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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 NTRS2016

Evaluation of Assimilated SMOS Soil Moisture Data for US Cropland Soil Moisture Monitoring

Remotely sensed soil moisture data can provide timely, objective and quantitative crop soil moisture information with broad geospatial coverage and sufficiently high resolution observations collected throughout the growing season. This paper evaluates the feasibility of using the assimilated ESA Soil Moisture Ocean Salinity (SMOS)Mission L-band passive microwave data for operational US cropland soil surface moisture monitoring. The assimilated SMOS soil moisture data are first categorized to match with the United States Department of Agriculture (USDA)National Agricultural Statistics Service (NASS) survey based weekly soil moisture observation data, which are ordinal. The categorized assimilated SMOS soil moisture data are compared with NASSs survey-based weekly soil moisture data for consistency and robustness using visual assessment and rank correlation. Preliminary results indicate that the assimilated SMOS soil moisture data highly co-vary with NASS field observations across a large geographic area. Therefore, SMOS data have great potential for US operational cropland soil moisture monitoring.

SMOS↗

NASA NTRS1980

A study of the comparative effects of various means of motion cueing during a simulated compensatory tracking task

NASA's Langley Research Center conducted a simulation experiment to ascertain the comparative effects of motion cues (combinations of platform motion and g-seat normal acceleration cues) on compensatory tracking performance. In the experiment, a full six-degree-of-freedom YF-16 model was used as the simulated pursuit aircraft. The Langley Visual Motion Simulator (with in-house developed wash-out), and a Langley developed g-seat were principal components of the simulation. The results of the experiment were examined utilizing univariate and multivariate techniques. The statistical analyses demonstrate that the platform motion and g-seat cues provide additional information to the pilot that allows substantial reduction of lateral tracking error. Also, the analyses show that the g-seat cue helps reduce vertical error.

Mckissick, B. T.↗

NASA NTRS1984

Space adaptation syndrome: Incidence and operational implications for the space transportation system program

Better methods for the prediction, prevention, and treatment of the space adaptation syndome (SAS) were developed. A systematic, long range program of operationally oriented data collection on all individuals flying space shuttle missions was initiated. Preflight activities include the use of a motion experience questionnaire, laboratory tests of susceptibility to motion sickness induced by Coriolis stimuli and determinations of antimotion sickness drug efficacy and side effects. During flight, each crewmember is required to provide a daily report of symptom status, use of medications, and other vestibular related sensations. Additional data are obtained postflight. During the first nine shuttle missions, the reported incidence of SAS has been48%. Self-induced head motions and unusual visual orientation attitudes appear to be the principal triggering stimuli. Antimotion sickness medication, was of limited therapeutic value. Complete recovery from symptoms occurred by mission day three or four. Also of relevance is the lack of a statistically significant correlation between the ground based Coriolis test and SAS. The episodes of SAS have resulted in no impact to shuttle mission objectives and, no significant impact to mission timelines.

Homick, J. L.↗

NASA NTRS1992

Sensors and sensor systems for guidance and navigation II; Proceedings of the Meeting, Orlando, FL, Apr. 22, 23, 1992

Topics discussed in this volume include aircraft guidance and navigation, optics for visual guidance of aircraft, spacecraft and missile guidance and navigation, lidar and ladar systems, microdevices, gyroscopes, cockpit displays, and automotive displays. Papers are presented on optical processing for range and attitude determination, aircraft collision avoidance using a statistical decision theory, a scanning laser aircraft surveillance system for carrier flight operations, star sensor simulation for astroinertial guidance and navigation, autonomous millimeter-wave radar guidance systems, and a 1.32-micron long-range solid state imaging ladar. Attention is also given to a microfabricated magnetometer using Young's modulus changes in magnetoelastic materials, an integrated microgyroscope, a pulsed diode ring laser gyroscope, self-scanned polysilicon active-matrix liquid-crystal displays, the history and development of coated contrast enhancement filters for cockpit displays, and the effect of the display configuration on the attentional sampling performance.

Welch, Sharon S.↗

NASA NTRS1993

TOAD Editor

Transferable Output ASCII Data (TOAD) computer program (LAR-13755), implements format designed to facilitate transfer of data across communication networks and dissimilar host computer systems. Any data file conforming to TOAD format standard called TOAD file. TOAD Editor is interactive software tool for manipulating contents of TOAD files. Commonly used to extract filtered subsets of data for visualization of results of computation. Also offers such user-oriented features as on-line help, clear English error messages, startup file, macroinstructions defined by user, command history, user variables, UNDO features, and full complement of mathematical statistical, and conversion functions. Companion program, TOAD Gateway (LAR-14484), converts data files from variety of other file formats to that of TOAD. TOAD Editor written in FORTRAN 77.

Bingle, Bradford D.↗

NASA NTRS2011

Telemetry and Science Data Software System

The Telemetry and Science Data Software System (TSDSS) was designed to validate the operational health of a spacecraft, ease test verification, assist in debugging system anomalies, and provide trending data and advanced science analysis. In doing so, the system parses, processes, and organizes raw data from the Aquarius instrument both on the ground and while in space. In addition, it provides a user-friendly telemetry viewer, and an instant pushbutton test report generator. Existing ground data systems can parse and provide simple data processing, but have limitations in advanced science analysis and instant report generation. The TSDSS functions as an offline data analysis system during I&T (integration and test) and mission operations phases. After raw data are downloaded from an instrument, TSDSS ingests the data files, parses, converts telemetry to engineering units, and applies advanced algorithms to produce science level 0, 1, and 2 data products. Meanwhile, it automatically schedules upload of the raw data to a remote server and archives all intermediate and final values in a MySQL database in time order. All data saved in the system can be straightforwardly retrieved, exported, and migrated. Using TSDSS s interactive data visualization tool, a user can conveniently choose any combination and mathematical computation of interesting telemetry points from a large range of time periods (life cycle of mission ground data and mission operations testing), and display a graphical and statistical view of the data. With this graphical user interface (GUI), the data queried graphs can be exported and saved in multiple formats. This GUI is especially useful in trending data analysis, debugging anomalies, and advanced data analysis. At the request of the user, mission-specific instrument performance assessment reports can be generated with a simple click of a button on the GUI. From instrument level to observatory level, the TSDSS has been operating supporting functional and performance tests and refining system calibration algorithms and coefficients, in sync with the Aquarius/SAC-D spacecraft. At the time of this reporting, it was prepared and set up to perform anomaly investigation for mission operations preceding the Aquarius/SAC-D spacecraft launch on June 10, 2011.

Bates, Lakesha↗

NASA NTRS2020

Bayesian Statistical Models for Community Annoyance Survey Data

This paper demonstrates the use of two Bayesian statistical models to analyze single-event sonic boom exposure and human annoyance data from community response surveys. Each model is fit to data from a NASA pilot study.Unlike many community noise surveys, this study used a panel sample to collect multiple observations per participant instead of a single observation. Thus, a multilevel (also known as hierarchical or mixed-effects) model is used to account for the within-subject correlation in the panel sample data. This paper describes a multilevel logistic regression model and a multilevel ordinal regression model. The paper also proposes a method for calculating a summary dose-response curve from the multilevel models that represents the population. The two models’ summary dose-response curves are visually similar. However, their estimates differ when calculating the noise dose at a fixed percent highly annoyed.

Musical instruments↗

NASA NTRS1976

Correlation between multispectral photography and near-surface turbidities

Four-band multispectral photography obtained from an aerial platform at an altitude of about 10,000 feet has been utilized to measure near-surface turbidity at numerous sampling sites in the Ross Barnett Reservoir, Mississippi. Correlation of the photographs with turbidity measurements has been accomplished via an empirical mathematical model which depends upon visual color recognition when the composited photographs are examined on either an I squared S model 600 or a Spectral Data model 65 color-additive viewer. The mathematical model was developed utilizing least-squares, iterative, and standard statistical methods and includes a time-dependent term related to sun angle. This model is consistent with information obtained from two overflights of the target area - July 30, 1973 and October 30, 1973 - and now is being evaluated with regard to information obtained from a third overflight on November 8, 1974.

Wertz, D. L.↗

NASA NTRS2008

Simulation Evaluation of Synthetic Vision as an Enabling Technology for Equivalent Visual Operations

Enhanced Vision (EV) and synthetic vision (SV) systems may serve as enabling technologies to meet the challenges of the Next Generation Air Transportation System (NextGen) Equivalent Visual Operations (EVO) concept ? that is, the ability to achieve or even improve on the safety of Visual Flight Rules (VFR) operations, maintain the operational tempos of VFR, and even, perhaps, retain VFR procedures independent of actual weather and visibility conditions. One significant challenge lies in the definition of required equipage on the aircraft and on the airport to enable the EVO concept objective. A piloted simulation experiment was conducted to evaluate the effects of the presence or absence of Synthetic Vision, the location of this information during an instrument approach (i.e., on a Head-Up or Head-Down Primary Flight Display), and the type of airport lighting information on landing minima. The quantitative data from this experiment were analyzed to begin the definition of performance-based criteria for all-weather approach and landing operations. Objective results from the present study showed that better approach performance was attainable with the head-up display (HUD) compared to the head-down display (HDD). A slight performance improvement in HDD performance was shown when SV was added, as the pilots descended below 200 ft to a 100 ft decision altitude, but this performance was not tested for statistical significance (nor was it expected to be statistically significant). The touchdown data showed that regardless of the display concept flown (SV HUD, Baseline HUD, SV HDD, Baseline HDD) a majority of the runs were within the performance-based defined approach and landing criteria in all the visibility levels, approach lighting systems, and decision altitudes tested. For this visual flight maneuver, RVR appeared to be the most significant influence in touchdown performance. The approach lighting system clearly impacted the pilot's ability to descend to 100 ft height above touchdown based on existing Federal Aviation Regulation (FAR) 91.175 using a 200 ft decision height, but did not appear to influence touchdown performance or approach path maintenance

Kramer, Lynda J.↗

NASA NTRS1978

Handling qualities of aircraft in the presence of simulated turbulence

A previous paper (1977) has presented results from flight simulator experiments on instrument-flight-rule handling-quality studies of a STOL-type aircraft in the presence of various models of simulated turbulence (Gaussian, modified Gaussian, Rayleigh, and variable length and intensity, VLI). In this paper, additional results are presented for flight simulator experiments on visual-flight-rule approach landings of a STOL-type aircraft. Pilot opinion ratings of the landing approach with visual display are analyzed to determine the most realistic turbulence model and to identify the variables that critically affect the handling quality of aircraft in turbulence. It is shown that turbulence simulated by a VLI model adequately match the desired statistical properties of real atmospheric turbulence, and that aircraft handling quality and pilot task performance are critically affected by turbulence. Realistic turbulence models present greater difficulty in controlling the aircraft than a simple Gaussian model.

Jacobson, I. D.↗

NASA NTRS2024

Wind Tunnel Test of A Scale Model of A Venus Probe to Determine Aeroacoustics Environment

The Zephyr probe for NASA’s DAVINCI project is being designed to fly to Venus and collect measurements to characterize the Venusian atmosphere while it descends towards the surface. Despite a slow descent speed as the probe approaches the surface, the very dense atmosphere means the vibro-acoustic environment that the probe must withstand could be very harsh. A wind tunnel test campaign was conducted to characterize the surface-pressure fluctuations (acoustics) on the external surface of the probe during the descent. The goal was to provide forcing functions for vibro-acoustic analysis of all instruments inside the probe. A 25% scale-model of the Zephyr probe was manufactured, instrumented with 18 microphones, and tested in two wind tunnels located in the Fluid Mechanics Lab at NASA Ames Research Center at velocities ranging from 13 m/s to 48 m/s. Trip strips were added to the model to ensure a turbulent boundary layer on the model. Microphones were located appropriately to provide spectra of pressure fluctuations in regions with different flow characteristics as well as for calculating various two-point statistics. The acoustic spectra measured in the wind tunnel tests were scaled up to flight-scale using the estimated flight trajectory information. Besides fluctuating surface-pressure measurements, hot-film velocity measurements as well as smoke-laser flow visualization were conducted to better understand the flow around the probe. Lastly, several different geometry configurations were tested to see whether any reduction in acoustic levels could be achieved, but none of the configurations that were tested offered significant improvements. The flow visualization showed 3 primary flow regimes on the model: an attached turbulent boundary layer on the front of the model, a region of separated flow upstream of the flared lip, and a large, separated wake at the rear of the model. The acoustic spectra generally show three different shapes corresponding to these flow regions, with the highest levels seen at the rear of the model, and directly in front of the drag plate. The scaled overall levels of pressure fluctuations were found to be high: in the range of 130dB to 155dB.

planetary probe↗

NASA NTRS1993

Ultraviolet continuum variability and visual flickering in the peculiar object MWC 560

High-speed U-band photometry of the peculiar emission object MWC 560 obtained with the ground-based instrumentation, and V-band photometry obtained with the International Ultraviolet Explorer-Fine Error Sensor indicates irregular brightness variations are quasi-periodic. Multiple peaks of relative brightness power indicate statistically significant quasi periods existing in a range of 3-35 minutes, that are superposed on slower hourly varying components. We present a preliminary model that explains the minute and hourly time-scale variations in MWC 560 in terms of a velocity-shear instability that arises because a white dwarf magnetosphere impinges on an accretion disk. We also find evidence for Fe II multiplet pseudocontinuum absorption opacity in far-UV spectra of CH Cygni which is also present in MWC 560. Both CH Cyg and MWC 560 may be in an evolutionary stage that is characterized by strong UV continuum opacity which changes significantly during outburst, occurring before they permanently enter the symbiotic nebular emission phase.

Michalitsianos, A. G.↗

NASA NTRS1979

On sound radiation from the trailing edge of an isolated airfoil in a uniform flow

An experimental investigation has been conducted to determine the physical process of the noise production from the trailing edge of an isolated two-dimensional airfoil embedded in a low turbulence uniform mean flow. The Reynolds number of the airfoil based on chord was greater than 1,000,000 and that the boundary layer was fully turbulent at the trailing edge. Smoke injection technique and spark shadowgraphy were used to study the structural features of the boundary layer. Two point joint statistical analyses were made on the surface pressure, the radiated sound and the relationship between the two quantities. Operating conditions included two free stream velocities and two angles of attack for both a naturally developed and an artificially tripped boundary layer. Flow visualizations revealed the existence of large scale coherent motions in the outer region of the boundary layer. The observed coherent motions had scales of the order of boundary layer thickness and a convection velocity near the free stream velocity. The production process of the airfoil trailing edge noise was determined to be the convection of the large scale coherent eddies over the trailing edge of the airfoil. The noise field so generated was found to be rather coherent and dipole-like.

Yu, J. C.↗

NASA NTRS1983

A helicopter flight investigation of roll-control sensitivity, damping and cross coupling in a low altitude lateral maneuvering task

A helicopter in-flight simulation was conducted to determine the effects of variations in roll damping, roll sensitivity, and pitch and roll rate cross-coupling on helicopter flying qualities in a low altitude maneuver. The experiment utilized the UH-1H helicopter in-flight simulator, which is equipped with the V/STOLAND avionics system. The response envelope of this vehicle allowed simulation of configurations with low to moderate damping and sensitivity. A visual, low level slalom course was set up, consisting of constant speed and constant altitude S-turns around the 1000 ft makers of an 8000 ft runway. Results are shown in terms of Cooper-Harper pilot ratings, pilot commentary, and statistical and frequency analyses of the lateral characteristics. These results show good consistency with previous ground simulator results and are compared with existing flying qualities criteria.

Corliss, L. D.↗

NASA NTRS1984

Digital image filtering in visualized boundary layers

The application of two-dimensional low-pass matched filtering is presented for use in objective processing of digitized flow visualization images in order to identify instantaneous large-scale organized structures in turbulent boundary layers. The images were digitally acquired simultaneously with the outputs of a two-dimensional rake of hot-wire sensors in the field of view of the digital camera. Two-dimensional low wavenumber analysis brought out patterns in the visualization images which consisted of slender inclined structures having an average streamwise scale of 100-200 v/u (tau) and a length on the order of 1-2 delta. The similarly processed two-dimensional streamwise velocity reconstructions reveal similar features. The ensemble statistics indicate that these inclined features brought out by this processing may be a basic flow module in higher Reynolds number flows which links the so-called wall 'bursting' process and the larger outer scale motions.

Corke, T. C.↗

NASA NTRS1999

Advanced Techniques for Assessment of Postural and Locomotor Ataxia, Spatial Orientation, and Gaze Stability

In addition to adapting to microgravity, major neurovestibular problems of space flight include postflight difficulties with standing, walking, turning corners, and other activities that require stable upright posture and gaze stability. These difficulties inhibit astronauts' ability to stand or escape from their vehicle during emergencies. The long-ter7n goal of the NSBRI is the development of countermeasures to ameliorate the effects of long duration space flight. These countermeasures must be tested with valid and reliable tools. This project aims to develop quantitative, parametric approaches for assessing gaze stability and spatial orientation during normal gait and when gait is perturbed. Two of this year's most important findings concern head fixation distance and ideal trajectory analysis. During a normal cycle of walking the head moves up and down linearly. A simultaneous angular pitching motion of the head keeps it aligned toward an imaginary point in space at a distance of about one meter in front of a subject and along the line of march. This distance is called the head fixation distance. Head fixation distance provides the fundamental framework necessary for understanding the functional significance of the vestibular reflexes that couple head motion to eye motion. This framework facilitates the intelligent design of counter-measures for the effects of exposure to microgravity upon the vestibular ocular reflexes. Ideal trajectory analysis is a simple candidate countermeasure based upon quantifying body sway during repeated up and down stair stepping. It provides one number that estimates the body sway deviation from an ideal sinusoidal body sway trajectory normalized on the subject's height. This concept has been developed with NSBRI funding in less than one year. These findings are explained in more detail below. Compared to assessments of the vestibuo-ocular reflex, analysis of vestibular effects on locomotor function is relatively less well developed and quantified. We are improving this situation by applying methodologies such as nonlinear orbital stability to quantify responses and by using multivariate statistical approaches to link together the responses across separate tests. In this way we can exploit the information available and increase the ability to discriminate between normal and pathological responses. Measures of stability and orientation are compared to measures such as dynamic visual acuity and with balance function tests. The responses of normal human subjects and of patients having well documented pathophysiologies are being characterized. When these studies are completed, we should have a clearer idea about normal and abnormal patterns of eye, head, and body movements during locomotion and their stability in a wide range of environments. We plan eventually to use this information to validate the efficacy of candidate neurovestibular and neuromuscular rehabilitative techniques. Some representative studies made during this year are summarized.

Wall, Conrad., III↗

NASA NTRS2015

Lunar Impact Flash Locations from NASA's Lunar Impact Monitoring Program

Meteoroids are small, natural bodies traveling through space, fragments from comets, asteroids, and impact debris from planets. Unlike the Earth, which has an atmosphere that slows, ablates, and disintegrates most meteoroids before they reach the ground, the Moon has little-to-no atmosphere to prevent meteoroids from impacting the lunar surface. Upon impact, the meteoroid's kinetic energy is partitioned into crater excavation, seismic wave production, and the generation of a debris plume. A flash of light associated with the plume is detectable by instruments on Earth. Following the initial observation of a probable Taurid impact flash on the Moon in November 2005,1 the NASA Meteoroid Environment Office (MEO) began a routine monitoring program to observe the Moon for meteoroid impact flashes in early 2006, resulting in the observation of over 330 impacts to date. The main objective of the MEO is to characterize the meteoroid environment for application to spacecraft engineering and operations. The Lunar Impact Monitoring Program provides information about the meteoroid flux in near-Earth space in a size range-tens of grams to a few kilograms-difficult to measure with statistical significance by other means. A bright impact flash detected by the program in March 2013 brought into focus the importance of determining the impact flash location. Prior to this time, the location was estimated to the nearest half-degree by visually comparing the impact imagery to maps of the Moon. Better accuracy was not needed because meteoroid flux calculations did not require high-accuracy impact locations. But such a bright event was thought to have produced a fresh crater detectable from lunar orbit by the NASA spacecraft Lunar Reconnaissance Orbiter (LRO). The idea of linking the observation of an impact flash with its crater was an appealing one, as it would validate NASA photometric calculations and crater scaling laws developed from hypervelocity gun testing. This idea was dependent upon LRO finding a fresh impact crater associated with one of the impact flashes recorded by Earth-based instruments, either the bright event of March 2013 or any other in the database of impact observations. To find the crater, LRO needed an accurate area to search. This Technical Memorandum (TM) describes the geolocation technique developed to accurately determine the impact flash location, and by association, the location of the crater, thought to lie directly beneath the brightest portion of the flash. The workflow and software tools used to geolocate the impact flashes are described in detail, along with sources of error and uncertainty and a case study applying the workflow to the bright impact flash in March 2013. Following the successful geolocation of the March 2013 flash, the technique was applied to all impact flashes detected by the MEO between November 7, 2005, and January 3, 2014.

Moser, D. E.↗