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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 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Remote observations of severe storms

The focus of current research activities is on: (1) analyzing spectra from cloud-to-ground lightning and intracloud lightning; (2) site error analyses and sensitivity tests for direction finders in the East Coast network; (3) integration of lightning location data with satellite images on the Wisconsin McIDAS system; and (4) fundamental studies of the relation between meteorological parameters and characteristics of lightning determined by the SUNYA Lightning Detection Network.

Orville, R. E.↗
NASA NTRS1986

Parachute recovery location aids

This paper presents various types of location aid devices that may be used individually or in some combination to locate parachutes designed for the recovery of scientific data and instrumentation that have impacted on the earth's surface. Systems may be used on either recovery parachute systems or high altitude parachute systems. It is noted that all location aids are passive during the data gathering period of flight. Initial results of test data from two types of direction finder receivers are presented as well as their application and use with parachute borne and other location transmitters.

Silbert, M. N.↗
NASA NTRS1987

Cloud-to-ground lightning flash characteristics from June 1984 through May 1985

A magnetic direction-finding network for the detection of lightning cloud-to-ground strikes has been installed along the east coast of the United States. Time, location, flash polarity, stroke count, and peak signal amplitude are recorded in real time. The data were recorded from Maine to North Carolina and as far west as Ohio; analyses were restricted to flashes within 300 km of a direction finder. Measurements of peak signal strength have been obtained from 720,284 first return strokes lowering negative charge. The resulting distribution indicates that few negative strokes have peak currents exceeding 100 kA. Measurements have also been obtained of peak signal strength from 17,694 first return strokes lowering positive charge. These strokes have a median peak current of 45 kA, with some peak currents reaching 300-400 kA. The median peak signal strength and the peak current, double from summer to winter for both negative and positive first return strokes. The polarity of ground flashes is observed to be less than 5 percent positive throughout the summer and early fall, then increases to over 50 percent during the winter, and returns to less than 10 percent in early spring. The percent of positive flashes with one stroke is observed to be approximately 90 percent throughout the year. The percent of negative flashes with one stroke is observed to increase from 40 percent in the summer to approximately 80 percent in January, returning to less than 50 percent in the spring.

Orville, Richard E.↗
NASA NTRS1988

Sensor fusion of range and reflectance data for outdoor scene analysis

In recognizing objects in an outdoor scene, range and reflectance (or color) data provide complementary information. Results of experiments in recognizing outdoor scenes containing roads, trees, and cars are presented. The recognition program uses range and reflectance data obtained by a scanning laser range finder, as well as color data from a color TV camera. After segmentation of each image into primitive regions, models of objects are matched using various properties.

Kweon, In SO↗
NASA NTRS1987

The 3-D world modeling with updating capability based on combinatorial geometry

A 3-D world modeling technique using range data is discribed. Range data quantify the distances from the sensor focal plane to the object surface, i.e., the 3-D coordinates of discrete points on the object surface are known. The approach proposed herein for 3-D world modeling is based on the Combinatorial Geometry (CG) method which is widely used in Monte Carlo particle transport calculations. First, each measured point on the object surface is surrounded by a small sphere with a radius determined by the range to that point. Then, the 3-D shapes of the visible surfaces are obtained by taking the (Boolean) union of all the spheres. The result is an unambiguous representation of the object's boundary surfaces. The pre-learned partial knowledge of the environment can be also represented using the CG Method with a relatively small amount of data. Using the CG type of representation, distances in desired directions to boundary surfaces of various objects are efficiently calculated. This feature is particularly useful for continuously verifying the world model against the data provided by a range finder, and for integrating range data from successive locations of the robot during motion. The efficiency of the proposed approach is illustrated by simulations of a spherical robot in a 3-D room in the presence of moving obstacles and inadequate prelearned partial knowledge of the environment.

Goldstein, M.↗
NASA NTRS1988

The IUE spectrum of Cn 1-2 (= PK 326-10 deg 1) - A southern counterpart to V1016 Cygni and HM Sagittae?

Low-dispersion IUE spectra confirm that the emission-line object Cn 1-2 is a symbiotic star and not a planetary nebula. The UV spectrum of Cn 1-2 strongly resembles those of V1016 Cyg and HM Sge. The object is correctly identified in the finder field of Allen's Catalogue of Symbiotic Stars (1984) but misidentified in the Catalogue of Galactic Planetary Nebulae by Perek and Kohoutek (1967).

Feibelman, Walter A.↗
NASA NTRS1989

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Weisbin, C. R.↗
NASA NTRS1989

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

Hirzinger, G.↗
NASA NTRS1991

First and subsequent return stroke properties of cloud-to-ground lightning

Lightning properties obtained by a network of magnetic direction finders and by electric field measurements for distances from 50 to 500 km are compared for three summer thunderstorms in Sweden. The data from direct field recordings indicate 31, 17, and 26 pcts. of negative subsequent return strokes with peak current (as inferred from the peak electric field) higher than the first. Electric fields from first strokes are compared with normalized amplitudes registered by the magnetic direction finding system. The efficiency of detection by the magnetic direction finding system is discussed in terms of the percentage of lightning flashes observed by electric field measurements that are not localized. Statistics of the number of strokes per flash and the interstroke time intervals are presented.

Namasivayam, S.↗
NASA NTRS1991

An iterative method for obtaining the optimum lightning location on a spherical surface

A brief introduction to the basic principles of an eigen method used to obtain the optimum source location of lightning is presented. The location of the optimum source is obtained by using multiple direction finders (DF's) on a spherical surface. An improvement of this method, which takes the distance of source-DF's as a constant, is presented. It is pointed out that using a weight factor of signal strength is not the most ideal method because of the inexact inverse signal strength-distance relation and the inaccurate signal amplitude. An iterative calculation method is presented using the distance from the source to the DF as a weight factor. This improved method has higher accuracy and needs only a little more calculation time. Some computer simulations for a 4DF system are presented to show the improvement of location through use of the iterative method.

Chao, Gao↗
NASA NTRS1991

The spatial variations of lightning during small Florida thunderstorms

Networks of field mills (FM's) and lightning direction finders (LDF's) were used to locate lightning over the NASA KSC on three storm days. Over 90 percent of all cloud-to-ground (CG) flashes that were detected by the LDF's in the study area were also detected by the LDF's. About 17 percent of the FM CG events could be fitted to either a monopole or a dipole charge model. These projected FM charge locations are compared to LDF locations, i.e., the ground strike points. It was found that 95 percent of the LDF points are within 12 km of the FM charge, 75 percent are within 8 km, and 50 percent are within 4 km. For a storm on 22 Jul. 1988, there was a systematic 5.6 km shift between the FM charge centers and the LDF strike points that might have been caused by the meteorological structure of the storm.

Oram, Timothy D.↗
NASA NTRS1991

Weak positive cloud-to-ground flashes in Northeastern Colorado

The frequency distributions of the peak magnetic field associated with the first detected return stroke of positive and negative cloud-to-ground (CG) flashes were studied using lightning data from northeastern Colorado. These data were obtained during 1985 with a medium-to-high gain network of three direction finders (DF's). The median signal strength of positive flashes was almost two times that of the negatives for flashes within 300 km of the DF's, which have an inherent detection-threshold bias that tends to discriminate against weak signals. This bias increases with range, and affects the detection of positive and negative flashes in different ways, because of the differing character of their distributions. Positive flashes appear to have a large percentage of signals clustered around very weak values that are lost to the medium-to-high gain Colorado Detection System very quickly with increasing range. The resulting median for positive signals could thus appear to be much larger than the median for negative signals, which are more clustered around intermediate values. When only flashes very close to the DF's are considered, however, the two distributions have almost identical medians. The large percentage of weak positive signals detected close to the DF's has not been explored previously. They have been suggested to come from intracloud discharges and thus are improperly classified as CG flashes. Evidence in hand, points to their being real positive, albeit weak CG flashes. Whether or not they are real positive ground flashes, it is important to be aware of their presence in data from magnetic DF networks.

Lopez, Raul E.↗
NASA NTRS1990

Real-time image processing II; Proceedings of the Meeting, Orlando, FL, Apr. 16-18, 1990

The present conference discusses topics in the fields of feature extraction and implementation, filter and correlation algorithms, optical correlators, high-level algorithms, and digital image processing for ranging and remote driving. Attention is given to a nonlinear filter derived from topological image features, IR image segmentation through iterative thresholding, orthogonal subspaces for correlation masking, composite filter trees and image recognition via binary search, and features of matrix-coherent optical image processing. Also discussed are multitarget tracking via hybrid joint transform correlator, binary joint Fourier transform correlator considerations, global image processing operations on parallel architectures, real-time implementation of a differential range finder, and real-time binocular stereo range and motion detection.

Juday, Richard D.↗
NASA NTRS1991

Pluto-Charon stellar occultation candidates - 1990-1995

A search to identify stars that might be occulted by Pluto or Charon during the period 1990-1995 and part of 1996 is studied. This search was made with an unfiltered CCD camera operated in the strip scanning mode, and it reaches an R magnitude of approximately 17.5 - about 1.5 mag fainter than previous searches. Circumstances for each of the 162 potential occultations are given, including an approximate R magnitude of the star, which allows estimation of the signal-to-noise ratio (S/N) for observation of each occultation. The faintest stars in the list would yield an S/N of about 20 for a 1 s integration when observed with a CCD detector on an 8 m telescope under a dark sky. The astrometric precision (+/- 0.2 arcsec, with larger systematic errors possible for individual cases) is insufficient to serve as a final prediction for these potential occultations, but is sufficient to identify stars deserving of further, more accurate, astrometric observations. Statistically, about 32 of these events to be observable somewhere on earth are expected. The number of events actually observed will be substantially smaller because of clouds and the sparse distribution of large telescopes. Finder charts for each of the 91 stars involved are presented.

Dunham, E. W.↗
NASA NTRS1991

Computer graphics testbed to simulate and test vision systems for space applications

Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.

Cheatham, John B.↗
NASA NTRS1992

Portable dynamic fundus instrument

A portable diagnostic image analysis instrument is disclosed for retinal funduscopy in which an eye fundus image is optically processed by a lens system to a charge coupled device (CCD) which produces recordable and viewable output data and is simultaneously viewable on an electronic view finder. The fundus image is processed to develop a representation of the vessel or vessels from the output data.

Taylor, Gerald R.↗
NASA NTRS1992

Conically scanned lidar telescope using holographic optical elements

Holographic optical elements (HOE) using volume phase holograms make possible a new class of lightweight scanning telescopes having advantages for lidar remote sensing instruments. So far, the only application of HOE's to lidar has been a non-scanning receiver for a laser range finder. We introduce a large aperture, narrow field of view (FOV) telescope used in a conical scanning configuration, having a much smaller rotating mass than in conventional designs. Typically, lidars employ a large aperture collector and require a narrow FOV to limit the amount of skylight background. Focal plane techniques are not good approaches to scanning because they require a large FOV within which to scan a smaller FOV mirror or detector array. Thus, scanning lidar systems have either used a large flat scanning mirror at which the receiver telescope is pointed, or the entire telescope is steered. We present a concept for a conically scanned lidar telescope in which the only moving part is the HOE which serves as the primary collecting optic. We also describe methods by which a multiplexed HOE can be used simultaneously as a dichroic beamsplitter.

Schwemmer, Geary K.↗
NASA NTRS1992

Dense fog on the highway: Visual range monitoring in cars?

This paper reports on the development of a new sensor. Laser range-finders are currently installed in cars and trucks to measure the distance to a proceeding car (LEICA). A modification of such a sensor to measure visibility was made. The problems that had to be solved were: (1) choice of wavelength with relation to the human eye for visibility measurements; (2) dependency of the wavelength on atmospheric turbidity; (3) laser eye-safety; and (4) influence of multiple scattering at visibilities smaller than 200 m. The wavelength used for lidar sensors in the near infrared presents no real problems because the object to be sensed is fog appearing white which means that scattering from fog is wavelength independent. There are however differences in backscatter-to-extinction ratio for different fog and weather situations. The two solutions to these problems are polarization and multiple scattering. As known from airport operations of a laser ceilometer, one can use this multiple scattering contribution to determine the visibility.

Hahn, W.↗