SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Robot constructs map from experience. Topological model consists of nodes and arcs corresponding to distinctive places and local travel edges linking nearby distinctive places. Model created by linking places and edges. Enables accumulation of metrical information with reduced vulnerability to metrical errors. Applications include robotic sentires, robotic delivery trucks, robotic floor cleaners, and robotic lawnmowers.
Proposed lightweight dolly enables operator to cart heavy towbar to remote site over unpaved roads or rough terrain. Acts as simple, lightweight towed vehicle to support rear of towbar. Removed quickly at point of use. Saves labor, and eliminates need for truck and forklift.
NASA's Jet Propulsion Laboratory is currently developing the Advanced Communications Technology Satellite (ACTS) Mobile Terminal (AMT), which will provide voice, data, and video communications to and from a vehicle (van, truck, or car) via NASA's geostationary ACTS satellite using the K- and K(sub a)-band frequency bands. The AMT is already planned to demonstrate a variety of communications from within the mobile vehicular environment, and within this paper a summary of foreseen commercial application opportunities is given. A critical component of the AMT is its antenna system, which must establish and maintain the basic RF link with the satellite. Two versions of the antenna are under development, each incorporating different technologies and offering different commercial applications.
The Electromagnetic Code - Basic Scattering Code, Version 3, is a user oriented computer code to analyze near and far zone patterns of antennas in the presence of scattering structures, to provide coupling between antennas in a complex environment, and to determine radiation hazard calculations at UHF and above. The analysis is based on uniform asymptotic techniques formulated in terms of the Uniform Geometrical Theory of Diffraction (UTD). Complicated structures can be simulated by arbitrarily oriented flat plates and an infinite ground plane that can be perfectly conducting or dielectric. Also, perfectly conducting finite elliptic cylinder, elliptic cone frustum sections, and finite composite ellipsoids can be used to model the superstructure of a ship, the body of a truck, and airplane, a satellite, etc. This manual gives special consideration to space station modeling applications. This is a user manual designed to give an overall view of the operation of the computer code, to instruct a user in how to model structures, and to show the validity of the code by comparing various computed results against measured and alternative calculations such as method of moments whenever available.
As AMSC enters the market with its mobile satellite services, it faces a sophisticated user group that has already experimented with a wide range of communications services, including cellular radio and Ku-band satellite messaging. AMSC's challenge is to define applications unique to the capabilities of its dedicated L band satellite and consistent with the provisions outlined in its FCC license. Through a carefully researched approach to its three main markets (aeronautical, land mobile, and maritime) AMSC is discovering a wellspring of interest in corporate and general aviation, trucking companies, pipeline monitoring and control companies, maritime management firms, telecommunications companies, and government agencies. A general overview is provided of AMSC's FCC license and corporate history, and the specific applications unique to each user group is discussed.
We have collected an extensive polarization lidar dataset from elevated sites in the Tushar Mountains of Utah in support of winter storm cloud seeding research and experiments. Our truck-mounted ruby lidar collected zenith, dual-polarization lidar data through a roof window equipped with a wiper system to prevent snowfall accumulation. Lidar returns were collected at a rate of one shot every 1 to 5 min during declared storm periods over the 1985 and 1987 mid-Jan. to mid-Mar. Field seasons. The mid-barrier remote sensor field site was located at 2.57 km MSL. Of chief interest to weather modification efforts are the heights of supercooled liquid water (SLW) clouds, which must be known to assess their 'seedability' (i.e., temperature and height suitability for artificially increasing snowfall). We are currently re-examining out entire dataset to determine the climatological properties of SLW clouds in winter storms using an autonomous computer algorithm.
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.
The EOS (Earth Observing System) Synergism Study examined the temporal variability of the optical and microwave backscatter due to diurnal change in canopy properties of interest to ecosystem modelers. The experiment was designed to address diurnal changes in canopy water status that relate to transpiration. Multispectral optical and multifrequency, multipolarization microwave measurements were acquired using boom-truck-based systems over a two-week period. Sensor and canopy properties were collected around the clock. The canopy studied was a walnut orchard in the San Joaquin Valley of California. The results demonstrate a large diurnal variation in the dielectric properties of the tree that in turn produces significant diurnal changes in the microwave backscatter. The results suggest that permanently orbiting spaceborne sensors such as those on EOS should be placed in orbits that are optimized for the individual sensor and need not be tied together by a tight simultaneity requirement on the order of minutes to hours for the purpose of monitoring ecosystem properties.
The Michigan Microwave Canopy Scattering Model (MIMICS) is used to model scatterometer data that were obtained during the August 1987 EOS (Earth Observing System) synergism study. During this experiment, truck-based scatterometers were used to measure radar backscatter from a walnut orchard in Fresno County, California. Multipolarized L- and X-band data were recorded for orchard plots for which dielectric and evapotranspiration characteristics were monitored. MIMICS is used to model a multiangle data set in which a single orchard plot was observed at varying impedance angles and a series of diurnal measurements in which backscatter from this same plot was measured continuously over several 24-h periods. MIMICS accounts for variations in canopy backscatter driven by changes in canopy state that occur diurnally as well as on longer time scales. L-band backscatter is dependent not only on properties of the vegetation but also on properties of the underlying soil surface. The behavior of the X-band backscatter is dominated by properties of the tree crowns.
A series of controlled experiments were conducted to determine the significance of crop residues or stubble in estimating the emission of the underlying soil. Observations using truck-mounted L and C band passive microwave radiometers showed that for dry wheat and soybeans the dry residue caused negligible attenuation of the background emission. Green residues, with water contents typical of standing crops, did have a significant effect on the background emission. Results for these green residues also indicated that extremes in plant structure, as created using parallel and perpendicular stalk orientations, can cause very large differences in the degree of attenuation.
The effects of rock fraction on the relationship between microwave emission and surface soil moisture were investigated through a combination of laboratory dielectric measurements and field observation of emissivity. Field measurements were conducted which included soils with and without rocks. Microwave brightness temperature was measured at L and C band using a truck-mounted radiometer. Dielectric measurements were made at L band. Field observations of emissivity showed that the presence of rocks decreases the range of the measurements. At 21 cm this decrease was relatively small; however, at 6 cm almost all sensitivity to soil moisture was eliminated by the presence of 35 percent rocks. Comparisons between observed and predicted data showed that the effects of rock fraction are not significant in estimating the sample soil moisture for the tested conditions.
The effectiveness of an aerodynamic boattail on a tractor/trailer road vehicle was measured in the NASA Ames Research Center 80- by 120-Foot Wind Tunnel. Results are examined for the tractor/trailer with and without the drag reduction device. Pressure measurements and flow visualization show that the aerodynamic boattail traps a vortex or eddy in the corner formed between the device and the rear corner of the trailer. This recirculating flow turns the flow inward as it separates from the edges of the base of the trailer. This modified flow behavior increases the pressure acting over the base area of the truck, thereby reducing the net aerodynamic drag of the vehicle. Drag measurements and pressure distributions in the region of the boattail device are presented for selected configurations. The optimum configuration reduces the overall drag of the tractor/trailer combination by about 10 percent at a zero yaw angle. Unsteady pressure measurements do not indicate strong vortex shedding, although the addition of the boattail plates increases high frequency content of the fluctuating pressure.
Compact Raman spectrometers developed to measure concentrations of hydrogen as low as hundreds of parts per million in air, nitrogen, or other carrier gases. Advantages include speed, dynamic range, and ease of calibration. Design concept incorporates Raman-scattering apparatus into compact instrument of hydrogen leaking into stream of gas or into gas enclosed in small space. Should hydrogen-fueled cars and trucks come into widespread use, instruments used to detect leaks from vehicles and supply equipment, to help prevent explosions. Similar spectrometers developed to detect other gases emitting characteristic Raman spectra.
Prototype magnetic suspension system with active control isolates object from vibrations in all six degrees of freedom at frequencies as low as 0.01 Hz. Designed specifically to protect instruments aboard spacecraft by suppressing vibrations to microgravity levels; basic control approach used for such terrestrial uses as suppression of shocks and other vibrations in trucks and railroad cars.
In our previous work on the GARIC architecture, we have shown that the system can start with surface structure of the knowledge base (i.e., the linguistic expression of the rules) and learn the deep structure (i.e., the fuzzy membership functions of the labels used in the rules) by using reinforcement learning. Assuming the surface structure, GARIC refines the fuzzy membership functions used in the consequents of the rules using a gradient descent procedure. This hybrid fuzzy logic and reinforcement learning approach can learn to balance a cart-pole system and to backup a truck to its docking location after a few trials. In this paper, we discuss how to do structure identification using reinforcement learning in fuzzy inference systems. This involves identifying both surface as well as deep structure of the knowledge base. The term set of fuzzy linguistic labels used in describing the values of each control variable must be derived. In this process, splitting a label refers to creating new labels which are more granular than the original label and merging two labels creates a more general label. Splitting and merging of labels directly transform the structure of the action selection network used in GARIC by increasing or decreasing the number of hidden layer nodes.
An introduction to fuzzy set theory is described. Topics covered include: neural networks and fuzzy systems; the dynamical systems approach to machine intelligence; intelligent behavior as adaptive model-free estimation; fuzziness versus probability; fuzzy sets; the entropy-subsethood theorem; adaptive fuzzy systems for backing up a truck-and-trailer; product-space clustering with differential competitive learning; and adaptive fuzzy system for target tracking.
An experiment to examine the C-band backscattering characteristics of conifer trees was conducted using a truck-mounted scatterometer. Small (1 m tall) balsam fir (Abies balsamea) were arranged at various equidistant spacings on a platform to present canopies of varying density to the radar. C-band backscattering measurements of a range of canopy densities were acquired under different polarizations and incidence angles. The measured backscattering coefficient from the tree canopies increased with increasing biomass, but approached a maximum at a LAI of 2.5 and fresh biomass of 3.3 kg/sq m. A backscatter model was implemented using measured canopy attributes and showed close agreement with scatterometer measurements over the range of canopy densities. Model results indicated that branches were the prime scatterers of the radar while needles were found to only slightly attenuate the radar signal.
The Texas A&M Nuclear and Aerospace engineering departments have worked on five different projects for the NASA/USRA Advanced Design Program during the 1987/88 year. The aerospace department worked on two types of lunar tunnelers that would create habitable space. The first design used a heated cone to melt the lunar regolith, and the second used a conventional drill to bore its way through the crust. Both used a dump truck to get rid of waste heat from the reactor as well as excess regolith from the tunneling operation. The nuclear engineering department worked on three separate projects. The NEPTUNE system is a manned, outer-planetary explorer designed with Jupiter exploration as the baseline mission. The lifetime requirement for both reactor and power-conversion systems was twenty years. The second project undertaken for the power supply was a Mars Sample Return Mission power supply. This was designed to produce 2 kW of electrical power for seven years. The design consisted of a General Purpose Heat Source (GPHS) utilizing a Stirling engine as the power conversion unit. A mass optimization was performed to aid in overall design. The last design was a reactor to provide power for propulsion to Mars and power on the surface. The requirements of 300 kW of electrical power output and a mass of less than 10,000 Rg were set. This allowed the reactor and power conversion unit to fit within the Space Shuttle cargo bay.