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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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Orion GN&C Detection and Mitigation of Parachute Pendulosity

New techniques being employed by Orion guidance, navigation, and control (GN&C) using a reaction control system (RCS) under parachutes are described. Pendulosity refers to a pendulum-oscillatory mode that can occur during descent under main parachutes and that has been observed during Orion parachute drop tests. The pendulum mode reduces the ability of GN&C to maneuver the suspended vehicle resulting in undesirable increases to structural loads at touch-down. Parachute redesign efforts have been unsuccessful in reducing the pendulous behavior necessitating GN&C mitigation options. An observer has been developed to estimate the pendulum motion as well as the underlying wind velocity vector. Using this knowledge the control system maneuvers the vehicle using two separate strategies determined by a wind velocity magnitude threshold; at high wind velocities the vehicle is aligned with the wind direction and for cases with lower wind velocities the vehicle is aligned such that it is perpendicular to the swing plane. Pendulum damping techniques using RCS thrusters are discussed but have not been selected for use onboard the Orion spacecraft. The techniques discussed in this paper will be flown on Exploration Mission 1 (EM-1).

Kane, Mark A.↗
NASA NTRS2016

Orion GN&C Detection and Mitigation of Parachute Pendulosity

New techniques being employed by Orion guidance, navigation, and control (GN&C) using a reaction control system (RCS) under parachutes are described. Pendulosity refers to a pendulum-oscillatory mode that can occur during descent under main parachutes and that has been observed during Orion parachute drop tests. The pendulum mode reduces the ability of GN&C to maneuver the suspended vehicle resulting in undesirable increases to structural loads at touchdown. Parachute redesign efforts have been unsuccessful in reducing the pendulous behavior necessitating GN&C mitigation options. An observer has been developed to estimate the pendulum motion as well as the underlying wind velocity vector. Using this knowledge, the control system maneuvers the vehicle using two separate strategies determined by wind velocity magnitude and pendulum energy thresholds; at high wind velocities the vehicle is aligned with the wind direction and for cases with lower wind velocities and large pendulum amplitudes the vehicle is aligned such that it is perpendicular to the swing plane. Pendulum damping techniques using RCS thrusters are discussed but have not been selected for use onboard the Orion spacecraft. The techniques discussed in this paper will be flown on Exploration Mission 1 (EM-1).

Kane, Mark A.↗
NASA NTRS1980

Local distributed estimation

Based on partial differential equations of motion the closed form solution for the optimal estimation of a spatially continuous state vector is derived, using a continuously distributed sensor. Local control is shown to be the feedback that minimizes a quadratic performance index of sensor and process disturbances. A detailed example of the control of a string in tension is presented.

Schaechter, D. B.↗
NASA NTRS1996

A Study of Uranus' Bow Shock Motions Using Langmuir Waves

During the Voyager 2 flyby of Uranus, strong electron plasma oscillations (Langmuir waves) were detected by the plasma wave instrument in the 1.78-kHz channel on January 23-24, 1986, prior to the inbound bow shock crossing. Langmuir waves are excited by energetic electrons streaming away from the bow shock. The goal of this work is to estimate the location and motion of Uranus' bow shock using Langmuir wave data, together with the spacecraft positions and the measured interplanetary magnetic field. The following three remote sensing analyses were performed: the basic remote sensing method, the lag time method, and the trace-back method. Because the interplanetary magnetic field was highly variable, the first analysis encountered difficulties in obtaining a realistic estimation of Uranus' bow shock motion. In the lag time method developed here, time lags due to the solar wind's finite convection speed are taken into account when calculating the shock's standoff distance. In the new trace-back method, limits on the standoff distance are obtained as a function of time by reconstructing electron paths. Most of the results produced by the latter two analyses are consistent with predictions based on the standard theoretical model and the measured solar wind plasma parameters. Differences between our calculations and the theoretical model are discussed.

Xue, S.↗
NASA NTRS2007

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗
NASA NTRS1994

Deformation across the western United States: A local estimate of Pacific-North America transform deformation

We obtain a locally based estimate of Pacific-North America relative motion and an uncertainly in this estimate by integrating deformation rate along three different paths leading west across southwestern North America from east of the Rio Grande Rift to near the continental escarpment. Data are primarily Quatenary geologic slip rates estimates, and resulting deformation determinations therefore are 'instantaneous' in a geologic sense but 'long term' with respect to earthquake cycles. We deduce a rate of motion of the Pacific plane relative to North America that is 48 +/- 2 mm/yr, a rate indistinguishable from that predicted by the global kinematics models RM2 and NUVEL-1; however, we obtain an orientation that is 5-9 deg counterclockwise of these models. A more westerly motion of the Pacific plate, with respect to North America, is calculated from all three paths. The relatively westerly motion of the Pacific plate is accomodated by deformation in the North American continent that includes slip on relatively counterclockwise-oriented strike-slip faults (including the San Andreas fault), whic is especially relevant in and south of the Transverse Ranges, and a margin-normal component of net extension across the continent, which is especially relevant north of the Transverse Ranges. Deformation of the SW United States occurs in regionally coherent domains within the style of deformation is approximately uniform.

Humphreys, Eugene D.↗
NASA NTRS1994

Monitoring sea ice flux through Fram Strait

A methodology for estimating daily ice velocity through Fram Strait is presented. Ice velocity fields are estimated from a combination of motions observed by SAR (Synthetic Aperture Radar) or buoys and drift estimated by a simple wind drift model. The analysis includes ice motion vectors from approximately 300 pairs of ERS-1 images, Feb. - Jun. 1993. ESA UILR8 low resolution images derived from the Fast Delivery (FD) products are analyzed to produce ice velocity vectors using a semi-automated interactive approach. This method reveals substantial variability in the ice motion field that would not be apparent from a single data source.

Schweiger, Axel J.↗
NASA NTRS1995

Relative motions of the Australian, Pacific and Antarctic plates estimated by the Global Positioning System

Global Positioning System (GPS) measurements spanning approximately 3 years have been used to determine velocities for 7 sites on the Australian, Pacific and Antarctic plates. The site velocities agree with both plate model predictions and other space geodetic techniques. We find no evidence for internal deformation of the interior of the Australian plate. Wellington, New Zealand, located in the Australian-Pacific plate boundary zone, moves 20 +/- 5 mm/yr west-southwest relative to the Australian plate. Its velocity lies midway between the predicted velocities of the two plates. Relative Euler vectors for the Australia-Antarctica and Pacific-Antarctica plates agree within one standard deviation with the NUVEL-1A predictions.

Larson, Kristine M.↗
NASA NTRS1991

Comparison of motion and stereo methods in passive ranging systems

The authors compare the estimates in passive ranging systems using motion and stereo approaches. It is shown that an integrated approach is necessary to provide better range estimates over a field-of-view (FOV) of interest in helicopter flight. The recursive approach for processing a sequence of stereo images, described together with a recursive motion algorithm (RMA), provides the basis for an integrated method to provide more accurate range information. Results based on motion sequences of stereo images are presented.

Sridhar, Banavar↗
DOE OSTI2024

OC6 project Phase IV: validation of numerical models for novel floating offshore wind support structures

Abstract. This paper provides a summary of the work done within Phase IV of the Offshore Code Comparison Collaboration, Continued with Correlation and unCertainty (OC6) project, under International Energy Agency Wind Technology Collaboration Programme Task 30. This phase focused on validating the loading on and motion of a novel floating offshore wind system. Numerical models of a 3.6 MW horizontal-axis wind turbine atop the TetraSpar floating support structure were compared using measurement data from a 1:43-Froude-scale test performed in the University of Maine's Alfond Wind–Wave (W2) Ocean Engineering Laboratory. Participants in the project ran a series of simulations, including system equilibrium, surge offsets, free-decay tests, wind-only conditions, wave-only conditions, and a combination of wind and wave conditions. Validation of the models was performed by comparing the aerodynamic loading, floating support structure motion, tower base loading, mooring line tensions, and keel line tensions. The results show a relatively good estimation of the aerodynamic loading and a reasonable estimation of the platform motion and tower base fore–aft bending moment. However, there is a significant dispersion in the dynamic loading for the upwind mooring line. Very good agreement was observed between most of the numerical models and the experiment for the keel line tensions.

17 WIND ENERGY↗
NASA NTRS1974

The minimum free-stream wind speed for initiating motion of surface material on Mars

Estimates of the minimum free-stream wind speed that is required for initiating the motion of surficial material on Mars have ranged from 30 to about 200 meters per second. Thus the best value for this quantity is not well established. Graphical comparison of much of the pertinent data taken in the laboratory and in the field on Earth provides a minimum value for the Bagnold coefficient of 0.08 and this in turn provides a minimum value for the threshold friction velocity of 1.3 meters per second for initiating motion of particulate matter on Mars at low elevations where the pressure is 7 millibars. The most appropriate value of the ratio of friction velocity to free-stream velocity for putative unstable condition appears to be 0.026. Thus the minimum free-stream wind speed for initiating motion is obtained as 50 meters per second. If the surface material on Mars, however, is less cohesive than that on earth, the minimum value may be smaller.

Wood, G. P.↗
NASA NTRS1992

Robust adaptive kinematic control of redundant robots

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Tarokh, M.↗
NASA NTRS1979

Insitu aircraft verification of the quality of satellite cloud winds over oceanic regions

A five year aircraft experiment to verify the quality of satellite cloud winds over oceans using in situ aircraft inertial navigation system wind measurements is presented. The final results show that satellite measured cumulus cloud motions are very good estimators of the cloud base wind for trade wind and subtropical high regions. The average magnitude of the vector differences between the cloud motion and the cloud base wind is given. For cumulus clouds near frontal regions, the cloud motion agreed best with the mean cloud layer wind. For a very limited sample, cirrus cloud motions also most closely followed the mean wind in the cloud layer.

Hasler, A. F.↗
NASA NTRS1978

Monitoring regional crustal deformation with horizontal geodetic data

The National Ocean Survey is developing an automated system to derive parameters of horizontal crustal motion from existing geodetic data by the process of least squares estimation. The estimated parameter will describe crustal motion as a function of geographic position. The system will first be tested in the Imperial Valley region of southern California, using data from 8 individual field projects spanning four decades of time.

Snay, R. A.↗
NASA NTRS1986

Episodic volcanism of tidally heated satellites with application to Io

Io is presently considered in light of a simple model for the coupled thermal and orbital evolution of a tidally heated satellite in an orbital resonance, demonstrating quantitatively how a feedback mechanism between the orbital and thermal energy of such a satellite may yield periodic surface heatflow and orbital eccentricity variations. The model predicts that the mean motion of Io may currently be increasing, as suggested by recent estimates of Io's mean motion on the basis of eclipse data. It is further inferred that the tidal stresses in the ice shell of Europa, whose eccentricity mimics that of Io, may recently have been sufficiently great to generate the fracturing observed.

Ojakangas, G. W.↗
NASA NTRS1991

Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.

Kyriakopoulos, K. J.↗
NASA NTRS1997

Quantitative Simulations of MST Visual Receptive Field Properties Using a Template Model of Heading Estimation

We previously developed a template model of primate visual self-motion processing that proposes a specific set of projections from MT-like local motion sensors onto output units to estimate heading and relative depth from optic flow. At the time, we showed that that the model output units have emergent properties similar to those of MSTd neurons, although there was little physiological evidence to test the model more directly. We have now systematically examined the properties of the model using stimulus paradigms used by others in recent single-unit studies of MST: 1) 2-D bell-shaped heading tuning. Most MSTd neurons and model output units show bell-shaped heading tuning. Furthermore, we found that most model output units and the finely-sampled example neuron in the Duffy-Wurtz study are well fit by a 2D gaussian (sigma approx. 35deg, r approx. 0.9). The bandwidth of model and real units can explain why Lappe et al. found apparent sigmoidal tuning using a restricted range of stimuli (+/-40deg). 2) Spiral Tuning and Invariance. Graziano et al. found that many MST neurons appear tuned to a specific combination of rotation and expansion (spiral flow) and that this tuning changes little for approx. 10deg shifts in stimulus placement. Simulations of model output units under the same conditions quantitatively replicate this result. We conclude that a template architecture may underlie MT inputs to MST.

Stone, Leland S.↗
NASA NTRS2023

NASA’s Atmosphere Observing System (AOS), From A Precipitation Perspective

NASA is developing the Atmosphere Observing System (AOS) mission as part of its Earth System Observatory (ESO) in response to priorities identified in the 2017 Earth Science Decadal Survey. AOS addresses the Decadal Survey’s call for missions measuring the targeted observables “clouds, convection, and precipitation”; “aerosol and cloud radiative properties”, and “aerosol vertical profiles”. AOS is currently in Phase A, the concept and technology development phase, with plans for satellite launches in the late 2020’s and early 2030’s, and suborbital measurements to include field campaigns after those satellite launches. Key precipitation-related instrumentation includes Doppler radars capable of measuring clouds and precipitation, and passive microwave radiometers with channels between 89-700 GHz. Other instrumentation includes dual-wavelength backscatter lidars, a multi-wavelength and multi-angle polarimeter, a far infrared imaging radiometer, and aerosol and moisture limb sounders that will contribute to studies of coupled aerosol-cloud-precipitation processes. From the perspective of precipitation science, a Ku-band Doppler radar in a 55° inclined orbit provided by JAXA will continue the heritage of precipitation radar measurements made by the Tropical Rainfall Measuring Mission (TRMM) and Global Precipitation Mission (GPM), while adding information about Doppler-derived particle vertical motions. With assumptions about particle terminal velocities, the Doppler measurements will enable estimates of the vertical air motion in storms. A higher frequency (W and/or Ka band) radar on a satellite in a polar sun-synchronous orbit will add similar information with greater sensitivity to clouds and to light precipitation. Passive microwave radiometers for AOS will be less capable than those from TRMM and GPM from a precipitation-measurement perspective, but more capable of adding information about cloud processes. Synergies among these and other instruments are expected to advance process-level understanding of aerosols, clouds, and precipitation.

Daniel J Cecil↗