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NASA NTRS1996

Smooth Pursuit of a Partially Occluded Object

There has long been qualitative evidence that humans can pursue an object defined only by the motion of its parts. We explored this quantitatively using an occluded diamond stimulus. Four subjects (one naive) tracked a line-figure diamond moving along an elliptical path (0.9 Hz) either clockwise (CW) or counterclockwise (CCW) behind either an X-shaped aperture (CROSS) or two vertical rectangular apertures (BARS), which obscured the corners. Although the stimulus consisted of only four line segments (108 cd/square m) moving within a visible aperture (0.2 cd/square m) behind a foreground (38 cd/square m), it is largely perceived as a coherently moving diamond. The inter-saccadic portions of eye-position traces were fit with sinusoids. All subjects tracked object motion with considerable temporal accuracy. The mean phase lag was 5 deg/6 deg (CROSS/BARS) and the mean relative phase between the horizontal and vertical components was +95 deg/+92 deg (CW) and -85 deg/-75 deg (CCW), which is close to perfect. Furthermore, a chi-square analysis showed that 56% of BARS trials were consistent with tracking the correct elliptical shape (p is less than 0.05), although segment motion was purely vertical. These data disprove the main tenet of most models of pursuit: that it is a system that seeks to minimize retinal image motion through negative feedback. Rather, the main drive must be a visual signal which has already integrated spatiotemporal retinal information into an object-motion signal.

Stone, L. S.↗

NASA NTRS1971

A channel simulator design study

A propagation path simulator was designed for the channel between a Tracking and Data Relay Satellite in geostationary orbit and a user spacecraft orbiting the earth at an altitude between 200 and 4000 kilometers. The simulator is required to duplicate the time varying parameters of the propagation channel.

Devito, D. M.↗

NASA NTRS1982

NASA/FAA Helicopter ATC simulation investigation of RNAV/MLS instrument approaches

The NASA/FAA Helicopter Air Traffic Control (ATC) simulation investigations to determine the feasibility of simultaneous, independent instrument approach procedures for helicopters at major terminal areas, using Area Navigation/Microwave Landing System (RNAV/MLS) guidance, was conducted at several levels of helicopter display sophistication, up to that of a Cockpit Display of Traffic Information (CDTI) system. Test objectives included the determination of pilot acceptability and the tracking performance of the RNAV/MLS's noninterfering rotorcraft approach path structure, along with the evaluation of the effect on controller workload of multiroute structures combining conventional and rotorcraft approaches at various arrival rates and traffic separations. The utility of electronic area maps and CDTI displays was also investigated. Participating pilots flew 127 simulated instrument approaches in an ATC simulation laboratory.

Peach, L. L., Jr.↗

NASA NTRS1991

Precise flight-path control using a predictive algorithm

Generalized predictive control describes an algorithm for the control of dynamic systems in which a control input is generated that minimizes a quadratic cost function consisting of a weighted sum of errors between desired and predicted future system output and future predicted control increments. The output predictions are obtained from an internal model of the plant dynamics. A design technique is discussed for applying the single-input/single-output generalized predictive control algorithm to a problem of longitudinal/vertical terrain-following flight of a rotorcraft. By using the generalized predictive control technique to provide inputs to a classically designed stability and control augmentation system, it is demonstrated that a robust flight-path control system can be created that exhibits excellent tracking performance.

Hess, R. A.↗

NASA NTRS1990

Vertical bloch line memory

Vertical Bloch Line (VBL) memory is a recently conceived, integrated, solid-state, block-access, VLSI memory which offers the potential of 1Gbit/sq cm real storage density, gigabit per second data rates, and sub-millisecond average access times simultaneously at relatively low mass, volume, and power values when compared to alternative technologies. VBL's are micromagnetic structures within magnetic domain walls which can be manipulated using magnetic fields from integrated conductors. The presence or absence of VBL pairs are used to store binary information. At present, efforts are being directed at developing a single-chip memory using 25Mbit/sq cm technology in magnetic garnet material which integrates, at a single operating point, the writing, storage, reading, and amplification functions needed in a memory. This paper describes the current design architecture, functional elements, and supercomputer simulation results which are used to assist the design process. The current design architecture uses three metal layers, two ion implantation steps for modulating the thickness of the magnetic layer, one ion implantation step for assisting propagation in the major line track, one NiFe soft magnetic layer, one CoPt hard magnetic layer, and one reflective Cr layer for facilitating magneto-optic observation of magnetic structure. Data are stored in a series of elongated magnetic domains, called stripes, which serve as storage sites for arrays of VBL pairs. The ends of these stripes are placed near conductors which serve as VBL read/write gates. A major line track is present to provide a source and propagation path for magnetic bubbles. Writing and reading, respectively, are achieved by converting magnetic bubbles to VBL's and vice versa. The output function is effected by stretching a magnetic bubble and detecting it magnetoresistively. Experimental results from the past design cycle created four design goals for the current design cycle. First, the bias field ranges for the stripes and the major line needed to be matched. Second, the magnetic field barrier between the stripe and the read/write gates needed to be reduced. Third, current conductor routing needed to be improved to reduce occurrences of open-circuiting, short-circuiting, and eddy-current shielding. Fourth, a modified Co-alloy was needed with an increased coercivity and controlled magnetization to allow VBL stabilization to occur without affecting stripe stability.

Katti, R.↗

NASA NTRS2010

Adaptive Data-based Predictive Control for Short Take-off and Landing (STOL) Aircraft

Data-based Predictive Control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. The characteristics of adaptive data-based predictive control are particularly appropriate for the control of nonlinear and time-varying systems, such as Short Take-off and Landing (STOL) aircraft. STOL is a capability of interest to NASA because conceptual Cruise Efficient Short Take-off and Landing (CESTOL) transport aircraft offer the ability to reduce congestion in the terminal area by utilizing existing shorter runways at airports, as well as to lower community noise by flying steep approach and climb-out patterns that reduce the noise footprint of the aircraft. In this study, adaptive data-based predictive control is implemented as an integrated flight-propulsion controller for the outer-loop control of a CESTOL-type aircraft. Results show that the controller successfully tracks velocity while attempting to maintain a constant flight path angle, using longitudinal command, thrust and flap setting as the control inputs.

Barlow, Jonathan Spencer↗

NASA NTRS2003

The Micro-Arcsecond Metrology Testbed

The Micro-Arcsecond Metrology (MAM) testbed is a ground-based system of optical and electronic equipment for testing components, systems, and engineering concepts for the Space Interferometer Mission (SIM) and similar future missions, in which optical interferometers will be operated in outer space. In addition, the MAM testbed is of interest in its own right as a highly precise metrological system. The designs of the SIM interferometer and the MAM testbed reflect a requirement to measure both the position of the starlight central fringe and the change in the internal optical path of the interferometer with sufficient spatial resolution to generate astrometric data with angular resolution at the microarcsecond level. The internal path is to be measured by use of a small metrological laser beam of 1,319-nm wavelength, whereas the position of the starlight fringe is to be estimated by use of a charge-coupled-device (CCD) image detector sampling a large concentric annular beam. For the SIM to succeed, the optical path length determined from the interferometer fringes must be tracked by the metrological subsystem to within tens of picometers, through all operational motions of an interferometer delay line and siderostats. The purpose of the experiments performed on the MAM testbed is to demonstrate this agreement in a large-scale simulation that includes a substantial portion of the system in the planned configuration for operation in outer space. A major challenge in this endeavor is to align the metrological beam with the starlight beam in order to maintain consistency between the metrological and starlight subsystems at the system level. The MAM testbed includes an optical interferometer with a white light source, all major optical components of a stellar interferometer, and heterodyne metrological sensors. The aforementioned subsystems are installed in a large vacuum chamber in order to suppress atmospheric and thermal disturbances. The MAM is divided into two distinct subsystems: the test article (TA), which is the interferometer proper, and the inverse interferometer pseudo-star (IIPS), which synthesizes the light coming from a distant target star by providing spatially coherent wavefronts out of two mirrors, separated by the MAM baseline, that feed directly into two siderostats that are parts of the TA. The two feed mirrors of the IIPS are articulated (in translation and tilt) in order to simulate stars located at different orientations in space, while still illuminating the TA siderostats. The spectrum of the simulated starlight of the IIPS corresponds to that of a blackbody at a temperature of about 3,100 K.

Goullioud, Renaud↗

NASA NTRS1992

Algorithm For Simplified Robotic Tracking Of Weld Seams

Algorithm computes small cross-seam corrections to programmed path of welding robot. Intended for use with add-on vision system loosely coupled to robot, transmitting small amount of information about weld seam ahead of torch. Position of welding torch in reference frame of moving window estimated on basis of data on weld seam and speed of torch. Does not need data on position of torch, and does not transform data on seam to another reference frame.

Gutow, David A.↗

NASA NTRS2001

Satellite Remote Sensing of the Liquid Water Sensitivity in Water Clouds

In estimation of the aerosol indirect effect, cloud liquid water path is considered either constant (Twomey effect) or increasing with enhanced droplet number concentrations (drizzle-suppression effect, or Albrecht effect) if cloud microphysics is the prevailing mechanism during the aerosol-cloud interactions. On the other hand, if cloud thermodynamics and dynamics are considered, the cloud liquid water path may be decreased with increasing droplet number concentration, which is predicted by model calculations and observed in ship-track and urban influence studies. This study is to examine the different responses of cloud liquid water path to changes of cloud droplet number concentration. Satellite data (January, April, July and October 1987) are used to retrieve the cloud liquid water sensitivity, defined as the changes of liquid water path versus changes of column droplet number concentrations. The results of a global survey reveal that 1) in at least one third of the cases the cloud liquid water sensitivity is negative, and the regional and seasonal variations of the negative liquid water sensitivity are consistent with other observations; 2) cloud droplet sizes are always inversely proportional to column droplet number concentrations. Our results suggest that an increase of cloud droplet number concentration leads to reduced cloud droplet size and enhanced evaporation, which weakens the coupling between water clouds and boundary layer in warm zones, decreases water supply from surface and desiccates cloud liquid water. Our results also suggest that the current evaluations of negative aerosol indirect forcing by global climate models (GCM), which are based on Twomey effect or Albrecht effect, may be overestimated.

Han, Qing-Yuan↗

NASA NTRS1995

Accuracy of wet troposphere radio path delay estimated from infrared emission

Several radio science applications require determination of the excess radio-propagation path delay caused by the Earth's atmosphere. These include very long baseline interferometry, spacecraft tracking, and potentially, detection of gravitational waves utilizing a link to a distant interplanetary spacecraft. At Ka band, the major source of variability of path delay is the fluctuations in the moisture content of the troposphere. The path delay characterization requirements for a planned gravitational wave experiment are novel and challenging. the error contribution to the phase observations due to path delay variation must be reduced by nearly two orders of magnitude over that occurring naturally on time scales of 100 to 10,000 seconds. Current approaches relying on microwave water vapor radiometry with ancillary data can deliver one order of magnitude calibration of these fluctuations, and more advanced systems are under development within the 2001-2002 time frame of the Cassini Mission to Saturn. The current work evaluates the potential for an alternative observational approach, using a ground-based Fourier transform spectrometer.

Parker, J. W.↗

NASA NTRS1990

A preliminary estimate of geoid-induced variations in repeat orbit satellite altimeter observations

Altimeter satellites are often maintained in a repeating orbit to facilitate the separation of sea-height variations from the geoid. However, atmospheric drag and solar radiation pressure cause a satellite orbit to drift. For Geosat this drift causes the ground track to vary by + or - 1 km about the nominal repeat path. This misalignment leads to an error in the estimates of sea surface height variations because of the local slope in the geoid. This error has been estimated globally for the Geosat Exact Repeat Mission using a mean sea surface constructed from Geos 3 and Seasat altimeter data. Over most of the ocean the geoid gradient is small, and the repeat-track misalignment leads to errors of only 1 to 2 cm. However, in the vicinity of trenches, continental shelves, islands, and seamounts, errors can exceed 20 cm. The estimated error is compared with direct estimates from Geosat altimetry, and a strong correlation is found in the vicinity of the Tonga and Aleutian trenches. This correlation increases as the orbit error is reduced because of the increased signal-to-noise ratio.

Brenner, Anita C.↗

NASA NTRS2005

Path Following with Slip Compensation for a Mars Rover

A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.

Helmick, Daniel↗

NASA NTRS2006

Full-Duplex Digital Communication on a Single Laser Beam

A proposed free-space optical communication system would operate in a full-duplex mode, using a single constant-power laser beam for transmission and reception of binary signals at both ends of the free-space optical path. The system was conceived for two-way data communication between a ground station and a spacecraft in a low orbit around the Earth. It has been estimated that in this application, a data rate of 10 kb/s could be achieved at a ground-station-to-spacecraft distance of 320 km, using a laser power of only 100 mW. The basic system concept is also applicable to terrestrial free-space optical communications. The system (see figure) would include a diode laser at one end of the link (originally, the ground station) and a liquid-crystal- based retroreflecting modulator at the other end of the link (originally, the spacecraft). At the laser end, the beam to be transmitted would be made to pass through a quarter-wave plate, which would convert its linear polarization to right circular polarization. For transmission of data from the laser end to the retroreflector end, the laser beam would be modulated with subcarrier phase-shift keying (SC-PSK). The transmitted beam would then pass through an aperture- sharing element (ASE) - basically, a mirror with a hole in it, used to separate the paths of the transmitted and received light beams. The transmitted beam would continue outward through a telescope (which, in the original application, would be equipped with a spacecraft-tracking system) that would launch the transmitted beam along the free-space optical path to the retroreflector end.

Hazzard, D. A.↗

DOE OSTI2021

Waste Compliance and Tracking System (WCATS) Version 3 Requirements Document

This document describes the end-user requirements for the Waste Compliance and Tracking System (WCATS) project in accordance with the WCATS Software Quality Management Plan, EPC-WMP-WCATSPLAN-001. The WCATS application shall support the generation, characterization, processing, and shipment of LANL radioactive, hazardous, and industrial waste. Regulatory drivers include RCRA hazardous waste, DOT shipping, NNSA nuclear material control and accountability, DOE nuclear safety, TSDF permit, and transuranic waste certification requirements. The system will utilize a task-based architecture that supports the spectrum of treatment, storage, disposal, administrative, and characterization based unit operations necessary to manage waste from cradle to grave. The application design shall readily accommodate new facilities, processes, workflow, signature requirements, and so forth, via end-user established metadata. WCATS will provide support for representing waste storage and disposal facilities, buildings, rooms, and grid layouts (x, y, z) to support waste and radioactive material inventory management. Nuclear material at risk (MAR), DOE hazard rating (e.g., Category II facility) compliance per DOE-STD-1027, and permit inventory requirements will be configurable for any storage or disposal facility, or waste operation, and the system will automatically evaluate and enforce those requirements. In addition, the application will support the characterization and management of the entire range of hazardous and radioactive wastes (TRU, MTRU, LLW, MLLW, hazardous waste, etc.) that might be colocated or processed at a permitted facility. Some capabilities not found in traditional systems include user-defined tank systems for liquid waste, user-defined work paths (i.e., sequence of operations), and an equipment subsystem for tracking the calibration, maintenance, and inspection of tools used to process waste, such as torque wrenches, scales, pH probes, etc. The application incorporates a desktop and mobile user interface as shown in Figure 1. The mobile interface supports field operations, such as waste item characterization, intra-facility transfers, internal and external audits, and shipment preparation and receipt.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2025

Laser calibration system at ProtoDUNE-HD

The Deep Underground Neutrino Experiment (DUNE) is a full experiment consisting of multiple detectors separated by a near and far site. DUNE will study long-baseline neutrino oscillations, which will provide insight into CP-violation, neutrino mass ordering, and the matter/antimatter asymmetry. Additionally, DUNE will search for nucleon decay and observe neutrinos from supernovae. DUNE relies on liquid argon time projection chambers (LAr TPCs), an excellent technology for tracking particles and reconstructing their interactions with high precision. To achieve its goals, DUNE is supported by the ProtoDUNE experiments at CERN, which serve as large-scale prototypes to validate detector technologies and calibration systems. The precise calibration of the electric field within the detector is vital for accurate 3D reconstruction of particle tracks, particularly in maintaining the consistency of charge measurements along the drift path. This work presents the development and implementation of a laser calibration system designed for ProtoDUNE-II. This poster involved the physical installation and commissioning of the laser system. The commissioning process included extensive testing to ensure alignment and operational efficiency, such as rotating the laser to observe behavior of tracks. The groundwork established during these steps is crucial for future data analysis, aiming to measure the electron lifetime (in the active volume) and map the electric field inside the detector with high precision.

Campanelli, Wallison [LIP]↗

NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗

NASA NTRS2004

UAV-Based L-Band SAR with Precision Flight Path Control

NASA's Jet Propulsion Laboratory is currently implementing a reconfigurable polarimetric L-band synthetic aperture radar (SAR), specifically designed to acquire airborne repeat track interferometric (RTI) SAR data, also know as differential interferometric measurements. Differential interferometry can provide key displacement measurements, important for the scientific studies of Earthquakes and volcanoes. Using precision real-time GPS and a sensor controlled flight management system, the system will be able to fly predefined paths with great precision. The radar will be designed to operate on a UAV (Unmanned Arial Vehicle) but will initially be demonstrated on a minimally piloted vehicle (MPV), such as the Proteus build by Scaled Composites. The application requires control of the flight path to within a 10 meter tube to support repeat track and formation flying measurements. The design is fully polarimetric with an 80 MHz bandwidth (2 meter range resolution) and 16 kilometer range swath. The antenna is an electronically steered array to assure that the actual antenna pointing can be controlled independent of the wind direction and speed. The system will nominally operate at 45,000 ft. The program started out as a Instrument Incubator Project (IIP) funded by NASA Earth Science and Technology Office (ESTO).

flight control↗

DOE OSTI2025

Phase-field modeling and experiments of dynamic fracture in single crystal quartz

Predicting the onset and characteristics of brittle fracture is important for a wide range of engineering and geological material applications. In this paper, we study important aspects of brittle fracture in α-quartz by phase-field modeling and experiments using a top-down approach. In the modeling framework, the work term in the Griffith energy balance is replaced with internal energy contributions that represent surface energy, thermal energy, and elastic strain energy stored in defects. This allows parametrization of individual energy contributions in terms of internal state variables and keeps track of energy partitioning after the onset of fracture. The path and history dependence of fracture is included in evolution laws for internal state variables, e.g., entropy evolution, while the energy remains a true potential. In the experimental part, dynamic compression experiments coupled with X-ray phase contrast imaging are performed on cube-like samples with a hole. In the top-down analysis, dynamic compression and three point bending experiments from the literature are simulated with the developed phase-field damage model. In conclusion, the fitted model highlights the strain rate, size, and stress state dependence of damage nucleation and evolution in single crystal α-quartz.

36 MATERIALS SCIENCE↗