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NASA NTRS2015

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

Allen, B. Danette↗

DOE OSTI2020

Turbulent properties from Doppler lidar

Permanent and mobile facilities deployed by the ARM program cover a wide range of climatic regions, with a suite of active remote-sensing of cloud and aerosol profiles complemented by comprehensive in-situ measurements of the chemical, physical and optical properties of aerosol measured at the surface. To be able to fully exploit these datasets requires an understanding of the transport from the surface and within the atmosphere, especially within the planetary boundary layer. This requires a method of identifying when the surface and atmosphere are dynamically-linked. Determining the state of the boundary layer, and defining a well-mixed boundary-layer, is therefore suitably described in terms of mixing; here, we will assume that mixing essentially means turbulent mixing. This necessitates accurate measurements of the winds and turbulent mixing in the atmosphere. Doppler lidar is an excellent tool for observing turbulent properties, and ARM has deployed commercially available Doppler lidars at many of the fixed and mobile facilities. Doppler lidars have been shown to provide accurate retrievals of wind and turbulent properties within the boundary layer , however, robust characterization and calculation of the Doppler lidar measurement uncertainties is required before deriving higher level data products.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRSDate not supplied

Delay Tolerant, Radio Frequency Identification (RFID )-enabled Sensing

Radio Frequency Identification (RFID) technology offers a completely passive method to transmit fixed data sequences from an RFID tag, which typically doesn’t have its own power supply, to an interrogator. Radio frequency (RF) energy harvested from the interrogator is rectified by the tag and used to charge an integrated circuit (IC). The IC then modulates the received signal with the data stored on the tag and reflects the energy back to the interrogator. RFID has seen great proliferation in terrestrial inventory management applications, and it has recently made the jump to spaceflight applications onboard the International Space Station, augmenting an existing optical bar‐code infrastructure for tracking supplies. A number of advanced automated logistics management (ALM) concepts employing RFID are currently being developed and evaluated, including so‐called “smart” shelves, cubbies, and trash receptacles using low‐power, embeddable RFID interrogators. An infrastructure where both crew members and robotic assistants, such as autonomous free flyers, are similarly equipped with small RFID interrogators seems likely. It therefore behooves us to consider extending this infrastructure beyond ALM to applications such as low power, embedded sensing. Typically, data on an RFID tag can only be written by an RFID interrogator, using interrogator energy. In recent years, however, a few efforts have focused on using that energy to drive data acquisition from the tag IC, allowing the tag to modify its stored data sequence with sensor data before replying to an interrogator. In this way, the tag can act as a completely passive sensing device. One problem exists with this approach, however: the tag cannot gather data when an interrogator is not present. Thus, strictly passive RFID sensing tags cannot gather data at regular intervals, in the manner of a typical wireless sensor network, without careful, and impractical, planning of mobile interrogator movements. To address this shortcoming, we look to a recent advance in RFID technology which allows an external microprocessor to power the tag IC and write directly into its RFID memory using a wired serial interface. In this paradigm, data gathering is driven by a small, on‐board power supply (using batteries or harvested energy), and data transfer is provided passively through the RFID interrogation service. Since communication typically consumes the lion’s share of power in WSNs, such a technique has the potential to enable extremely long‐lived, embedded wireless sensing when used with extremely low‐current microcontrollers. Since the communication channel is only open when an interrogator is present and actively interrogating the RFID sensing tag, transport of periodically‐sampled sensor data presents itself as a delay/disruption‐tolerant networking (DTN) problem. In this paper, we present the design of a DTN‐like overlay on the common EPC Global, Class 1, Generation 2 RFID standard. This overlay allows seamless, guaranteed data transfer using the EPC Global protocol, supporting extremely low‐power, embedded sensing using an infrastructure likely to be already in place for ALM applications. We evaluate a prototype implementation of a complete end‐to‐end system using a robotic RFID interrogation agent, and we present future directions for the development of this sensing technique.

Raymond S. Wagner↗

NASA NTRS2003

Integrated system for sensing and traverse of cliff faces

In this paper, we describe the development of an integrated suite of autonomous, adaptive hardware/software control methods called SMART (System for Mobility and Access to Rough Terrain) that enables mobile robots to explore potentially important science sites currently beyond the reach of conventional rover designs.

cooperative↗

NASA NTRS2020

Development of High-Performance Graphene-HgCdTe Detector Technology for Mid-Wave Infrared Applications

A high-performance graphene-based HgCdTe detector technology is being developed for sensing over the mid-wave infrared (MWIR) band for NASA Earth Science, defense, and commercial applications. This technology involves the integration of graphene into HgCdTe photodetectors that combines the best of both materials and allows for higher MWIR(2-5 m) detection performance compared to photodetectors using only HgCdTe material. The interfacial barrier between the HgCdTe-based absorber and the graphene layer reduces recombination of photogenerated carriers in the detector. The graphene layer also acts as high mobility channel that whisks away carriers before they recombine, further enhancing the detector performance. Likewise, HgCdTe has shown promise for the development of MWIR detectors with improvements in carrier mobility and lifetime. The room temperature operational capability of HgCdTe-based detectors and arrays can help minimize size, weight, power and cost for MWIR sensing applications such as remote sensing and earth observation, e.g., in smaller satellite platforms. The objective of this work is to demonstrate graphene-based HgCdTe room temperature MWIR detectors and arrays through modeling, material development, and device optimization. The primary driver for this technology development is the enablement of a scalable, low cost, low power, and small footprint infrared technology component that offers high performance, while opening doors for new earth observation measurement capabilities.

Sood, Ashok K.↗

NASA NTRSDate not supplied

Additional Metadata Guidelines to Improve the Structure and Usability of HDF and NetCDF Files

The Hierarchical Data Format (HDF) and Network Common Data Form (NetCDF) are data file formats created to aid users in the creation or use of scientific data. These file formats are useful for handling large data volumes and hosting extensive metadata as global attributes or variables and are popular with the modeling community. HDF and NetCDF files are largely used with remote sensing data and have been used to support measurements from numerous campaigns, from satellite to aircraft or ground and mobile based measurements. The files from airborne field studies, however, vary greatly in terms of the file structure and the amount and content of metadata. Information relevant to the file that can be useful to the user such as the data producer, location where data was taken, variable descriptions, or information about the instrument might not be included in the file. This metadata might be present in another file in the dataset containing the same data using the International Consortium for Atmospheric Research on Transport and Transformation (ICARTT) format. Recently, the Aerosols, Clouds, and their Interactions for Earth System Models (MACIE) group started a grassroots effort to develop a set of requirements for the HDF and NetCDF files for field studies, aiming to make the data products more interoperable and usable. Particularly, these requirements seek to make the files more compliant to Climate and Forecast (CF) metadata conventions and to standardize the file structure and the global and variable attributes. These requirements would help to ensure that HDF and NetCDF files contain adequate metadata to better support their use for research, e.g., the modeling community, and to enhance the usability and interoperability of data for research communities at large. To be presented are the details of the MACIE requirements as well as examples of the implementation of these requirements for merge files and lidar observation data files.

Sean Leavor↗

NASA NTRS2011

A Comparison of Methods for Assessing Space Suit Joint Ranges of Motion

Through the Advanced Exploration Systems Program, NASA is attempting to use the vast collection of space suit mobility data from 50 years worth of space suit testing to build predictive analysis tools to aid in early architecture decisions for future missions and exploration programs. However, the design engineers must first understand if and how data generated by different methodologies can be compared directly and used in an essentially interchangeable manner. To address this question, the isolated joint range of motion data from two different test series were compared. Both data sets were generated from participants wearing the Mark III Space Suit Technology Demonstrator (MK-III), Waist Entry I-suit (WEI), and minimal clothing. Additionally the two tests shared a common test subject that allowed for within subject comparisons of the methods that greatly reduced the number of variables in play. The tests varied in their methodologies: the Space Suit Comparative Technologies Evaluation used 2D photogrammetry to analyze isolated ranges of motion while the Constellation space suit benchmarking and requirements development used 3D motion capture to evaluate both isolated and functional joint ranges of motion. The isolated data from both test series were compared graphically, as percent differences, and by simple statistical analysis. The results indicated that while the methods generate results that are statistically the same (significance level p= 0.01), the differences are significant enough in the practical sense to make direct comparisons ill advised. The concluding recommendations propose direction for how to bridge the data gaps and address future mobility data collection to allow for backward compatibility.

Aitchison, Lindsay↗

NASA NTRS2012

A Comparison of Methods for Assessing Space Suit Joint Ranges of Motion

Through the Advanced Exploration Systems (AES) Program, NASA is attempting to use the vast collection of space suit mobility data from 50 years worth of space suit testing to build predictive analysis tools to aid in early architecture decisions for future missions and exploration programs. However, the design engineers must first understand if and how data generated by different methodologies can be compared directly and used in an essentially interchangeable manner. To address this question, the isolated joint range of motion data from two different test series were compared. Both data sets were generated from participants wearing the Mark III Space Suit Technology Demonstrator (MK-III), Waist Entry I-suit (WEI), and minimal clothing. Additionally the two tests shared a common test subject that allowed for within subject comparisons of the methods that greatly reduced the number of variables in play. The tests varied in their methodologies: the Space Suit Comparative Technologies Evaluation used 2-D photogrammetry to analyze isolated ranges of motion while the Constellation space suit benchmarking and requirements development used 3-D motion capture to evaluate both isolated and functional joint ranges of motion. The isolated data from both test series were compared graphically, as percent differences, and by simple statistical analysis. The results indicated that while the methods generate results that are statistically the same (significance level p= 0.01), the differences are significant enough in the practical sense to make direct comparisons ill advised. The concluding recommendations propose direction for how to bridge the data gaps and address future mobility data collection to allow for backward compatibility.

Aitchison, Lindsay T.↗

NASA NTRS1981

A multi-frequency radiometric measurement of soil moisture content over bare and vegetated fields

A USDA Beltsville Agricultural Research Center site was used for an experiment in which soil moisture remote sensing over bare, grass, and alfalfa fields was conducted over a three-month period using 0.6 GHz, 1.4 GHz, and 10.6 GHz Dicke-type microwave radiometers mounted on mobile towers. Ground truth soil moisture content and ambient air and sil temperatures were obtained concurrently with the radiometric measurements. Biomass of the vegetation cover was sampled about once a week. Soil density for each of the three fields was measured several times during the course of the experiment. Results of the radiometric masurements confirm the frequency dependence of moisture sensing sensitivity reduction reported earlier. Observations over the bare, wet field show that the measured brightness temperature is lowest at 5.0 GHz and highest of 0.6 GHz frequency, a result contrary to expectation based on the estimated dielectric permittivity of soil water mixtures and current radiative transfer model in that frequency range.

Wang, J. R.↗

NASA NTRS1993

Planetary rover developments at JPL

Planetary rover research has recently focused on small rovers, which are competent to explore and assist in in-situ analysis of limited areas around a landing site (as opposed to the larger, long range rovers, which have been assumed to accompany sample return missions). Navigation and mobility concepts of these small rovers are, in some cases, somewhat different than what was assumed in the past. The sensing, computing, communication, and power resources of these missions dictate a rethinking of the 'large mission' approach. Recent results and demonstrations along this new direction are described.

Wilcox, Brian↗

NASA NTRS1997

Studies of the Interactions Between Vestibular Function and Tactual Orientation Display Systems

When humans experience conditions in which internal vestibular cues to movement or spatial location are challenged or contradicted by external visual information, the result can be spatial disorientation, often leading to motion sickness. Spatial disorientation can occur in any situation in which the individual is passively moved in the environment, but is most common in automotive, aircraft, or undersea travel. Significantly, the incidence of motion sickness in space travel is great: The majority of individuals in Shuttle operations suffer from the syndrome. Even after the space-sickness-producing influences of spatial disorientation dissipate, usually within several days, there are other situations in which, because of the absence of reliable or familiar vestibular cues, individuals in space still experience disorientation, resulting in a reliance on the already preoccupied sense of vision. One possible technique to minimize the deleterious effects of spatial disorientation might be to present attitude information (including orientation, direction, and motion) through another less-used sensory modality - the sense of touch. Data from experiences with deaf and blind persons indicate that this channel can provide useful communication and mobility information on a real-time basis. More recently, technologies have developed to present effective attitude information to pilots in situations in which dangerously ambiguous and conflicting visual and vestibular sensations occur. This summers project at NASA-Johnson Space Center will evaluate the influence of motion-based spatial disorientation on the perception of tactual stimuli representing veridical position and orientation information, presented by new dynamic vibrotactile array display technologies. In addition, the possibility will be explored that tactile presentations of motion and direction from this alternative modality might be useful in mitigating or alleviating spatial disorientation produced by multi-axis rotatory systems, monitored by physiological recording techniques developed at JSC.

Cholewiak, Roger W.↗

NASA NTRS2009

Examining the Impacts of High-Resolution Land Surface Initialization on Model Predictions of Convection in the Southeastern U.S.

One of the most challenging weather forecast problems in the southeastern U.S. is daily summertime pulse convection. During the summer, atmospheric flow and forcing are generally weak in this region; thus, convection typically initiates in response to local forcing along sea/lake breezes, and other discontinuities often related to horizontal gradients in surface heating rates. Numerical simulations of pulse convection usually have low skill, even in local predictions at high resolution, due to the inherent chaotic nature of these precipitation systems. Forecast errors can arise from assumptions within physics parameterizations, model resolution limitations, as well as uncertainties in both the initial state of the atmosphere and land surface variables such as soil moisture and temperature. For this study, it is hypothesized that high-resolution, consistent representations of surface properties such as soil moisture and temperature, ground fluxes, and vegetation are necessary to better simulate the interactions between the land surface and atmosphere, and ultimately improve predictions of local circulations and summertime pulse convection. The NASA Short-term Prediction Research and Transition (SPORT) Center has been conducting studies to examine the impacts of high-resolution land surface initialization data generated by offline simulations of the NASA Land Informatiot~ System (LIS) on subsequent numerical forecasts using the Weather Research and Forecasting (WRF) model (Case et al. 2008, to appear in the Journal of Hydrometeorology). Case et al. presents improvements to simulated sea breezes and surface verification statistics over Florida by initializing WRF with land surface variables from an offline LIS spin-up run, conducted on the exact WRF domain and resolution. The current project extends the previous work over Florida, focusing on selected case studies of typical pulse convection over the southeastern U.S., with an emphasis on improving local short-term WRF simulations over the Mobile, AL and Miami, FL NWS county warning areas. Future efforts may involve examining the impacts of assimilating remotely-sensed soil moisture data, and/or introducing weekly greenness vegetation fraction composites (as opposed to monthly climatologies) into ol'fline NASA LIS runs. Based on positive impacts, the offline LIS runs could be transitioned into an operational mode, providing land surface initialization data to NWS forecast offices in real time.

Case, Jonathan L.↗

NASA NTRS2013

Environmental Monitoring of Microbe Metabolic Transformation

Mobile system and method for monitoring environmental parameters involved in growth or metabolic transformation of algae in a liquid. Each of one or more mobile apparati, suspended or partly or wholly submerged in the liquid, includes at least first and second environmental sensors that sense and transmit distinct first and second environmental, growth or transformation parameter values, such as liquid temperature, temperature of gas adjacent to and above the exposed surface, liquid pH, liquid salinity, liquid turbidity, O.sub.2 dissolved in the liquid, CO.sub.2 contained in the liquid, oxidization and reduction potential of the liquid, nutrient concentrations in the liquid, nitrate concentration in the liquid, ammonium concentration in the liquid, bicarbonate concentration in the liquid, phosphate concentration in the liquid, light intensity at the liquid surface, electrical conductivity of the liquid, and a parameter.alpha.(alga) associated with growth stage of the alga, using PAM fluorometry or other suitable parameter measurements.

Bebout, Brad↗

NASA NTRS2019

Multi-Band and Multi-Function Reconfigurable Gallium Nitride Based Fully Solid-State Microwave Power Module for Cognitive Radio/Radar Platforms

This paper presents as a proof-of-concept (POC) the design, integration, and performance of a novel reconfigurable S-/X-band Gallium Nitride (GaN) based fully solid-state microwave power module (SSMPM) for the role as the transmit module in a cognitive radio (CR). The SSMPM synergistically integrates multiple amplifiers through diplexing and high power switches to enable a single SSMPM capable of functioning as both S-/X-band amplifiers for telemetry, tracking, and command (TT&C), telecommunications, and science data downlink or as X-band radar for proximity sensing onboard a planetary exploration spacecraft. Integration of an electric field shaping field plate (FP) onto the GaN high electron mobility transistors (HEMTs) in this SSMPM provides increased performance and reliability for operation in the harsh conditions of space. This SSMPM is capable of delivering saturated power (Psat) of 39 dBm (8 W continuous wave (CW)) at S-band, P(sub sat) of 43 dBm (20 W CW) at X-band, and P(sub sat) of >50 dBm (>100 W Pulsed) at X-band.

Simons, Rainee N.↗

NASA NTRSDate not supplied

Extending CF Conventions to Enhance Data FAIRness for Atmospheric Composition Observations

The Hierarchical Data Format (HDF) and Network Common Data Form (NetCDF) are data file formats created to aid users in the creation or use of scientific data. These file formats are useful for handling large data volumes and hosting extensive metadata as global, group, or variable attributes and are popular with the modeling community. HDF and NetCDF files are widely used with atmospheric remote sensing data and have been used to support measurements from numerous field campaigns, from satellite to aircraft or ground and mobile based measurements. The files from airborne field studies, however, vary greatly in terms of the file structure and the amount and content of their metadata. Information relevant to the file that can be useful to the user such as the data producer, location where data was taken, variable descriptions, or information about the instrument might not be included in the file. Recently, the Measurements of Aerosols, Clouds, and their Interactions for Earth System Models (MACIE) group started a grassroots effort to develop a CF-based template for the HDF and NetCDF files for field studies, with the aim of making the data products more interoperable and usable. This template seeks to make the files more compliant to Climate and Forecast (CF) metadata conventions and to standardize the file structure and the global and variable attributes. The template would help to ensure that HDF and NetCDF files contain adequate metadata to better support their use for research, e.g., the modeling community, and to enhance the usability and interoperability of data for research communities at large. The draft template has been applied to recent field studies for various instruments and their merge files in support of the Atmosphere Observing System (AOS) project. The details of the revised template are to be presented, as well as examples of the implementation of these requirements for merge files and lidar observation data files and issues revealed during the implementation process.

Sean Leavor↗

DOE OSTI2023

Systems for passive microwave remote sensing and their calibration methods

A system for passive microwave remote sensing using at least one microwave radiometer includes a fixed body portion, the fixed body portion being configured to attach to a mobile platform, and a mobile body portion, the mobile body portion being configured for rotatably coupling with the fixed body portion for rotation about a rotation axis. The mobile body portion is configured for supporting the at least one microwave radiometer therein such that the at least one microwave radiometer rotates about the rotation axis when the mobile body portion is rotated about the rotation axis such that a polarization axis of the at least one radiometer is aligned with an earth axis. The fixed body portion includes a motor mechanism for effecting rotation of the mobile body portion such that the at least one microwave radiometer provides a vertical scanning below and above the mobile platform.

Klein, Marian↗

NASA NTRS2002

Application of Mobile Router to Military Communications

Cisco Systems and NASA Glenn Research Center under a NASA Space Act Agreement have been performing joint networking research to apply Internet technologies and protocols to space-based communications. During this time, Cisco Systems developed the mobile-router which NASA and Cisco jointly tested. The early field trials of this technology have been successfully completed. The mobile-router is software code that resides in a network router. A Mobile-Router allows entire networks to roam while maintaining connectivity to the Internet. This router code is pertinent to a myriad of applications for both the government and commercial sectors. This technology will be applied to the wireless battlefield. NASA and the Department of Defense will utilize this technology for near-planetary observation and sensing spacecraft. It is the enabling technology for communication via the Internet or Intranets to aircraft. Information such as weather, air traffic control, voice and video can be easily and inexpensively transmitted to the aircraft using Internet protocols. The mobile router can be incorporated into emergency vehicles particularly ambulances and life-flight aircraft to provide real-time connectivity back to the hospital and healthcare experts. Commercial applications include entertainment services, IP telephone, and Internet connectivity for cruise ships, commercial shipping, tour busses, aircraft, and eventually cars. This paper will briefly describe the mobile router operation. An upcoming wide area network field test with application to US Coast Guard communications will be described. The paper will also highlight military and government networks that will benefit from the deployment of mobile router and the associated applications.

Stewart, David H.↗

DOE OSTI2026

3D Cloud Aerosol Precipitation Experiment at kennaook Cape Grim (3D-CAPE-k) Field Campaign Report

The objective of this campaign was to complement the U.S. Department of Energy Atmospheric Radiation Measurement (ARM) User Facility’s Cloud And Precipitation Experiment at kennaook (CAPE-k) in northwest Tasmania by deploying scanning, fixed pointing angle, and in situ aerosol, cloud, and precipitation remote-sensing instruments during the last six months of the experiment. These instruments provided a three-dimensional (3D) context to the second ARM Mobile Facility (AMF2) vertically pointing observations collected at the kennaook Cape Grim (KCG) site and captured a portion of the life cycle of the clouds before and after the passage over the AMF2 vertical column. These 3D cloud measurements will be used in the near future to 1) investigate how the vertical profiles of aerosol and cloud properties are representative of the broader area and how these properties evolve during the portion of the cloud life cycle captured by the scanning instruments, 2) quantify how accurate the cloud fraction derived with assumptions from vertically pointing observations are compared with direct 3D cloud fraction measurements, 3) evaluate cloud fraction and liquid water path in the Australian Community Climate and Earth-System Simulator–Convective-scale (ACCESS-C) forecast model, and 4) evaluate aerosol and cloud products from the European Space Agency/Japanese Aerospace Exploration Agency (ESA/JAXA) Earth Cloud Aerosol Radiation Explorer (EarthCARE) mission using the scanning measurements, offering more chances of exact collocation, thereby complementing the statistical approach we are planning to employ with AMF2 observations for that same purpose.

54 ENVIRONMENTAL SCIENCES↗