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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators for Outfitting a Tall Lunar Tower and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C2M2) for outfitting and other servicing tasks. Mobile robotic systems traversing truss structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The C2M2 is designed to provide access to the structure through collaborative mobile robotics. A series of gaits are developed allowing the robot to reach any point on the structure and validate the capabilities of the joint configuration. Scaling the system during the design phase is a necessary process given the wide range of trusses in development and payloads which are required for outfitting. The variable features of the system are the actuators and the length of the links connecting the two-degrees of freedom (DOF) modules. A scaling method was developed for determining the range of usable link lengths for a selected actuator in a design environment. The focus of the design is on a six-DOF robot arranged with two-DOF at each end and at the center. Two grippers are mounted at each end for grappling on the truss and holding cargo.

Collaborative Robotics↗
DOE OSTI2024

How the Galaxy–Halo Connection Depends on Large-scale Environment

We investigate the connection between galaxies, dark matter halos, and their large-scale environments at z = 0 with Illustris TNG300 hydrodynamic simulation data. We predict stellar masses from subhalo properties to test two types of machine learning (ML) models: explainable boosting machines (EBMs) with simple galaxy environment features and E(3)-invariant graph neural networks (GNNs). The best-performing EBM models leverage spherically averaged overdensity features on 3 Mpc scales. Interpretations via SHapley Additive exPlanations also suggest that in the context of the TNG300 galaxy–halo connection, simple spherical overdensity on ∼3 Mpc scales is more important than cosmic web distance features measured using the DisPerSE algorithm. Meanwhile, a GNN with connectivity defined by a fixed linking length, L, outperforms the EBM models by a significant margin. As we increase the linking length scale, GNNs learn important environmental contributions up to the largest scales we probe (L = 10 Mpc). We conclude that 3 Mpc distance scales are most critical for describing the TNG galaxy–halo connection using the spherical overdensity parameterization, but that information on larger scales, which is not captured by simple environmental parameters or cosmic web features, can further augment these models. Our study highlights the benefits of using interpretable ML algorithms to explain models of astrophysical phenomena, and the power of using GNNs to flexibly learn complex relationships directly from data while imposing constraints from physical symmetries.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1980

Solar Power Satellite (SPS) fiber optic link assessment

A feasibility demonstration of a 980 MHz fiber optic link for the Solar Power Satellite (SPS) phase reference distribution system was accomplished. A dual fiber-optic link suitable for a phase distribution frequency of 980 MHz was built and tested. The major link components include single mode injection laser diodes, avalanche photodiodes, and multimode high bandwidth fibers. Signal throughput was demonstrated to be stable and of high quality in all cases. For a typical SPS link length of 200 meters, the transmitted phase at 980 MHz varies approximately 2.5 degrees for every deg C of fiber temperature change. This rate is acceptable because of the link length compensation feature of the phase control design.

Source record↗
DOE OSTI2023

A group finder algorithm optimised for the study of local galaxy environments

Context. The majority of galaxy group catalogues available in the literature use the popular friends-of-friends algorithm which links galaxies using a linking length. One potential drawback to this approach is that clusters of points can be linked with thin bridges which may not be desirable. In order to study galaxy groups, it is important to obtain realistic group structures. Aim. Here, in this study, we present a new simple group finder algorithm, TD-ENCLOSER, that finds the group that encloses a target galaxy of interest. Methods. TD-ENCLOSER is based on the kernel density estimation method which treats each galaxy, represented by a zero-dimensional particle, as a two-dimensional circular Gaussian. The algorithm assigns galaxies to peaks in the density field in order of density in descending order (‘top down’) so that galaxy groups ‘grow’ around the density peaks. Outliers in under-dense regions are prevented from joining groups by a specified hard threshold, while outliers at the group edges are clipped below a soft (blurred) interior density level. Results. The group assignments are largely insensitive to all free parameter variations apart from the hard density threshold and the kernel standard deviation, although this is a known feature of density-based group finder algorithms and it operates with a computing speed that increases linearly with the size of the input sample. In preparation for a companion paper, we also present a simple algorithm to select unique representative groups when duplicates occur. Conclusions. TD-ENCLOSER is tested on a mock galaxy catalogue using a smoothing scale of 0.3 Mpc and is found to be able to recover the input group distribution with sufficient accuracy to be applied to observed galaxy distributions.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1988

Spur-type instability observed on numerically simulated vortex filaments

An instability observed on vortex filaments during numerical simulations of the three-dimensional, time-dependent dynamics of vortex wakes is studied to determine when and why it occurs. It is concluded that the observed instability is a consequence of the use of straight-line vortex segments of finite length to model continuously curving vortex filaments. The instability appears to occur only when the link length is a sizable fraction of the vortex span and, therefore, is not expected in an experiment. Guidelines are then given that help avoid numerical instabilities when vortex filaments are used in flow simulations.

Rossow, Vernon J.↗
DOE OSTI2021

Development of Automated Pipeline for Time-Resolved Link-Wise Vehicular Energy Consumption in the Chattanooga, TN Road Network

The Department of Energy (DOE) has shown strong interest in detecting energy inefficiencies in regional road networks, so as to derive energy consumed at a high spatial temporal resolution. We have developed a workflow to automate the estimation of time-resolved vehicular energy consumption over each link in a road network of interest. The road network used in the current work is centered around the city of Chattanooga, Tennessee and its bordering regions. Utilizing the most mature road network for the Chattanooga, TN region, vehicle speed & count data from TomTom in conjunction with machine learning methods, we have developed an automated pipeline to estimate energy consumption for every link in the network. The first step in the pipeline is ingesting vehicle probe counts and speed estimates from TomTom API. In the next step, the probe counts, speed profiles and other exogenous data (i.e. road types, weather data, ground-truth volume counts and more) were used as input to a supervised learning algorithm to estimate the number of vehicles throughout the entire region for each road segment. These volume estimates were then mapped to a unified road network that contained additional important information such as percentage change in gradient across a link, number of lanes and link lengths that are features in pre-trained single vehicle energy-consumption models available with the RouteE software developed at NREL. The per vehicle energy consumption on each road link predicted using appropriate RouteE vehicular models were multiplied by the volume estimate for the corresponding link over a given time period to predict energy consumed per link for the time interval of interest. Currently, work is underway to improve both the RouteE per vehicle energy estimate and the volume estimates derived from TomTom probe counts. We have also explored the correlation of the link-wise energy estimates with the features of the pre-trained RouteE machine learning model in order to gain insight into what factors contribute most to the link-wise energy consumption.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION,↗
DOE OSTI2023

Accelerating network layouts using graph neural networks

Graph layout algorithms used in network visualization represent the first and the most widely used tool to unveil the inner structure and the behavior of complex networks. Current network visualization software relies on the force-directed layout (FDL) algorithm, whose high computational complexity makes the visualization of large real networks computationally prohibitive and traps large graphs into high energy configurations, resulting in hard-to-interpret “hairball” layouts. Here we use Graph Neural Networks (GNN) to accelerate FDL, showing that deep learning can address both limitations of FDL: it offers a 10 to 100 fold improvement in speed while also yielding layouts which are more informative. We analytically derive the speedup offered by GNN, relating it to the number of outliers in the eigenspectrum of the adjacency matrix, predicting that GNNs are particularly effective for networks with communities and local regularities. Finally, we use GNN to generate a three-dimensional layout of the Internet, and introduce additional measures to assess the layout quality and its interpretability, exploring the algorithm’s ability to separate communities and the link-length distribution. The novel use of deep neural networks can help accelerate other network-based optimization problems as well, with applications from reaction-diffusion systems to epidemics.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

High mass and halo resolution from fast low resolution simulations

Generating mocks for future sky surveys requires large volumes and high resolutions, which is computationally expensive even for fast simulations. Here we try to develop numerical schemes to calibrate various halo and matter statistics in fast low resolution simulations compared to high resolution N-body and hydrodynamic simulations. For the halos, we improve the initial condition resolution and develop a halo finder "relaxed-FoF", where we allow different linking lengths for different halo mass and velocity dispersions. We show that our relaxed-FoF halo finder improves the common statistics, such as halo bias, halo mass function, halo auto power spectrum, cross correlation coefficient with the reference halo catalog, and halo-matter cross power spectrum. We also calibrate small-scale velocities of small halos to improve the power spectrum in redshift space. For the matter statistics, we incorporate the potential gradient descent (PGD) method into fast simulations to improve the matter distribution at nonlinear scales. By building a lightcone output, we show that the PGD method significantly improves the weak lensing convergence tomographic power spectrum. With these improvements FastPM is comparable to the high resolution full N-body simulation of the same mass resolution, with two orders of magnitude fewer time steps. These techniques can be used to improve the halo and matter statistics of FastPM simulations for mock catalogs of future surveys such as DESI and LSST.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

RivGraph: Automatic extraction and analysis of river and delta channel network topology

River networks sustain life and landscapes by carrying and distributing water, sediment, and nutrients throughout ecosystems and communities. At the largest scale, river networks drain continents through tree-like tributary networks. At typically smaller scales, river deltas and braided rivers form loopy, complex distributary river networks via avulsions and bifurcations.In order to model flows through these networks or analyze network structure, the topology, or connectivity, of the network must be resolved. Additionally, morphologic properties of each river channel as well as the direction of flow through the channel inform how fluxes travel through the network’s channels. Riv Graphis a Python package that automates the extraction and characterization of river channel networks from a user-provided binary image, or mask, of a channel network (Fig. 1). Masks may be derived from (typically remotely-sensed) imagery, simulations, or even hand-drawn. RivGraph will create explicit representations of the channel network by resolving river centerlines as links, and junctions as nodes. Flow directions are solved for each link of the network without using auxiliary data, e.g., a digital elevation model (DEM). Morphologic properties are computed as well, including link lengths, widths, sinuosities, branching angles,and braiding indices. If provided,RivGraph will preserve georeferencing information of the mask and will export results as ESRI shapefiles, GeoJSONs, and GeoTIFFs for easy import into GIS software.RivGraph can also return extracted networks as networkx objects for convenient interfacing with the full-featured networkx package (Hagberg et al., 2008). Finally, RivGraph offers a suite of topologic metrics that were specifically designed for river channel network analysis (Tejedor et al., 2015b).

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1989

Shape control of high degree-of-freedom variable geometry trusses

Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Salerno, R. J.↗
NASA NTRS1990

Neural controller for adaptive movements with unforeseen payloads

A theory and computer simulation of a neural controller that learns to move and position a link carrying an unforeseen payload accurately are presented. The neural controller learns adaptive dynamic control from its own experience. It does not use information about link mass, link length, or direction of gravity, and it uses only indirect uncalibrated information about payload and actuator limits. Its average positioning accuracy across a large range of payloads after learning is 3 percent of the positioning range. This neural controller can be used as a basis for coordinating any number of sensory inputs with limbs of any number of joints. The feedforward nature of control allows parallel implementation in real time across multiple joints.

Kuperstein, Michael↗
NASA NTRS1993

Development and evaluation of a predictive algorithm for telerobotic task complexity

There is a wide range of complexity in the various telerobotic servicing tasks performed in subsea, space, and hazardous material handling environments. Experience with telerobotic servicing has evolved into a knowledge base used to design tasks to be 'telerobot friendly.' This knowledge base generally resides in a small group of people. Written documentation and requirements are limited in conveying this knowledge base to serviceable equipment designers and are subject to misinterpretation. A mathematical model of task complexity based on measurable task parameters and telerobot performance characteristics would be a valuable tool to designers and operational planners. Oceaneering Space Systems and TRW have performed an independent research and development project to develop such a tool for telerobotic orbital replacement unit (ORU) exchange. This algorithm was developed to predict an ORU exchange degree of difficulty rating (based on the Cooper-Harper rating used to assess piloted operations). It is based on measurable parameters of the ORU, attachment receptacle and quantifiable telerobotic performance characteristics (e.g., link length, joint ranges, positional accuracy, tool lengths, number of cameras, and locations). The resulting algorithm can be used to predict task complexity as the ORU parameters, receptacle parameters, and telerobotic characteristics are varied.

Gernhardt, M. L.↗
DOE OSTI2026

Link statistics of dislocation network during strain hardening

Dislocations are line defects in crystals that multiply and self-organize into a complex network during strain hardening. The length of dislocation links, connecting neighboring nodes within this network, contains crucial information about the evolving dislocation microstructure. By analyzing data from Discrete Dislocation Dynamics (DDD) simulations in face-centered cubic (fcc) Cu, we characterize the statistical distribution of link lengths of dislocation networks during strain hardening on individual slip systems. Here, our analysis reveals that link lengths on active slip systems follow a double-exponential distribution, while those on inactive slip systems conform to a single-exponential distribution. The distinctive long tail observed in the double-exponential distribution is attributed to the stress-induced bowing out of long links on active slip systems, a feature that disappears upon removal of the applied stress. We further demonstrate that both observed link length distributions can be explained by extending a one-dimensional Poisson process to include different growth functions. Specifically, the double-exponential distribution emerges when the growth rate for links exceeding a critical length becomes super-linear, which aligns with the physical phenomenon of long links bowing out under stress. This work advances our understanding of dislocation microstructure evolution during strain hardening and elucidates the underlying physical mechanisms governing its formation.

Crystal plasticity↗
NASA NTRS2006

Tilt/Tip/Piston Manipulator with Base-Mounted Actuators

A proposed three-degree-of-freedom (tilt/tip/piston) manipulator, suitable for aligning an optical or mechanical component, would offer several advantages over prior such manipulators: Unlike in some other manipulators, no actuator would support the weight of another actuator: All of the actuators would be mounted on a base. Hence, there would be less manipulated weight. The basic geometry of the manipulator would afford mechanical advantage: that is, actuator motions would be larger than the motions they produce in the manipulated object. Mechanical advantage inherently increases the accuracy and resolution of manipulation. Unlike in some other manipulators, it would not be necessary to route power and/or data lines through manipulator joints. The proposed manipulator (see figure) would include three prismatic actuators (T1N1, T2N2, and T3N3) mounted on the base and operating in the same plane. Examples of suitable prismatic actuators include lead-screw mechanisms, linear hydraulic motors, piezoelectric linear drives, inchworm-movement linear stepping motors, and linear flexure drives. The actuators would control the lengths of links R1T1, R2T2, and R3T3. Three spherical joints (P1, P2, and P3) would be located at the corners of an equilateral triangle of side length q on the platform holding the object to be manipulated. Three inextensible limbs (R1P1, R2P2, and R3P3) having length r would connect the spherical joints on the platform to revolute joints (R1, R2, and R3) at the ends of the actuator-controlled links R1T1, R2T2, and R3T3. By varying the lengths of these links, one could control the tilt, tip, and piston coordinates of the platform. Closed-form equations for direct or forward kinematics of the manipulator (given the lengths of the variable links, find the tilt, tip, and piston coordinates) have been derived. The equations of inverse kinematics (find the variable link lengths needed to obtain the desired tilt, tip, and piston coordinates) have also been derived.

Tahmasebi, Farhad↗
NASA NTRS1982

Verification of LANDSAT imagery for morphametric and topological studies of drainage basins in a section of the western plateau of Sao Paulo State: Tiete-Aguapei watershed

The potential of using LANDSAT MSS imagery for morphometric and topological studies of drainage basins was verified. Using Tiete and Aguapei watershed (Western Plateau) as the test site because of its homogeneous landscape. Morphometric variables collected for ten drainage basins include: circularity index; river density; drainage density; topographic texture; areal and index length; basin parameter; and main river length 1st order and 2nd order channel length. The topographical variables determined were: order; magnitude; bifuraction ratio; weighted bifuraction ratio; number of segments; number of linking; trajectory length; and topological diameter. Data were collected on topographical maps at the scale of 1:250,000 and 1:59,000 and on LANDSAT imagery at the scale of 1:250,000. The results which were summarized on tables for further analysis, show that LANDSAT imagery can supply the lack of topographic charts for drainage studies.

Parada, N. D. J.↗
DOE OSTI2024

Recommendations on setup in simulating atmospheric gravity waves under conventionally neutral boundary layer conditions

Wind farm-induced atmospheric gravity waves have been the subject of recent research as they can impact wind farm performance. Pressure variations associated with gravity waves can contribute to the global blockage effect and wind farm wake recovery. Therefore, accurate numerical simulation of flow fields, where wind-farm-induced gravity waves may be produced, is important. Three main considerations in such simulations are the overall domain size, the use of Rayleigh damping near domain boundaries to dampen gravity waves, and advection damping at the inlet to prevent spurious oscillations. Often these considerations are treated ad hoc rather than systematically. This work aims to test and extend the systematic modelling of internal gravity waves proposed in a preliminary investigation to modelling of both internal and trapped gravity waves. The preliminary study identifies the length scales to set the domain and damping layer sizes and the time scale to configure the Rayleigh damping coefficient but under linearly stratified conditions. Large eddy simulations of flow through a wind farm canopy are performed under conventionally neutral boundary layer (CNBL) conditions to test the validity of proposed setups for CNBL conditions. Background atmospheric parameters, such as Froude number (Fr), inversion height (H i ), and inversion layer Froude number (Fr i ) control most of the atmospheric gravity wave characteristics. We validated for CBNL conditions that the effective wavelengths of the internal gravity waves are the correct length scale to configure the domain size and damping layer thickness. Likewise, the optimum damping coefficient to dampen the internal gravity waves relates to the free atmosphere's buoyancy frequency or buoyant perturbations' time scale. We infer that the damping coefficient in the inversion layer may relate to the inversion buoyancy frequency to effectively dampen the trapped gravity waves. Moreover, the advection damping length is linked to the horizontal wavelength of the trapped gravity waves in the inversion layer to prevent spurious waves at the inlet by retaining wave energy accumulation.

17 WIND ENERGY↗
NASA NTRS1999

Multi-Body Analysis of the 1/5 Scale Wind Tunnel Model of the V-22 Tiltrotor

The paper presents a multi-body analysis of the 1/5 scale wind tunnel model of the V-22 tiltrotor, the Wing and Rotor Aeroelastic Testing System (WRATS), currently tested at NASA Langley Research Center. An original multi-body formulation has been developed at the Dipartimento di Ingegneria Aerospaziale of the Politecnico di Milano, Italy. It is based on the direct writing of the equilibrium equations of independent rigid bodies, connected by kinematic constraints that result in the addition of algebraic constraint equations, and by dynamic constraints, that directly contribute to the equilibrium equations. The formulation has been extended to the simultaneous solution of interdisciplinary problems by modeling electric and hydraulic networks, for aeroservoelastic problems. The code has been tailored to the modeling of rotorcrafts while preserving a complete generality. A family of aerodynamic elements has been introduced to model high aspect aerodynamic surfaces, based on the strip theory, with quasi-steady aerodynamic coefficients, compressibility, post-stall interpolation of experimental data, dynamic stall modeling, and radial flow drag. Different models for the induced velocity of the rotor can be used, from uniform velocity to dynamic in flow. A complete dynamic and aeroelastic analysis of the model of the V-22 tiltrotor has been performed, to assess the validity of the formulation and to exploit the unique features of multi-body analysis with respect to conventional comprehensive rotorcraft codes; These are the ability to model the exact kinematics of mechanical systems, and the possibility to simulate unusual maneuvers and unusual flight conditions, that are particular to the tiltrotor, e.g. the conversion maneuver. A complete modal validation of the analytical model has been performed, to assess the ability to reproduce the correct dynamics of the system with a relatively coarse beam model of the semispan wing, pylon and rotor. Particular care has been used to model the kinematics of the gimbal joint, that characterizes the rotor hub, and of the control system, consisting in the entire swashplate mechanism. The kinematics of the fixed and the rotating plates have been modeled, with variable length control links used to input the controls, the rotating flexible links, the pitch horns and the pitch bearings. The investigations took advantage of concurring wind tunnel test runs, that were performed in August 1998, and allowed the acquisition of data specific to the multi-body analysis.

Ghiringhelli, G. L.↗
NASA NTRS2014

The Uncertainty of Biomass Estimates from Modeled ICESat-2 Returns Across a Boreal Forest Gradient

The Forest Light (FLIGHT) radiative transfer model was used to examine the uncertainty of vegetation structure measurements from NASA's planned ICESat-2 photon counting light detection and ranging (LiDAR) instrument across a synthetic Larix forest gradient in the taiga-tundra ecotone. The simulations demonstrate how measurements from the planned spaceborne mission, which differ from those of previous LiDAR systems, may perform across a boreal forest to non-forest structure gradient in globally important ecological region of northern Siberia. We used a modified version of FLIGHT to simulate the acquisition parameters of ICESat-2. Modeled returns were analyzed from collections of sequential footprints along LiDAR tracks (link-scales) of lengths ranging from 20 m-90 m. These link-scales traversed synthetic forest stands that were initialized with parameters drawn from field surveys in Siberian Larix forests. LiDAR returns from vegetation were compiled for 100 simulated LiDAR collections for each 10 Mg · ha(exp -1) interval in the 0-100 Mg · ha(exp -1) above-ground biomass density (AGB) forest gradient. Canopy height metrics were computed and AGB was inferred from empirical models. The root mean square error (RMSE) and RMSE uncertainty associated with the distribution of inferred AGB within each AGB interval across the gradient was examined. Simulation results of the bright daylight and low vegetation reflectivity conditions for collecting photon counting LiDAR with no topographic relief show that 1-2 photons are returned for 79%-88% of LiDAR shots. Signal photons account for approximately 67% of all LiDAR returns, while approximately 50% of shots result in 1 signal photon returned. The proportion of these signal photon returns do not differ significantly (p greater than 0.05) for AGB intervals greater than 20 Mg · ha(exp -1). The 50m link-scale approximates the finest horizontal resolution (length) at which photon counting LiDAR collection provides strong model fits and minimizes forest structure uncertainty in the synthetic Larix stands. At this link-scale AGB greater than 20 Mg · ha(exp -1) has AGB error from 20-50% at the 95% confidence level. These results suggest that the theoretical sensitivity of ICESat-2 photon counting LiDAR measurements alone lack the ability to consistently discern differences in inferred AGB at 10 Mg · ha(exp -1) intervals in sparse forests characteristic of the taiga-tundra ecotone.

LiDAR↗