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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 235 records · Page 13

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NASA NTRS1976

Nonlinear effects for the Taylor column for a hemisphere

When a flow is forced past an obstacle in a rapidly rotating fluid, a Taylor column forms. This is defined by a set of vertical detached shear layers circumscribing the obstacle which provide the smooth transition from an external inviscid potential flow to a stagnant core above the obstacle. For a hemispherical object, the main adjustment takes place in an external E to the 1/4 power layer and an internal E to the 2/7 power layer; here, the nonlinear flow in these layers is investigated. The problem in the E to the 1/4 power layer is identical to a problem occurring in magnetohydrodynamic flow; in addition, some features of the magnetohydrodynamic problem have been resolved. Numerical solutions are obtained for the steady nonlinear external E to the 1/4 power layer flow up to the point where unsteady flow separation from the Taylor column is imminent. The response of the internal E to the 2/7 power layer to the flow in the E to the 1/4 power layer is calculated, and the results suggest that the internal shear layer is unlikely to play any significant role in the separation process

Crisalli, A. J.↗

NASA NTRS1977

The magnetic field of Mars estimated from the data of plasma measurements by Soviet artificial satellites of Mars

The dimensions of the obstacle forming the shock wave of Mars are estimated by use of electron trap data from Mars 2, 3, and 5. The mean altitude of the obstacle at the subsolar point can be convincingly explained if the obstacle is the magnetosphere of Mars. On the assumption that Mars has its own dipole magnetic field, the magnetic moment of Mars is estimated, Mm approximately equal to 2 x 10 to the twenty second power gs x cubic cu.

Gringauz, K. I.↗

NASA NTRS1980

Cognitive issues in head-up displays

The ability of pilots to recognize and act upon unexpected information, presented in either the outside world or in a head-up display (HUD), was evaluated. Eight commercial airline pilots flew 18 approaches with a flightpath-type HUD and 13 approaches with conventional instruments in a fixed-base 727 simulator. The approaches were flown under conditions of low visibility, turbulence, and wind shear. Vertical and lateral flight performance was measured for five cognitive variables: an unexpected obstacle on runway; vertical and lateral boresight-type offset of the HUD; lateral ILS beam bend-type offset; and no anomaly. Mean response time to the runway obstacle was longer with HUD than without it (4.13 vs 1.75 sec.), and two of the pilots did not see the obstacle at all with the HUD. None of the offsets caused any deterioration in lateral flight performance, but all caused some change in vertical tracking; all offsets seemed to magnify the environmental effects. In all conditions, both vertical and lateral tracking was better with the HUD than with the conventional instruments.

Fischer, E.↗

NASA NTRS1982

Mobility aid for the blind

A project to develop an effective mobility aid for blind pedestrians which acquires consecutive images of the scenes before a moving pedestrian, which locates and identifies the pedestrian's path and potential obstacles in the path, which presents path and obstacle information to the pedestrian, and which operates in real-time is discussed. The mobility aid has three principal components: an image acquisition system, an image interpretation system, and an information presentation system. The image acquisition system consists of a miniature, solid-state TV camera which transforms the scene before the blind pedestrian into an image which can be received by the image interpretation system. The image interpretation system is implemented on a microprocessor which has been programmed to execute real-time feature extraction and scene analysis algorithms for locating and identifying the pedestrian's path and potential obstacles. Identity and location information is presented to the pedestrian by means of tactile coding and machine-generated speech.

Source record↗

NASA NTRS1984

Participation in the Mars data analysis program: Global and regional studies of wind-indicators on the surface of Mars

Global and regional patterns on Mars were inferred from surface aeolian features, such as wind streaks and dune deposits, which were visible in Viking Orbiter images. Precise measurements of the dimensions of topographic obstacles, i.e., craters, hills, ridges, on Mars as well as their associated wind streaks were used to determine the aerodynamic shape of an obstacle affects near surface airflow. A classification of Martian wind streaks was developed on the basis of albedo contrast and the presence or absence of either topographic obstacles or sediment deposits at the point of origin of the wind streaks. It was concluded that local meteorological conditions, such as the stability of the atmospheric boundary layer, play a major role in determining why some Martian craters produce depositional wind streaks while others produce erosional ones.

Veverka, J.↗

NASA NTRS1987

The dynamical oscillation and propulsion of magnetic fields in the convective zone of a star. II - Thermal shadows. III - Accumulation of heat and the onset of the Rayleigh-Taylor instability

The dynamics of thermal shadows which develop in the convective zone of a star around an insulating obstacle such as a horizontal band in intense magnetic field are studied. The depth of the shadow on the cool side of the obstacle is found to depend largely on the width of the obstacle multiplied by the temperature gradient. Thermal shadows pressing fields up to 10,000 G downward against the bottom of the convective zone are produced by the broad bands of the azimuthal field in the sun's convective zone. In the third part, the time-dependent accumulation of heat beneath a thermal barrier simulating such a band in the lower convective zone of the sun is considered. The resulting Rayleigh-Taylor instability is shown to cause tongues of heated gas to penetrate upward through the field, providing the emerging magnetic fields that give rise to the activity of the sun.

Parker, E. N.↗

NASA NTRS1988

Considerations for automated nap-of-the-earth rotorcraft flight

The authors consider nap-of-the-earth (NOE) rotorcraft flight as one of the applications in which obstacle avoidance plays a key role, and investigate the prospects of automating the guidance functions of NOE flight. Based on a proposed structure for the guidance functions, obstacle detection and obstacle avoidance are identified as the two critical components requiring substantial advancement before an automating guidance system can be realized. The major sources of difficulties in developing these two components are discussed, including sensor requirements for which a systematic analysis is provided.

Cheng, Victor H. L.↗

NASA NTRS1989

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

Wang, P. K. C.↗

NASA NTRS1990

Kalman filter based range estimation for autonomous navigation using imaging sensors

The ability to detect and locate obstacles using on-board sensors and modify the nominal trajectory is necessary for safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to improve the range estimation to obstacles. The filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The lack of suitable flight imagery data presents a problem in the verification of concepts for obstacle detection. An experiment is designed to acquire a sequence of images along with sensor motion parameters and the range estimation results using this imagery are presented.

Sridhar, B.↗

NASA NTRS1991

Status of automated nap-of-the-earth rotorcraft guidance

The status of automated nap-of-the-earth (NOE) flight guidance is discussed by examining two current research efforts that approach the problem of performing obstacle avoidance along a pre-planned course from different perspectives. The first, a real-time guidance system developed by Systems Technology Inc., focuses on the issue of pilot acceptable maneuvers, under the assumption of an ideal, but nonrealizable, obstacle detection system. The second, a system created at NASA Ames, concentrates on the utilization of realistic on-board sensor data for obstacle detection and avoidance-maneuver decisions. This paper examines the strengths and weaknesses of these two approaches, and how they might complement each other. The goal is an automatic NOE system that is both acceptable to pilots and capable of making intelligent use of realistic sensor information and path-selection logic.

Coppenbarger, Richard A.↗

NASA NTRS1991

Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

Murphy, Michael G.↗

NASA NTRS1991

Neural Architectures for Control

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

Peterson, James K.↗

NASA NTRS1991

An informal analysis of flight control tasks

Issues important in rotorcraft flight control are discussed. A perceptual description is suggested of what is believed to be the major issues in flight control. When the task is considered of a pilot controlling a helicopter in flight, the task is decomposed in several subtasks. These subtasks include: (1) the control of altitude, (2) the control of speed, (3) the control of heading, (4) the control of orientation, (5) the control of flight over obstacles, and (6) the control of flight to specified positions in the world. The first four subtasks can be considered to be primary control tasks as they are not dependent on any other subtasks. However, the latter two subtasks can be considered hierarchical tasks as they are dependent on other subtasks. For example, the task of flight control over obstacles can be decomposed as a task requiring the control of speed, altitude, and heading. Thus, incorrect control of altitude should result in poor control of flight over an obstacle.

Andersen, George J.↗

NASA NTRS1992

Transition operators in electromagnetic-wave diffraction theory - General theory

A formal theory is developed for the scattering of time-harmonic electromagnetic waves from impenetrable immobile obstacles with given linear, homogeneous, and generally nonlocal boundary conditions of Leontovich (impedance) type for the wave of the obstacle's surface. The theory is modeled on the complete Green's function and the transition (T) operator in time-independent formal scattering theory of nonrelativistic quantum mechanics. An expression for the differential scattering cross section for plane electromagnetic waves is derived in terms of certain matrix elements of the T operator for the obstacle.

Hahne, G. E.↗

NASA NTRS1992

Simulation of automatic rotorcraft nap-of-the-earth flight in graphics workstation environment

This paper describes a three-dimensional (3D) helicopter flight simulation system. The simulation is designed to be a readily available tool for concept verification and tuning of automatic obstacle-avoidance guidance algorithms. The system has been implemented on networked workstations capable of interactive 3D graphics simulation. The simulation uses realistic terrain and obstacle models. The dynamics of the rotorcraft and the functional capabilities of the range sensors are simulated to provide all the components required to evaluate the guidance function. Standard graphics hardware available on the workstation is utilized to accelerate the range-data calculations for sensor simulation at the guidance rate. An example is given to demonstrate the performance of the obstacle-avoidance capability.

Lam, T.↗

NASA NTRS1993

A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.

Suorsa, Raymond E.↗

NASA NTRS1992

The intrinsic magnetic field and solar-wind interaction of Mars

The Venus-like interaction between the solar wind and the atmosphere of Mars is examined. The bow shock and magnetosheath of Mars indicate the presence of an obstacle to the solar wind that is somewhat larger than the size of the planet and its observed ionosphere, and also relatively larger than the Venus obstacle under comparable conditions. The intrinsic magnetic field of Mars must be no greater than 1.5 x 10 exp 12 T/cu m, or about 0.0001 times as strong as that of the earth to produce an obstacle of such small size. At least for solar minimum conditions, like those prevailing at the time of the Viking Landers, the ionospheric plasma (thermal) pressure is insufficient to balance the incident solar-wind pressure by itself. The ion and electron temperatures in the Martian ionosphere indicate the presence of local horizontal magnetic fields and heat sources in excess of solar radiation alone.

Luhmann, J. G.↗

NASA NTRS1991

INS integrated motion analysis for autonomous vehicle navigation

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Roberts, Barry↗