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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
All sourcesNASA NTRSDOE OSTI
NASA NTRS2002

Synthetic Vision Systems in GA Cockpit-Evaluation of Basic Maneuvers Performed by Low Time GA Pilots During Transition from VMC to IMC

An experimental investigation was conducted to study the effectiveness of modern flight displays in general aviation cockpits for mitigating Low Visibility Loss of Control and the Controlled Flight Into Terrain accidents. A total of 18 General Aviation (GA) pilots with private pilot, single engine land rating, with no additional instrument training beyond private pilot license requirements, were recruited to evaluate three different display concepts in a fixed-based flight simulator at the NASA Langley Research Center's General Aviation Work Station. Evaluation pilots were asked to continue flight from Visual Meteorological Conditions (VMC) into Instrument Meteorological Conditions (IMC) while performing a series of 4 basic precision maneuvers. During the experiment, relevant pilot/vehicle performance variables, pilot control inputs and physiological data were recorded. Human factors questionnaires and interviews were administered after each scenario. Qualitative and quantitative data have been analyzed and the results are presented here. Pilot performance deviations from the established target values (errors) were computed and compared with the FAA Practical Test Standards. Results of the quantitative data indicate that evaluation pilots committed substantially fewer errors when using the Synthetic Vision Systems (SVS) displays than when they were using conventional instruments. Results of the qualitative data indicate that evaluation pilots perceived themselves to have a much higher level of situation awareness while using the SVS display concept.

Takallu, M. A.↗
NASA NTRS2002

Bioinspired engineering of exploration systems for NASA and DoD

A new approach called bioinspired engineering of exploration systems (BEES) and its value for solving pressing NASA and DoD needs are described. Insects (for example honeybees and dragonflies) cope remarkably well with their world, despite possessing a brain containing less than 0.01% as many neurons as the human brain. Although most insects have immobile eyes with fixed focus optics and lack stereo vision, they use a number of ingenious, computationally simple strategies for perceiving their world in three dimensions and navigating successfully within it. We are distilling selected insect-inspired strategies to obtain novel solutions for navigation, hazard avoidance, altitude hold, stable flight, terrain following, and gentle deployment of payload. Such functionality provides potential solutions for future autonomous robotic space and planetary explorers. A BEES approach to developing lightweight low-power autonomous flight systems should be useful for flight control of such biomorphic flyers for both NASA and DoD needs. Recent biological studies of mammalian retinas confirm that representations of multiple features of the visual world are systematically parsed and processed in parallel. Features are mapped to a stack of cellular strata within the retina. Each of these representations can be efficiently modeled in semiconductor cellular nonlinear network (CNN) chips. We describe recent breakthroughs in exploring the feasibility of the unique blending of insect strategies of navigation with mammalian visual search, pattern recognition, and image understanding into hybrid biomorphic flyers for future planetary and terrestrial applications. We describe a few future mission scenarios for Mars exploration, uniquely enabled by these newly developed biomorphic flyers.

Space Flight↗
NASA NTRS1976

The use of ERTS/LANDSAT imagery in relation to airborne remote sensing for terrain analysis in western Queensland, Australia

The author has identified the following significant results. Series of linears were identified on the March imagery of Lady Annie-Mt. Gordon fault zone area. The series with a WSW-ENE orientation which is normal to the major structural units and also several linears with NNW-SSE orientation appears to be particularly important. Copper mineralization is known at several localities where these linears are intersected by faults. Automated outputs using supervised methods involving the selection of training sets selected by visual recognition of spectral signatures on the color composites obtained from combinations of MSS bands 4, 5 and 7 projected through appropriate filters, were generated.

Cole, M. M.↗
NASA NTRS1999

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Laubach, Sharon L.↗
NASA NTRS1999

Sulfuric acid on Europa and the radiolytic sulfur cycle

A comparison of laboratory spectra with Galileo data indicates that hydrated sulfuric acid is present and is a major component of Europa's surface. In addition, this moon's visually dark surface material, which spatially correlates with the sulfuric acid concentration, is identified as radiolytically altered sulfur polymers. Radiolysis of the surface by magnetospheric plasma bombardment continuously cycles sulfur between three forms: sulfuric acid, sulfur dioxide, and sulfur polymers, with sulfuric acid being about 50 times as abundant as the other forms. Enhanced sulfuric acid concentrations are found in Europa's geologically young terrains, suggesting that low-temperature, liquid sulfuric acid may influence geological processes.

unmanned↗
NASA NTRS2005

Keeping the Air Clean and Safe: An Anthrax Smoke Detector

Scientists at work in the Planetary Protection division at NASA s Jet Propulsion Laboratory (JPL) sterilize everything before blasting it to the Red Planet. They take great pains to ensure that all spacecraft are void of bacterial life, especially the microscopic bacteria that can live hundreds of years in their spore states. No one is quite sure what Earthly germs would do on Mars, but scientists agree that it is safest to keep the Martian terrain as undisturbed as possible. Errant Earth germs would also render useless the instruments placed on exploration rovers to look for signs of life, as the life that they registered would be life that came with them from Earth. A team at JPL, headed by Dr. Adrian Ponce, developed a bacterial spore-detection system that uses a simple and robust chemical reaction that visually alerts Planetary Protection crews. It is a simple air filter that traps micron-sized bacterial spores and then submits them to the chemical reaction. When the solution is then viewed under an ultraviolet light, the mixture will glow green if it is contaminated by bacteria. Scientists can then return to the scrubbing and cleaning stages of the sterilization process to remove these harmful bacteria. The detection system is the space-bound equivalent of having your hands checked for cleanliness before being allowed to the table; and although intended to keep terrestrial germs from space, this technology has awesome applications here on Mother Earth. The bacterial spore-detection unit can recognize anthrax and other harmful, spore-forming bacteria and alert people of the impending danger. As evidenced in the anthrax mailings of fall 2001 in the United States, the first sign of anthrax exposure was when people experienced flu-like symptoms, which unfortunately, can take as much as a week to develop after contamination. Anthrax cost 5 people their lives and infected 19 others; and the threat of bioterrorism became a routine concern, with new threats popping up nearly everyday. The attacks threatened the safety that so many Americans took for granted, as the very air that people breathed became suspect. Any building with a circulation system, where large groups congregate, was now a potential target.

Source record↗
NASA NTRS2001

Classification Experiments on Real-World Texture

Many papers have been published concerning the analysis of visual texture and yet, very few application domains use texture for image classification. A possible reason for this low transfer of the technology is the lack of experience and testing in real-world imagery. In this paper, we assess the performance of texture-based classification methods on a number of real-world images relevant to autonomous navigation on cross-country terrain and to autonomous geology. Texture analysis will form part of the closed loop that allows a robotic system to navigate autonomously. We have implemented two different classifiers on features extracted by Gabor filter banks. The first classifier models feature distributions for each texture class using a mixture of Gaussians. Classification is performed using Maximum Likelihood. The second classifier represents local statistics using marginal histograms of the features over a region centered on the pixel to be classified. We measure system performance by comparison to ground truth image labels.

image segmentation↗
NASA NTRS2004

Development of Biomorphic Flyers

Biomorphic flyers have recently been demonstrated that utilize the approach described earlier in "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), NASA Tech Briefs, Vol. 27, No. 5 (May 2003), page 54, to distill the principles found in successful, nature-tested mechanisms of flight control. Two types of flyers are being built, corresponding to the imaging and shepherding flyers for a biomorphic mission described earlier in "Cooperative Lander- Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), NASA Tech Briefs, Vol. 28, No. 5 (May 2004), page 36. The common features of these two types of flyers are that both are delta-wing airplanes incorporating bio-inspired capabilities of control, navigation, and visual search for exploration. The delta-wing design is robust to approx.40 G axial load and offers ease of stowing and packaging. The prototype that we have built recently is shown in the figure. Such levels of miniaturization and autonomous navigation are essential to enable biomorphic microflyers (<1 kg) that can be deployed in large numbers for distributed measurements and exploration of difficult terrain while avoiding hazards. Individual bio-inspired sensors that will be incorporated in a biomorphic flyer have been demonstrated recently. These sensors include a robust, lightweight (~6 g), and low-power (~40 mW) horizon sensor for flight stabilization. It integrates successfully the principles of the dragonfly ocelli. The ocelli are small eyes on the dorsal and forward regions of the heads of many insects. The ocelli are distinct from the compound eyes that are most commonly associated with insect vision. In many insects, the ocelli are little more than single-point detectors of short-wavelength light and behavioral responses to ocelli stimuli are hard to observe. The notable exception is found in dragonflies, where flight control is notably degraded by any interference with the ocellar system. Our team has discovered recently that the ocelli are a dedicated horizon sensor, with substantial optical processing and multiple spectral sensitivity. To our knowledge, this is the world s first demonstrated use of a "biomorphic ocellus" as a flight-stabilization system. The advantage of the ocelli over a similarly sized system of rate gyroscopes is that both attitude control and rate damping can be realized in one device. A full inertial unit and significant processing would otherwise be required to achieve the same effect. As a prelude to full autonomy, substantial stability augmentation is provided to the pilot at very low cost in terms of space, power, and mass. The sensor is about 40 times lighter than a comparable inertial attitude reference system. Other significant features of the biomorphic flyer shown in the figure include its ability to fly at high angles of attack ~30 and a deep wing chord which allows scaling to small size and low Reynold s number situations. Furthermore, the placement of the propulsion system near the center of gravity allows continued control authority at low speeds. These attributes make such biomorphic flyers uniquely suited to planetary and terrestrial exploration where small size and autonomous airborne operation are required.

Thakoor, Sarita↗
NASA NTRS2014

NASA VERVE: Interactive 3D Visualization Within Eclipse

At NASA, we develop myriad Eclipse RCP applications to provide situational awareness for remote systems. The Intelligent Robotics Group at NASA Ames Research Center has developed VERVE - a high-performance, robot user interface that provides scientists, robot operators, and mission planners with powerful, interactive 3D displays of remote environments.VERVE includes a 3D Eclipse view with an embedded Java Ardor3D scenario, including SWT and mouse controls which interact with the Ardor3D camera and objects in the scene. VERVE also includes Eclipse views for exploring and editing objects in the Ardor3D scene graph, and a HUD (Heads Up Display) framework allows Growl-style notifications and other textual information to be overlayed onto the 3D scene. We use VERVE to listen to telemetry from robots and display the robots and associated scientific data along the terrain they are exploring; VERVE can be used for any interactive 3D display of data.VERVE is now open source. VERVE derives from the prior Viz system, which was developed for Mars Polar Lander (2001) and used for the Mars Exploration Rover (2003) and the Phoenix Lander (2008). It has been used for ongoing research with IRG's K10 and KRex rovers in various locations. VERVE was used on the International Space Station during two experiments in 2013 - Surface Telerobotics, in which astronauts controlled robots on Earth from the ISS, and SPHERES, where astronauts control a free flying robot on board the ISS.We will show in detail how to code with VERVE, how to interact between SWT controls to the Ardor3D scenario, and share example code.

3D Visualization↗
NASA NTRS1973

An analysis of the facsimile-camera response to radiant point sources

In addition to imaging the surrounding terrain, planetary lander cameras may also be used to survey the stars to aid in locating the lander site. The response of the facsimile camera, which was selected for the Viking lander missions to Mars, to a radiant point source is formulated and shown to result in a statistical rather than deterministic signal. The signal statistics are derived and magnitudes are evaluated for the brighter visual and red stars. The probability of detecting the resultant statistical signals in photosensor and preamplifier noise and the associated probability of false alarms are also determined.

Huck, F. O.↗
NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗
NASA NTRS2014

Intelligent UAS Sense-and-Avoid Utilizing Global Constraints

Sense-and-avoid (SAA) is a critical research topic for enabling the operation of Unmanned Aircraft Systems (UAS) in civilian airspace. SAA involves two planning related problems: 1) plan-recognition to predict the future trajectory of nearby aircraft, and 2) path planning to avoid conflicts with nearby aircraft that pose a threat. We have designed and built components of a novel intelligent sense-and-avoid (iSAA) reasoning framework that takes into account information about aircraft type, transponder code, communications, local routes, airports, airspace, terrain, and weather to more accurately predict near- and medium-term trajectories of nearby aircraft. By using this additional information both the on-board control software and the ground-based UAS operator can make more informed, intelligent decisions to effectively predict and avoid conflicts and maintain separation. While this capability benefits all categories of UASs operating under both Instrument Flight Rules (IFR) and Visual Flight Rules (VFR), it is absolutely essential for allowing smaller UASs to operate VFR at low altitude in uncontrolled airspace for operations such as survey work, wildlife tracking, aerial photography, utilities inspection, crop dusting, and package delivery.

unmanned aircraft systems↗
NASA NTRS1987

Some data processing requirements for precision Nap-Of-the-Earth (NOE) guidance and control of rotorcraft

Nap-Of-the-Earth (NOE) flight in a conventional helicopter is extremely taxing for two pilots under visual conditions. Developing a single pilot all-weather NOE capability will require a fully automatic NOE navigation and flight control capability for which innovative guidance and control concepts were examined. Constrained time-optimality provides a validated criterion for automatically controlled NOE maneuvers if the pilot is to have confidence in the automated maneuvering technique. A second focus was to organize the storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan. A method is presented for using pre-flight geodetic parameter identification to establish guidance commands for planned flight profiles and alternates. A method is then suggested for interpolating this guidance command information with the aid of forward and side looking sensors within the resolution of the stored data base, enriching the data content with real-time display, guidance, and control purposes. A third focus defined a class of automatic anticipative guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles and to address the effects of processing delays in digital guidance and control system candidates. The results of this three-fold research effort offer promising alternatives designed to gain pilot acceptance for automatic guidance and control of rotorcraft in NOE operations.

Clement, Warren F.↗
NASA NTRS2008

Science Activity Planner for the MER Mission

The Maestro Science Activity Planner is a computer program that assists human users in planning operations of the Mars Explorer Rover (MER) mission and visualizing scientific data returned from the MER rovers. Relative to its predecessors, this program is more powerful and easier to use. This program is built on the Java Eclipse open-source platform around a Web-browser-based user-interface paradigm to provide an intuitive user interface to Mars rovers and landers. This program affords a combination of advanced display and simulation capabilities. For example, a map view of terrain can be generated from images acquired by the High Resolution Imaging Science Explorer instrument aboard the Mars Reconnaissance Orbiter spacecraft and overlaid with images from a navigation camera (more precisely, a stereoscopic pair of cameras) aboard a rover, and an interactive, annotated rover traverse path can be incorporated into the overlay. It is also possible to construct an overhead perspective mosaic image of terrain from navigation-camera images. This program can be adapted to similar use on other outer-space missions and is potentially adaptable to numerous terrestrial applications involving analysis of data, operations of robots, and planning of such operations for acquisition of scientific data.

Norris, Jeffrey S.↗
NASA NTRS1980

Energy potential and early operational experience for large wind turbines

Projections for the total potential output of large wind turbines in the U.S. are reviewed. NASA has developed nine large windpowered generators, of 100 kW, 200 kW, 2 MW, and 2.5 MW capacities, with rotors 100-300 ft in diameter, and all with horizontal axes. Approximately 214,000 sq miles of the U.S. have been determined as having substantial wind regimes and terrain suitable for large wind turbine siting. This translates into 340,000 Mod 2 (2.5 MW) wind turbines producing 4.9 quads of electricity annually, equivalent to saving 2.5 billion barrels of oil/yr. The cost of electricity is seen as the critical factor in utility acceptance of large wind turbines, and the Mod 2 machines are noted to achieve the 2-4 cents/kWh (1977 dollars) COE which is necessary. Problems such as pollution, including visual, auditory, EM, and land use difficulties are considered, and solutions are indicated.

Robbins, W. H.↗
NASA NTRS1991

Dark-ray and dark-floor craters on Ganymede, and the provenance of large impactors in the Jovian system

The dark-floor and dark-ray craters on the icy Jovian satellite, Ganymede, may derive their visual characteristics from impactor contamination. It is presently hypothesized that the rays darken as a result of the near-surface concentration of impactor material; this could occur, first, due to magnetic sputtering while the rays are bright, and subsequently, once a critical albedo is reached, due to thermal sublimation into discrete icy and nonicy patches. Voyager visible spectra of dark rays indicate that most large-ray systems are 'redder' than grooved or cratered terrains, and are among the 'reddest' units on Ganymede. More than half of the recent impactors on Ganymede may have been reddish D-type asteroids or comets, accounting for the albedos and colors of dark terrains on both Ganymede and Callisto.

Schenk, Paul M.↗
NASA NTRS1984

Hypsometric studies of Mars.

Altitude data derived from the 12.6 cm radar measurements obtained at JPL's Goldstone Facility were used to explore the utility of this type of regional analysis and to develop criteria for the interpretation of hypsometric data for planets where no visual images are available. Examination of the radar-derived hypsogram for Mars shows that the unimodal distribution of elevations contains several second order peaks and is skewed toward a modal elevation of about 3.5 km above the 6.1 mb datum. Individual topographic features can be recognized from this hypsogram, but such interpretations are based on the known surface morphology that has been determined from spacecraft images. It is not yet known how, for example, cratered terrain, regional slopes or other morphological features could be identified using the hypsogram if no images were available for ground-truth. The role that large impact craters play in influencing the shape of a hypsogram is being studied.

Blake, P. L.↗
NASA NTRS1994

Lunar rover technology demonstrations with Dante and Ratler

Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.

Krotkov, Eric↗