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At least 253 records · Page 14

Evolving Multi Rover Systems in Dynamic and Noisy Environments

In this chapter, we address how to evolve control strategies for a collective: a set of entities that collectively strives to maximize a global evaluation function that rates the performance of the full system. Addressing such problems by directly applying a global evolutionary algorithm to a population of collectives is unworkable because the search space is prohibitively large. Instead, we focus on evolving control policies for each member of the collective, where each member is trying to maximize the fitness of its own population. The main difficulty with this approach is creating fitness evaluation functions for the members of the collective that induce the collective to achieve high performance with respect to the system level goal. To overcome this difficulty, we derive member evaluation functions that are both aligned with the global evaluation function (ensuring that members trying to achieve high fitness results in a collective with high fitness) and sensitive to the fitness of each member (a member's fitness depends more on its own actions than on actions of other members). In a difficult rover coordination problem in dynamic and noisy environments, we show how to construct evaluation functions that lead to good collective behavior. The control policy evolved using aligned and member-sensitive evaluations outperforms global evaluation methods by up to a factor of four. in addition we show that the collective continues to perform well in the presence of high noise levels and when the environment is highly dynamic. More notably, in the presence of a larger number of rovers or rovers with noisy sensors, the improvements due to the proposed method become significantly more pronounced.

Tumer, Kagan↗

Recommendations to Advance Space Trusted Autonomy

The interagency Space Science and Technology Partnership Forum was established in2015 to identify synergistic efforts and technologies across the U.S. government. While the various space agencies of the U.S. government have distinctly different visions for future operational space systems, all share important foundational common needs. These needs, combined with the maturation of autonomous technology and the prospect of leveraging autonomous systems to address those needs, have led each agency to consider how and when to to implement increasing levels of autonomy in their space systems, and how to determine the trustworthiness of an autonomous system. The Partnership facilitated dialogue among the partners, collected and analyzed data on current and desired future levels of capability, and identified gaps to motivate three recommendations that can be addressed within the Partnership community. These recommendations address the need for more robust documenting and socializing of anomalies in space system operations; the need to expand communication and trust within the community of developers, operators, and end users; and the need for a safe development and testing environment for maturing and demonstrating future autonomous space systems. These recommendations will facilitate both near-term programmatic actions and long-term steps for implementing enduring progress towards enabling space trusted autonomy.

Christopher A Jones↗

High Altitude Long Endurance UAV Analysis Model Development and Application Study Comparing Solar Powered Airplane and Airship Station-Keeping Capabilities

There have been ongoing efforts in the Aeronautics Systems Analysis Branch at NASA Langley Research Center to develop a suite of integrated physics-based computational utilities suitable for modeling and analyzing extended-duration missions carried out using solar powered aircraft. From these efforts, SolFlyte has emerged as a state-of-the-art vehicle analysis and mission simulation tool capable of modeling both heavier-than-air (HTA) and lighter-than-air (LTA) vehicle concepts. This study compares solar powered airplane and airship station-keeping capability during a variety of high altitude missions, using SolFlyte as the primary analysis component. Three Unmanned Aerial Vehicle (UAV) concepts were designed for this study: an airplane (Operating Empty Weight (OEW) = 3285 kilograms, span = 127 meters, array area = 450 square meters), a small airship (OEW = 3790 kilograms, length = 115 meters, array area = 570 square meters), and a large airship (OEW = 6250 kilograms, length = 135 meters, array area = 1080 square meters). All the vehicles were sized for payload weight and power requirements of 454 kilograms and 5 kilowatts, respectively. Seven mission sites distributed throughout the United States were selected to provide a basis for assessing the vehicle energy budgets and site-persistent operational availability. Seasonal, 30-day duration missions were simulated at each of the sites during March, June, September, and December; one-year duration missions were simulated at three of the sites. Atmospheric conditions during the simulated missions were correlated to National Climatic Data Center (NCDC) historical data measurements at each mission site, at four flight levels. Unique features of the SolFlyte model are described, including methods for calculating recoverable and energy-optimal flight trajectories and the effects of shadows on solar energy collection. Results of this study indicate that: 1) the airplane concept attained longer periods of on-site capability than either airship concept, and 2) the airship concepts can attain higher levels of energy collection and storage than the airplane concept; however, attaining these energy benefits requires adverse design trades of reduced performance (small airship) or excessive solar array area (large airship).

Ozoroski, Thomas A.↗

Incidence of Latent Virus Shedding during Space Flight

Measurements of immune parameters of both cellular and innate immunity indicate alterations in immune function in astronauts. Immune changes are due to stress and perhaps other factors associated with launch, flight, and landing phases. Medical relevance of observed changes is not known. The reactivation of latent viruses has been identified as an important in vivo indicator of clinically relevant immune changes. The polymerase chain reaction (PCR) was used to detect the presence of specific viral DNA in body fluids. Initial studies demonstrated Epstein-Barr virus (EBV) reactivation during all 3 mission phases. EBV is shed in saliva following reactivation from B-cells. Incidence of EBV in saliva was higher than control subjects during all 3 mission phases. However, quantitative PCR revealed 10-fold higher levels of EBV DNA present in saliva collected during flight than found in pre- and post flight specimens. To determine if other latent viruses showed similar effects, cytomegalovirus (CMV), another herpes virus, shed in urine following reactivation was studied. A very low incidence (less than 2%) of CMV in urine is found in healthy, lowstressed individuals. However, 25-50% of astronauts shed CMV in their urine before, during, or after flight. Our studies are now focused on varicella-zoster virus (VZV), the etiological agent of chicken-pox during childhood and shingles later in life. We demonstrated reactivation of VZV and shedding of the virus during and after spaceflight in saliva of astronauts with no sign of active infection or symptoms. The maximum shedding of VZV occurred during the flight phase and diminishes rapidly during the first five days after landing. We have utilized the same PCR assay for VZV in a clinical study of shingles patients. Generally, shingles patients shed much more VZV in saliva than astronauts. However, the VZV levels in astronauts overlap with the lower range of VZV numbers in shingles patients. Saliva from shingles patients and astronauts were cultured and infectious VZV was recovered from both groups. We have concluded that multiple latent viruses do reactivate before, during, and after spaceflight and serve as very sensitive indicators for diminished cellular immunity. Future plans will be focused on the clinical risks posed by the reactivation of these viruses. Initial efforts will determine the effect of longer missions on the International Space Station on the reactivation patterns of these viruses.

Mehta, Satish K.↗

Determination of trace gases in learjet and U-2 whole air samples collected during the intertropical convergence zone experiment

The contribution of Washington State University (WSU) to the Intertropical Convergence Zone (ITCZ) study, conducted in the Panama Canal Zone in July 1977 is reported. The ITCZ program had the objective to study the meteorology and air chemistry to determine, if possible, the magnitude of injection of tropospheric air into the stratosphere in the ITCZ. WSU was responsible for two phases of the air chemistry program for the ITCZ study: (1) the collection of whole-air samples from ground level to 13.7 km using a Learjet as a sampling platform, and the analysis of the samples for selected halocarbons, C2 hydrocarbons, N2O, and SF6; and (2) the analysis for selected halocarbon species and N2O of low pressure whole-air samples, collected between 13.7 km and 21.3 km by a U-2 aircraft. The report is divided into separate sections describing the Learjet and the U-2 sampling methods, analytical methods, and results. Complete data tables for all samples analyzed are given.

Cronn, D. R.↗

Parameters Impacting Columnated Granular Soil Pneumatic Seal Performance

The ability of a column of loose granular soil to form a pneumatic seal was investigated by varying the diameter of the soil column, the effective column height, and the level of compaction in the soil. The soil column diameter was tested at three levels using pipes with inner diameters measuring 5.08, 10.16, and 15.24 centimeters (2, 4, and 6 inches). Soil was filled in each pipe to form 15, 30, and 45 centimeter (6, 12, and 18 inch) tall soil columns. Each diameter/height configuration was also tested at three levels of soil compaction, compared by calculating the bulk density of the soil with mass and volume measurements. GRC-1a simulant was used, with approximate low/medium/high bulk densities of 1.6, 1.75, and 1.9 g/cc achieved with a combination of vibration and tamping. The order of tests for a given column diameter was randomized and repeated three times. With the top of the soil open to atmosphere at room temperature, compressed air was injected through a small diffuser at the column base with several small downward-facing holes. The number and size of these holes was scaled such that a constant total inlet orifice area to column cross sectional area ratio was maintained for each column diameter. Inlet air pressure was slowly increased via a precision regulator to preserve quasi-static equilibrium in the soil column to minimize the impact of dynamics. Air pressure was increased all the way through the static and bubbling regimes until slugging or turbulent behavior was observed in the soil to ensure that the entire static regime had been captured during data collection. A three-factor, three-level analysis of variance (ANOVA) statistical analysis was performed on the resulting data to determine the extent to which each physical parameter impacted the soil column seal performance. It was concluded that there is statistically significant evidence that column height, and the interaction between column height and diameter impact soil seal performance. In all other cases there was insufficient data to identify a statistically significant causal relationship. Additionally, plots were generated comparing experimental data to the predictive formula developed by Ogino et al. for fluidized beds in 1993. Because this model was developed for industrial spouted fluidized beds, the accuracy of its output prior to fluidization in the static seal ‘edge case’ is unknown, especially considering in this application the working gas was diffused across the column base rather than being injected through a spout. Further, the fidelity of the model had not yet been tested with lunar soil simulants. Plotting the Ogino et al. model alongside test data allows for a more intuitive sense of the impact of test parameters on soil seal performance, as well as providing a quick means to further tune this predictive model for more accurate use with static seals across granular lunar soil simulants. The model provided by Ogino et al. was further tuned using test data to determine the degree to which a spouted bed model could be applied to a slightly modified set of testing conditions: lunar soil simulants and a more diffuse, homogeneous application of pneumatic pressure. A Matlab script was created to test different values for the leading coefficient and exponents in Ogino’s formula. The script swept preset ranges, then iterated with higher resolutions across narrower ranges to converge on the optimal value for each parameter. The resulting adjusted model was compared to the original, as well as test data with noticeable improvements across the entire test domain.

Jack Stewart↗

BOREAS Level-0 TIMS Imagery: Digital Counts in BIL Format

For BOREAS, the TIMS imagery, along with the other remotely sensed images, was collected to provide spatially extensive information over the primary study areas. The level-0 TIMS images cover the time periods of 16-Apr-1994 to 20-Apr-1994 and 06-Sep-1994 to 17-Sep-1994. The images are available in their original uncalibrated format.

Newcomer, Jeffrey A.↗

Precise mean sea level measurements using the Global Positioning System

This paper describes the results of a sea level measurement test conducted off La Jolla, California, in November of 1991. The purpose of this test was to determine accurate sea level measurements using a Global Positioning System (GPS) equipped buoy. These measurements were intended to be used as the sea level component for calibration of the ERS 1 satellite altimeter. Measurements were collected on November 25 and 28 when the ERS 1 satellite overflew the calibration area. Two different types of buoys were used. A waverider design was used on November 25 and a spar design on November 28. This provided the opportunity to examine how dynamic effects of the measurement platform might affect the sea level accuracy. The two buoys were deployed at locations approximately 1.2 km apart and about 15 km west of a reference GPS receiver located on the rooftop of the Institute of Geophysics and Planetary Physics at the Scripps Institute of Oceanography. GPS solutions were computed for 45 minutes on each day and used to produce two sea level time series. An estimate of the mean sea level at both locations was computed by subtracting tide gage data collected at the Scripps Pier from the GPS-determined sea level measurements and then filtering out the high-frequency components due to waves and buoy dynamics. In both cases the GPS estimate differed from Rapp's mean altimetric surface by 0.06 m. Thus, the gradient in the GPS measurements matched the gradient in Rapp's surface. These results suggest that accurate sea level can be determined using GPS on widely differing platforms as long as care is taken to determine the height of the GPS antenna phase center above water level. Application areas include measurement of absolute sea level, of temporal variations in sea level, and of sea level gradients (dominantly the geoid). Specific applications would include ocean altimeter calibration, monitoring of sea level in remote regions, and regional experiments requiring spatial and temporal resolution higher than that available from altimeter data.

Kelecy, Thomas M.↗

The effect of the sea breeze circulation on surface ozone levels at Wallops Island, Virginia

Surface measurements of windspeed, direction, and ozone concentration collected at Wallops Island, Virginia, during the summers of 1977 and 1978 are analyzed to study the effects of the dominant mesoscale sea breeze circulation on the local photochemical oxidant levels. A bimodality in the atmospheric dynamics is linked to systematic variations in ozone concentration. It is concluded that during certain phases of the two circulation modes, increased wind speed reduces the resistance of the earth's surface to the deposition of ozone, and decreased ozone concentration levels result. For other phases, light winds occur, signifying high resistance to deposition and high ozone levels. This modulation by the local dynamics is a major impediment for pollutant studies in coastal environments, especially those centering on transport, because it tends to mask other processes that may be occurring.

Parsons, C. L.↗

Study for application of a sounding rocket experiment to spacelab/shuttle mission

An inexpensive adaptation of rocket-size packages to Spacelab/Shuttle use was studied. A two-flight project extending over two years was baselined, requiring 80 man-months of effort. It was concluded that testing should be held to a minimum since rocket packages seem to be able to tolerate shuttle vibration and noise levels. A standard, flexible control and data collection language such as FORTH should be used rather than a computation language such as FORTRAN in order to hold programming costs to a minimum.

Code, A. D.↗

Optimization of multi-layer front-contact grid patterns for solar cells

In a front-contact grid pattern for a solar cell there is a trade-off necessary between shadowing loss and excessive power loss due to voltage drop in the metalization itself. If the metalization is too little there may be excessive contact resistance to the underlying semiconductor and insufficient coverage to control losses in the thin front-surface layer of the solar cell. Optimization of grid pattern area and geometry is considered analytically to minimize total losses. Worthwhile performance advantages are shown to be possible, particularly in concentrator systems, if multi-layer grid patterns are used. The current carrying fingers should be approximately square in metal cross section and the main current feedout bars should not only be wider but also thicker than the primary collecting fingers. This is termed multi-level metalization. Effective use of multi-level grid metalization allows much greater concentration-to-loss ratio for a cell of large area and permits good performance from cells of high front-layer sheet resistance.

Flat, A.↗

Dropwindsonde observations of the mean boundary layer structure in the low-latitude Pacific during SOP-1

The low-level mean thermodynamic and wind profiles in the transition between the trade winds and the ICZ are described using the FGGE level II-b dropwindsonde data set collected during the period of SOP-1 (January 15-February 20, 1979). The results illustrate the influence of decaying midlatitude frontal systems in the northwesternmost region, the general tradelike nature of the eastern regions, and the highly convective nature of a region near the equator. Contrary to the results obtained with the traditional approach to the tropical boundary layer, the FGGE data indicate a trade inversion that remains quasi-horizontal in the north-south direction despite an equatorward decrease in its frequency of occurrence, indicating that subsidence may be more important in equatorial regions than was previously thought.

Firestone, James K.↗

Impact cratering in low-gravity environments - Results of reconnaissance experimentation on the NASA KC-135A reduced-gravity aircraft

A program of flight experimentation was performed on the NASA KC-135A reduced-gravity aircraft to evaluate the potential for conducting impact experiments in reduced-gravity environments and to collect impact-cratering data at gravity levels below 1 g. Lead pellets were launched into coarse-grained sand at velocities of about 65-130 m/sec while the gravitational acceleration was maintained at 0.59-0.05 g. A total of 64 craters were studied and, after allowance is made for the atmospheric pressure over the target (0.83 atm), their diameters are found to have been consistent with scaling predictions made on the basis of ground-based experimentation. Formation times were also obtained for 33 of these craters and constitute a distribution that is somewhat different from that described by the ground-based data. Nevertheless, the KC-135 data set as a whole falls on the trend formed by the ground-based results. The overall agreement between the two data sets attests to the stability of the aircraft as a platform for impact experimentation.

Cintala, M. J.↗

Evaluation of two transport aircraft and several ground test vehicle friction measurements obtained for various runway surface types and conditions. A summary of test results from joint FAA/NASA Runway Friction Program

Tests with specially instrumented NASA Boeing 737 and 727 aircraft together with several different ground friction measuring devices were conducted for a variety of runway surface types and conditions. These tests are part of joint FAA/NASA Aircraft/Ground Vehicle Runway Friction Program aimed at obtaining a better understanding of aircraft ground handling performance under adverse weather conditions and defining relationships between aircraft and ground vehicle tire friction measurements. Aircraft braking performance on dry, wet, snow and ice-covered runway conditions is discussed as well as ground vehicle friction data obtained under similar runway conditions. For a given contaminated runway surface condition, the correlation between ground vehicles and aircraft friction data is identified. The influence of major test parameters on friction measurements such as speed, test tire characteristics, type and amount of surface contaminant, and ambient temperature are discussed. The effect of surface type on wet friction levels is also evaluated from comparative data collected on grooved and ungrooved concrete and asphalt surfaces.

Yager, Thomas J.↗

Validation environment for AIPS/ALS: Implementation and results

The work is presented which was performed in porting the Fault Injection-based Automated Testing (FIAT) and Programming and Instrumentation Environments (PIE) validation tools, to the Advanced Information Processing System (AIPS) in the context of the Ada Language System (ALS) application, as well as an initial fault free validation of the available AIPS system. The PIE components implemented on AIPS provide the monitoring mechanisms required for validation. These mechanisms represent a substantial portion of the FIAT system. Moreover, these are required for the implementation of the FIAT environment on AIPS. Using these components, an initial fault free validation of the AIPS system was performed. The implementation is described of the FIAT/PIE system, configured for fault free validation of the AIPS fault tolerant computer system. The PIE components were modified to support the Ada language. A special purpose AIPS/Ada runtime monitoring and data collection was implemented. A number of initial Ada programs running on the PIE/AIPS system were implemented. The instrumentation of the Ada programs was accomplished automatically inside the PIE programming environment. PIE's on-line graphical views show vividly and accurately the performance characteristics of Ada programs, AIPS kernel and the application's interaction with the AIPS kernel. The data collection mechanisms were written in a high level language, Ada, and provide a high degree of flexibility for implementation under various system conditions.

Segall, Zary↗

New estimates of nitrous oxide emissions from biomass burning

The recent discovery of an artifact producing increased levels of N2O in combustion gas samples collected and stored in grab bottles before chemical analysis has resulted in the downgrading of fossil-fuel combustion and the questioning of biomass burning as important sources of N2O. As almost all reported analyses of N2O produced from biomass burning have involved essentially the same collection and analysis protocols as used in the fossil-fuel studies, this source of N2O must also be reexamined. Here, measurements of N2O made over a large prescribed fire using a near real-time in situ measurement technique are reported and compared with measurements of N2O from simultaneously collected grab-bottle samples. The results from 27 small laboratory biomass test fires are also used to help clarify the validity of earlier assessments. It is concluded that biomass burning contributes about seven percent of atmospheric N2O, as opposed to earlier estimates of several times this value.

Cofer, W. R., III↗

Titan aerosol and gas experiment for the Huygens Probe

The Cassini Mission is a joint undertaking of NASA and the European Space Agency (ESA) to explore the Saturnian System with a Saturn Orbiter and a Titan Probe. The launch vehicle and the Saturn Orbiter are the responsibility of NASA while the Huygens Probe (detachable Titan Probe) is the responsibility of ESA. The spacecraft will be launched in 1996 and the Huygens Probe will arrive at Titan in 2003. The Cassini Mission-Huygens Probe provides a unique opportunity to obtain detailed information about the atmosphere and, possibly, the surface of Titan. Titan possesses a substantial nitrogen atmosphere containing methane and many other organic compounds. Aerosols play an important role in the atmospheric processes on Titan. The Huygens Probe offers an opportunity to determine how organic particles are formed and grow which will clarify their role on Earth. A powerful analytical instrument, capable of addressing the above technology and other science questions, was recently proposed for the Huygens Probe. It is comprised of an aerosol and gas sampler and processor, and a gas chromatograph-ion mobility spectrometer. The instrument will be able to measure complex organics that make up the collected aerosols to the approximate 1 ppm level. Gases will be measured to approximately 10 ppb. Because the Titan atmosphere is expected to be quite complex, a gas chromatograph-ion mobility spectrometer is used to provide unequivocal identification of the components of the analytes. Further details of the science question to be investigated and the proposed instrument are described. The expected results and their implications are also addressed.

Carle, G. C.↗

Does a motion base prevent simulator sickness?

The use of high-fidelity motion cues to reduce the discrepancy between visually implied motion and actual motion is tested experimentally using the NASA Vertical Motion Simulator (VMS). Ten pilot subjects use the VMS to fly simulated S-turns and sawtooths which generate a high incidence of motion sickness. The subjects fly the maneuvers on separate days both with and without use of a motion base provided by the VMS, and data are collected regarding symptoms, dark focus, and postural equilibrium. The motion-base condition is shown to be practically irrelevant with respect to the incidence and severity of motion sickness. It is suggested that the data-collection procedure cannot detect differences in sickness levels, and the false cues of the motion condition are theorized to have an adverse impact approximately equivalent to the absence of cues in a fixed-base condition.

Sharkey, Thomas J.↗