional configuration and establish specifications for regular testing of features (like dose calculation) to assure stable operation and detect failures. With the advent of more complex systems, more patient-specific testing has also been adopted. A number of actual TPS defects will be presented along with heuristics for identifying similar defects in the future. Finally, the Gamma test has become a popular metric for reporting TPS Commissioning and QA results. It simplifies complex testing into a numerical index, but noisy data and casual application can make it misleading. A brief review of the issues around the use of the Gamma test will be presented. TPS commissioning and QA: A process orientation and application of control charts (Michael Sharpe) A framework for commissioning a treatment planning system will be presented, focusing on preparations, practical aspects of configuration, priorities, specifications, and establishing performance. The complexity of the modern TPS make modular testing of features inadequate, and modern QA tools can provide “too much information” about the performance of techniques like IMRT and VMAT. We have adopted a process orientation and quality tools, like control charts, for ongoing TPS QA and assessment of patient-specific tests. The trending nature of these tools reveals the overall performance of the TPS system, and quantifies the variations that arise from individual plans, discrete calculations, and experimentation based on discrete measurements. Examples demonstrating application of these tools to TPS QA will be presented. TPS commissioning and QA: Incorporating the entire planning process (Sasa Mutic) The TPS and its features do not perform in isolation. Instead, the features and modules are key components in a complex process that begins with CT Simulation and extends to treatment delivery, along with image guidance and verification. Most importantly, the TPS is used by people working in a multi-disciplinary environment. It is very difficult to predict the outcomes of human interactions with software. Therefore, an interdisciplinary approach to training, commissioning and QA will be presented, along with an approach to the physics chart check and end-to-end testing as a tool for TPS QA. The role of standardization and automation in QA will also be discussed. The recommendations of MPPG #5 and practical implementation strategies (Jennifer Smilowitz) The recently published recommendations from Task Group No. 244, Medical Physics Practice Guideline on Commissioning and QA of Treatment Planning Dose Calculations: Megavoltage Photon and Electron Beams will be presented. The recommendations focus on the validation of commissioning data and dose calculations. Tolerance values for non-IMRT beam configurations are summarized based on established criteria and data collected by the IROC. More stringent evaluation criteria for IMRT dose calculations are suggested to test the limitations of the TPS dose algorithms for advanced delivery conditions. The MPPG encourages users to create a suite of validation tests for dose calculation for various conditions for static photon beams, heterogeneities, IMRT/VMAT and electron beams. This test suite is intended to be used for subsequent testing, including TPS software upgrades. In the past, the recommendations of some reports have not been widely implemented due to practical limitations. Implementation strategies, tools and processes developed by multiple centers for efficient and “do-able” MPPG #5 testing will be presented, as well as a discussion on the overall validation experience. Learning Objectives: Identify some of the key documents relevant for TPS commissioning and QA Understand strategies for testing TPS software Gain a practical knowledge of the Gamma test criteria Increase familiarity with the process of commissioning a TPS Learn about the use of Control Charts for TPS QA Review the role of the TPS in the overall planning process Increase awareness of the link between TPS QA and chart checking Gain an increased appreciation for the importance of interdisciplinary communication Understand the new recommendations from MPPG #5 on TPS Dose Algorithm Commissioning and QC/QA Learn practical implementation processes and tools for MPPG #5 validation recommendations.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2022

EERC Final Topical Report – Findings on Subtask 3.2 – Produced Water Management Through Geologic Homogenization, Conditions, and Reuse

The Energy & Environmental Research Center (EERC) was awarded a contract by the North Dakota Industrial Commission (NDIC) Oil and Gas Research Program (NDIC No. G-051-101) to conduct a study on the recycling of water used in oil and gas operations, also known as produced water, from oil- and gas-producing regions of North Dakota as directed by Section 19 of North Dakota House Bill 1014. This final report provides a compilation of results of the study, which include regulatory, scientific, technological, and feasibility methods and considerations associated with North Dakota produced water management. The report provides a synopsis of this project’s previously submitted produced water assessment report entitled “Produced Water Management and Recycling Options in North Dakota” (Energy & Environmental Research Center, 2020), with updated values provided as appropriate. The report provides the results from the investigation of a novel produced water management strategy, referred to as geologic homogenization, conditioning, and reuse (GHCR), which aims to use a subsurface geologic formation as a natural medium for managing produced water recycling and reuse. Water management is a significant technical and economic challenge for sustainable oil and gas production, and water volumes are intrinsically linked to oil production volumes. North Dakota oil production rose to over 1.5 million barrels (MMbbl)/day in 2019, and despite a downturn in oil price in early 2020, North Dakota oil production has recovered to 1.1 MMbbl/day as of August 2021. Bakken petroleum system development between 2008 and 2020 has resulted in a nearly fourfold increase in produced water volumes to 642 MMbbl/yr in 2020 after peaking at 740 MMbbl/yr in 2019 and a fivefold increase in saltwater disposal (SWD) volumes to 565 MMbbl/yr in 2020 after a peak of 682 MMbbl/yr in 2019. Produced water and SWD volumes are forecasted to double by 2030. SWD is the primary method of produced water management used in North Dakota, with approximately 95% of the SWD volume occurring through subsurface injection into sandstones of the Dakota Group (Dakota). Localized pressurization of the Dakota resulting from SWD and projected increases in produced water volumes could impact the economics of North Dakota oil production. As a result, there is an emerging need to pursue alternative produced water management approaches, including recycling and reuse. While produced water recycling is not yet widespread, commercial operators are making strides in overcoming the technical challenges of using high salinity produced water in completion operations (Marathon Oil, 2020). As water management continues to be a key focal point in companies’ environmental, social, and governance (ESG) initiatives, focus on water management, including recycling, will likely continue to increase. Laboratory column testing, field sample collection, geologic modeling and numerical simulation, and techno-economic analysis all indicate that GHCR could feasibly be implemented as a potential water management option. Laboratory column testing and field sample collection indicate that the Inyan Kara sandstone and native formation fluid are capable of homogenizing with the Bakken produced water to a point where the fluid composition appears to stabilize. Extracting that stabilized fluid could be considered homogeneous and capable of providing individual batches of hydraulic fracturing fluid. Numerical simulation results indicate that extraction of fluids from the Inyan Kara in a GHCR implementation scenario is capable of reducing formation pressure, which would help ease localized pressurization of the Inyan Kara and extend the available capacity for nearby existing SWD wells. Economic analysis indicates that there are scenarios where GHCR implementation can be a competitive or even lower-cost option than a conventional water management approach. Site-specific conditions will dictate the economic potential of GHCR, but potentially attractive sites for GHCR implementation will be those that are located above a pressurized zone of the Inyan Kara, need six or more Bakken infill wells, and face high costs for conventional SWD and/or freshwater. Based on the regulatory review, drilling into the Inyan Kara for SWD and to harness as a source water for industrial use have precedent in North Dakota, and a workable regulatory solution for GHCR seems likely. However, restrictions in the state regarding surface storage and transport of produced fluids may limit some activities, which will affect how GHCR could ultimately be implemented. In summary, this study reveals pursuing GHCR can be a viable approach to water management in North Dakota. The GHCR concept addresses some of the challenges that hinder the more traditional approaches to recycling in the industry. Furthermore, an assessment of the current landscape of water management within the state reveals the ongoing trend of increasing volumes of produced water and SWD. Projections reveal that the volumes of produced water that need to be managed are expected to double over the next decade (Energy & Environmental Research Center, 2020). With the continued development of the Bakken and continuing driving factors related to ESG initiatives, implementing a practice such as GHCR is a feasible approach to adding recycling of produced water to industry within the state. This subtask was cofunded through the EERC–U.S. Department of Energy Joint Program on Research and Development for Fossil Energy-Related Resources Cooperative Agreement No. DE-FE0024233. Nonfederal funding was provided by the North Dakota Industrial Commission Oil and Gas Research Program. References Energy & Environmental Research Center, 2020, Produced water management and recycling options in North Dakota: Final Report for North Dakota Legislative Management Energy Development and Transmission Committee and North Dakota Industrial Commission. Marathon Oil, 2020, Sustainability report: https://cdn.sanity.io/files/ghcnw9z2/website/ 91744eb6ef8fbe59505a911c6b8d2e8dd9a537fa.pdf?dl (accessed November 2021).

02 PETROLEUM↗

NASA NTRSDate not supplied

Improved Benchmarking of Cohesive Elements in Abaqus Standard for Predicting Disbond and Delamination in Composite Structures

Traditional approaches for aircraft certification require the assumption of an initial flaw condition, either represented as barely visible impact damage (BVID) or through inclusion of a Teflon insert to serve as surrogate damage. Based on the initial composite damage state, the structure must be shown to demonstrate structural durability and damage tolerance (DaDT) according to the following criteria: a. Damage displays no detrimental growth under cyclic loading b. The structure is able to sustain design limit load (DLL) Currently, the only available manner for validating structural performance is through test. Since damage can occur over a wide variety of areas within a structure, this approach has proven to be increasingly expensive and time consuming for composite airframes and acreage structure within the design-test-certification building block. A further complicating factor is the requirement to accurately capture the most critical damage morphologies as a starting condition. To understand the severity of the damage, it is either required to experimentally determine the most critical areas at tremendous expense or rely on legacy data of similar structural testing, which limits design space expansion. A preferred solution is to use advanced analysis to provide improved understanding of load margins for critical locations based on a wide variety of potential starting damage conditions. The standard industry approach for DaDT certification adheres to the use of the traditional virtual crack closure technique (VCCT) method. VCCT is generally a preferred method because it conforms to the current certification principles of damage from a known flaw, and when used correctly, can be effective at predicting delamination propagation under static and cyclic loading. The VCCT method requires the inclusion of an initial flaw in the finite element (FE) model requiring a-priori knowledge of the flaw location. This in turn requires a plethora of analysis cases to be examined to cover a reasonable span of potential damage states. Additionally, the VCCT approach requires node-to-node connectivity rendering it incompatible with the best practices and approaches for using continuum damage mechanics (CDM) based progressive damage and failure analysis (PDFA) tools within a typical FE solver. Alternatives to VCCT have emerged in the form of cohesive elements which utilize the cohesive zone model (CZM). Unlike VCCT which models linear elastic fracture mechanics, cohesive elements couples continuum and fracture based responses through the use of bilinear traction separation laws. These laws are defined based on a penalty stiffness, a cohesive strength, and a strain energy release rate. The approach can be mesh regularized with native cohesive elements within many FE solvers such as Abaqus and LS-DYNA. In Phase I of the NASA Advanced Composites Consortium (ACC) post-buckled stiffened panel with BVID, Strength and Life [1], the performance of cohesive elements were benchmarked in comparison to VCCT and LEFM solutions and showed good agreement using Abaqus explicit [2]. To realize savings on current and future programs, it is still necessary to close technical gaps related to the use of cohesive elements with Abaqus Standard. Within a program environment, standard finite element analysis is the preferred analytical capability for quasi-static loading as it eliminates uncertainty due to oscillatory behavior commonly seen with explicit analysis. This oscillatory behavior creates difficulties in writing margins of safety based on the analysis. The use of negative tangent stiffness material models complicates convergence which typically requires the use of numerical controls such as viscous damping to overcome. To date, there has not been a comprehensive study on how to establish best practices for cohesive element convergence for predictive capability within the Abaqus implicit solver. In pursuit of these goals, under the NASA ACC program, several numerical benchmark problems were proposed including pure mode I (double cantilevered beam – DCB), pure mode II (end notch flexure – ENF), and symmetric/unsymmetric evolving mixed mode (single leg bend – SLB). This paper focuses on the use of cohesive elements to model the delamination through the use of CZM. Specifically, finite element models for the DCB, ENF, symmetric SLB, and unsymmetric SLB, are developed and various solution controls for convergence are studied to develop a best practice. Once the best practice has been developed, the predictive capability of the objective CZM model is used to analyze the hat pull-off strength of a standard hat stiffened configuration under various loading conditions.

Abaqus↗

DOE OSTI2022

Epigenetic effects associated with salmonid supplementation and domestication

Abstract Several studies have demonstrated lower fitness of salmonids born and reared in a hatchery setting compared to those born in nature, yet broad-scale genome-wide genetic differences between hatchery-origin and natural-origin fish have remained largely undetected. Recent research efforts have focused on using epigenetic tools to explore the role of heritable changes outside of genetic variation in response to hatchery rearing. We synthesized the results from salmonid studies that have directly compared methylation differences between hatchery-origin and natural-origin fish. Overall, the majority of studies found substantial differences in methylation patterns and overlap in functional genomic regions between hatchery-origin and natural-origin fish which have been replicated in parallel across geographical locations. Epigenetic differences were consistently found in the sperm of hatchery-origin versus natural-origin fish along with evidence for maternal effects, providing a potential source of multigenerational transmission. While there were clear epigenetic differences in gametic lines between hatchery-origin and natural-origin fish, only a limited number explored the potential mechanisms explaining these differences. We outline opportunities for epigenetics to inform salmonid breeding and rearing practices and to mitigate for fitness differences between hatchery-origin and natural-origin fish. We then provide possible explanations and avenues of future epigenetics research in salmonid supplementation programs, including: 1) further exploration of the factors in early development shaping epigenetic differences, 2) understanding the functional genomic changes that are occurring in response to epigenetic changes, 3) elucidating the relationship between epigenetics, phenotypic variation, and fitness, and 4) determining heritability of epigenetic marks along with persistence of marks across generations.

Koch, Ilana J. (ORCID:0000000335943108)↗

DOE OSTI2019

Production Application Performance Data Streaming for System Monitoring

In this article, we present an approach to streaming collection of application performance data. Practical application performance tuning and troubleshooting in production high-performance computing (HPC) environments requires an understanding of how applications interact with the platform, including (but not limited to) parallel programming libraries such as Message Passing Interface (MPI). Several profiling and tracing tools exist that collect heavy runtime data traces either in memory (released only at application exit) or on a file system (imposing an I/O load that may interfere with the performance being measured). Although these approaches are beneficial in development stages and post-run analysis, a systemwide and low-overhead method is required to monitor deployed applications continuously. This method must be able to collect information at both the application and system levels to yield a complete performance picture. In our approach, an application profiler collects application event counters. A sampler uses an efficient inter-process communication method to periodically extract the application counters and stream them into an infrastructure for performance data collection. We implement a tool-set based on our approach and integrate it with the Lightweight Distributed Metric Service (LDMS) system, a monitoring system used on large-scale computational platforms. LDMS provides the infrastructure to create and gather streams of performance data in a low overhead manner. We demonstrate our approach using applications implemented with MPI, as it is one of the most common standards for the development of large-scale scientific applications. We utilize our tool-set to study the impact of our approach on an open source HPC application, Nalu. Our tool-set enables us to efficiently identify patterns in the behavior of the application without source-level knowledge. We leverage LDMS to collect system-level performance data and explore the correlation between the system and application events. Finally, we demonstrate how our tool-set can help detect anomalies with a low latency. We run tests on two different architectures: a system enabled with Intel Xeon Phi and another system equipped with Intel Xeon processor. Our overhead study shows our method imposes at most 0.5% CPU usage overhead on the application in realistic deployment scenarios.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2021

Development and validation of a diabetes risk score among two populations

The purpose of this study was to assess the validity of a practical diabetes risk score amongst two heterogenous populations, a working population and a non-working population. Study population 1 (n = 2,089) participated in a large-scale screening program offered to retired workers to discover previously undetected/incipient chronic illness. Study population 2 (n = 3,293) was part of a Colorado worksite wellness program health risk assessment. We assessed the relationship between a continuous diabetes risk score at baseline and development of diabetes in the future using logistic regression. Receiver operating curves and sensitivity/specificity of the models were calculated. Across both study populations, we observed that participants with diabetes at follow-up had higher diabetes risk scores at baseline than participants who did not have diabetes at follow-up. On average, the odds ratio of developing diabetes in the future was 1.38 (95% CI: 1.26–1.50, p < 0.0001) for study population 1 and 1.68 (95% CI: 1.45–1.95, p-value < 0.0001) for study population 2. These findings indicate that the diabetes risk score may be generalizable to diverse individuals, and thus potentially a population level diabetes screening tool. Minimally-invasive diabetes risk scores can aid in the identification of sub-populations of individuals at risk for diabetes.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2013

High Performance Computing Operations Review Report

The High Performance Computing Operations Review (HPCOR) meeting—requested by the ASC and ASCR program headquarters at DOE—was held November 5 and 6, 2013, at the Marriott Hotel in San Francisco, CA. The purpose of the review was to discuss the processes and practices for HPC integration and its related software and facilities. Experiences and lessons learned from the most recent systems deployed were covered in order to benefit the deployment of new systems.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2018

Promoting Biosecurity Awareness and Responsibility by Embedding it in Life Science Undergraduate Curriculum

Continually emerging biotechnologies and advancing techniques are increasing the world’s attention to the potential dual use of scientific research, and the possibility of significant risks to global health and security. It is imperative to establish a fundamental understanding in the life science community of the role scientists play in mitigating these risks and protecting national security. However, linking the life sciences and global security has not always been highly prioritized. Past surveys have shown a significant lack of biosecurity education and awareness in the life science community and has subsequently led to multiple plans, including policies, regulations, and awareness raising measures, to address this problem. Utilizing a review of the existing surveys and papers addressing the better integration of science and security, this paper proposes a way to create a true paradigm shift. By providing biosecurity education, as early as possible, to the next generation of scientists, it will be possible to change the way the life science community thinks about its active role in promoting and protecting security. Undergraduate life science course offerings at some of the top universities in the United States were surveyed. The results suggest there is a substantial void of biosecurity education offered to these young, future working scientists. It is vitally important that universities across the United States, and the rest of the world, develop programs and courses to fill this void, to build a foundational knowledge of biosecurity topics in undergraduate life scientists. This early education and awareness is essential to ensure the continued practice of responsible science that will help protect the global health security of the future.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2021

The Elevated-Temperature Cyclic Properties of Alloy 316H Fabricated by Powder Metallurgy Hot Isostatic Pressing (Rev.1)

Powder metallurgy hot isostatic pressing (PM HIP), an advanced manufacturing technique, is viewed by the Department of Energy as a “transformational technology” for heavy section manufacturing of nuclear components. Although PM HIP is a mature technology, it has not been qualified in Section III, Division 5 for elevated-temperature nuclear construction. This work seeks to demonstrate a PM HIP qualification method for elevated-temperature nuclear construction that is based on allowable material characteristics. Specifically, the elevated-temperature cyclic properties of PM HIP 316H are investigated. The creep-fatigue properties of PM HIP 316H are significantly degraded compared to those of wrought. Current PM HIP practices are not able to fabricate elevated-temperature nuclear components with creep-fatigue properties that are equivalent to or better than traditional wrought components. A research and development program is proposed for qualifying PM HIP 316H for elevated-temperature nuclear construction.

36 MATERIALS SCIENCE↗

DOE OSTI2025

Evaluating Air-Source Heat Pumps with Distributed Energy Resources in REopt

This training introduces attendees to NREL's REopt(R) web tool and its capabilities in evaluating air-source heat pumps (ASHP) alongside distributed energy resources (DERs). Designed for energy managers, facility operators, and sustainability managers, this session will explore how REopt provides techno-economic analysis to assess the financial viability of ASHP while identifying synergies with solar PV and battery storage. Participants will gain practical insights into using REopt to optimize energy strategies, reduce costs, and improve site resilience.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2023

Test and Evaluation of Systems with Embedded Machine Learning Components

As Machine Learning (ML) continues to advance, it is being integrated into more systems. Often, the ML component represents a significant portion of the system that reduces the burden on the end user or significantly improves task performance. However, the ML component represents an unknown complex phenomenon that is learned from collected data without the need to be explicitly programmed. Despite the improvement in task performance, the models are often black boxes. Evaluating the credibility and the vulnerabilities of ML models poses a gap in current test and evaluation practice. For high consequence applications, the lack of testing and evaluation procedures represents a significant source of uncertainty and risk. To help reduce that risk, here we present considerations to evaluate systems embedded with an ML component within a red-teaming inspired methodology. We focus on (1) cyber vulnerabilities to an ML model, (2) evaluating performance gaps, and (3) adversarial ML vulnerabilities.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1972

Computer simulation of impurity diffusion in silicon, part 1

The elementary classical models for idealized diffusion conditions are described, and the principles are then used in developing more realistic models. The practical models require some type of numerical analysis. The numerical techniques are outlined and details concerning their implementation are given. Some results are presented which were obtained with the computer programs implementing the numerical techniques with implicit and explicit methods. Special problems of impurity-rich interlayers forming between an oxide and silicon are considered. A set of computed curves for sheet resistance, junction depth, and oxide thickness for different diffusion schedules is included.

Gassaway, J. D.↗

NASA NTRS1970

Views on computer program documentation and automation

Various aspects of the problem of program documentation and description are discussed. Particular emphasis is placed on the problem of semantics. It is pointed out that the information produced by documentation of a program, if presented to several different groups, may mean entirely different things to these groups. Recognition of the fact that people look at problems differently is proposed as a more practical approach to the problem of documentation rather than extensive use of standards or strict formatting. The difficulties involved in searching for ways to provide a common ground for the transmission and use of information are discussed.

Grosch, H. R.↗

NASA NTRS1978

Gas turbine engine emissions - Problems, progress and future

The current status of the problem of gas turbine engine emissions is reviewed. Presently promulgated EPA standards and their implications for aircraft gas turbines are discussed. The progress and status of emissions reduction technology programs and other efforts which have emphasized advanced combustor technology are reviewed in detail. Also examined are those efforts underway to determine the emissions floor and incorporate those techniques into practical combustors of the future.

Jones, R. E.↗

NASA NTRS1995

Basic principles and recent observations of rotationally sampled wind

The concept of rotationally sampled wind speed is described. The unusual wind characteristics that result from rotationally sampling the wind are shown first for early measurements made using an 8-point ring of anemometers on a vertical plane array of meteorological towers. Quantitative characterization of the rotationally sampled wind is made in terms of the power spectral density function of the wind speed. Verification of the importance of the new concept is demonstrated with spectral analyses of the response of the MOD-OA blade flapwise root bending moment and the corresponding rotational analysis of the wind measured immediately upwind of the MOD-OA using a 12-point ring of anemometers on a 7-tower vertical plane array. The Pacific Northwest Laboratory (PNL) theory of the rotationally sampled wind speed power spectral density function is tested successfully against the wind spectrum measured at the MOD-OA vertical plane array. A single-tower empirical model of the rotationally sampled wind speed is also successfully tested against the measurements from the full vertical plane array. Rotational measurements of the wind velocity with hotfilm anemometers attached to rotating blades are shown to be accurate and practical for research on winds at the blades of wind turbines. Some measurements at the rotor blade of a MOD-2 turbine using the hotfilm technique in a pilot research program are shown. They are compared and contrasted to the expectations based upon application of the PNL theory of rotationally sampled wind to the MOD-2 size and rotation rate but without teeter, blade bending, or rotor induction accounted for. Finally, the importance of temperature layering and of wind modifications due to flow over complex terrain is demonstrated by the use of hotfilm anemometer data, and meteorological tower and acoustic doppler sounder data from the MOD-2 site at Goodnoe Hills, Washington.

Connell, James R.↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

Dubowsky, Steven↗

NASA NTRS1996

The Design, Planning and Control of Robotic Systems in Space

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating, the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics. This program was proposed and accepted as a three year research program, a period of time necessary to make the type of fundamental developments to make a significant contributions to space robotics. Unfortunately, less than a year into the program it became clear that the NASA Langley Research Center would be forced by budgetary constraints to essentially leave this area of research. As a result, the total funding we received under this grant represented approximately one year of the original, proposed and approved, funding. For some time, there was substantial uncertainty that even this very reduced level of funding would be provided. The spending of the reduced available funds was spread just over two years to provide the support to permit the MS students who had joined the program to receive their master's degree and terminate their studies in this area.

Dubowsky, Steven↗

NASA NTRS1998

Joy of a Joystick

With Lockheed Martin Aeronautical Systems as the prime contractor, ThrustMaster, Inc., developed shuttle controls for NASA's Shuttle simulators. ThrustMaster developed an authentic and operational reproduction of the Rotational Hand Controller used to control the space shuttle. It will also be used by shuttle astronauts during ground training. It will additionally be used as onboard simulators to practice shuttle landings while still in orbit. Their newest product, the Millennium 3D Inceptor, is a digital 3D (three dimensional) joystick, based on the controller built for the NASA shuttle program.

Source record↗