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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 271 records · Page 15

Surface Operations Systems Improve Airport Efficiency

With Small Business Innovation Research (SBIR) contracts from Ames Research Center, Mosaic ATM of Leesburg, Virginia created software to analyze surface operations at airports. Surface surveillance systems, which report locations every second for thousands of air and ground vehicles, generate massive amounts of data, making gathering and analyzing this information difficult. Mosaic?s Surface Operations Data Analysis and Adaptation (SODAA) tool is an off-line support tool that can analyze how well the airport surface operation is working and can help redesign procedures to improve operations. SODAA helps researchers pinpoint trends and correlations in vast amounts of recorded airport operations data.

Source record↗

GIS Methodology for Planning Planetary-Rover Operations

A document describes a methodology for utilizing image data downlinked from cameras aboard a robotic ground vehicle (rover) on a remote planet for analyzing and planning operations of the vehicle and of any associated spacecraft. Traditionally, the cataloging and presentation of large numbers of downlinked planetary-exploration images have been done by use of two organizational methods: temporal organization and correlation between activity plans and images. In contrast, the present methodology involves spatial indexing of image data by use of the computational discipline of geographic information systems (GIS), which has been maturing in terrestrial applications for decades, but, until now, has not been widely used in support of exploration of remote planets. The use of GIS to catalog data products for analysis is intended to increase efficiency and effectiveness in planning rover operations, just as GIS has proven to be a source of powerful computational tools in such terrestrial endeavors as law enforcement, military strategic planning, surveying, political science, and epidemiology. The use of GIS also satisfies the need for a map-based user interface that is intuitive to rover-activity planners, many of whom are deeply familiar with maps and know how to use them effectively in field geology.

Powell, Mark↗

Lidar Wind Profiler Comparison to Weather Balloon for Support of Orion Crew Exploration Vehicle Landings

A comparison study by the National Aeronautics and Space Administration Dryden Flight Research Center, Edwards, CA and the Naval Post Graduate School Center for Interdisciplinary Remotely-Piloted Aircraft Studies, Marina, CA was conducted to show the advantages of an airborne wind profiling lidar system in reducing drift uncertainty along a reentry vehicle descent trajectory. This effort was in support of the once planned Orion Crew Exploration Vehicle ground landing. A Twin Otter Doppler Wind Lidar was flown on multiple flights along the approximate ground track of an ascending weather balloons launched from the Marina Municipal Airport. The airborne lidar used was a 5-milli-Joules, 2-micron infrared laser with a 10-centimeter telescope and a two-axis scanner. Each lidar wind profile contains data for an altitude range between the surface and flight altitude of 2,700 meters, processed on board every 20 seconds. In comparison, a typical weather balloon would traverse that same altitude range with a similar data set available in approximately 15-20 minutes. These tests were conducted on November 15 & 16, 2007. Results comparing the balloon and a 10 minute multiple lidar profile averages show a best case absolute difference of 0.18 m/s (0.35 knots) in speed and 1 degree in direction during light and variable (less than 5 knots, without constant direction) wind conditions. These limited test results indicated a standard deviation wind velocity and direction differences of 0.71 m/s (1.3 knots) and 7.17 degrees for 1800Z, and 0.70 m/s (1.3 knots) and 6.79 degrees, outside of cloud layer.

Houtas, Franzeska↗

Lidar Wind Profiler Comparison to Weather Balloon for Support of Orion Crew Exploration Vehicle Landings

A comparison study by the National Aeronautics and Space Administration Dryden Flight Research Center (Edwards, California) and the Naval Post Graduate School Center for Interdisciplinary Remotely-Piloted Aircraft Studies (Marina, California) was conducted to show the advantages of an airborne wind profiling light detection and ranging (lidar) system in reducing drift uncertainty along a reentry vehicle descent trajectory. This effort was in support of the once planned Orion Crew Exploration Vehicle ground landing. A Twin Otter Doppler Wind Lidar was flown on multiple flights along the approximate ground track of each ascending weather balloon launched from the Marina Municipal Airport (Marina, California). The airborne lidar used was a 5-mJ, 2-micron infrared laser with a 10-cm telescope and a two-axis scanner. Each lidar wind profile contains data for an altitude range between the surface and flight altitude of 2.7 km, processed on board every 20 s. In comparison, a typical weather balloon would traverse that same altitude range with a similar data set available in approximately 15 to 20 min. These tests were conducted on November 15 and 16, 2007. Results show a best-case absolute difference of 0.18 m/s (0.35 knots) in speed and 1 degree in direct

Houtas, Franzeska F.↗

Large Solar-Rejection Filter

NASA utilized Image Intensified Video Cameras for ATV data acquisition from a jet flying at 12.8 km. Afterwards the video was digitized and then analyzed with a modified commercial software package, Image Systems Trackeye. Astrometric results were limited by saturation, plate scale, and imposed linear plate solution based on field reference stars. Time-dependent fragment angular trajectories, velocities, accelerations, and luminosities were derived in each video segment. It was evident that individual fragments behave differently. Photometric accuracy was insufficient to confidently assess correlations between luminosity and fragment spatial behavior (velocity, deceleration). Use of high resolution digital video cameras in future should remedy this shortcoming. A scenically accurate description of matter interpreted as a substance made up of corpuscular constituents was established during the course of the 19th century. In this description, atoms--the building blocks of the matter--form molecules. The properties of the molecules were described by chemistry or thermodynamics depending on what characteristics of the matter were investigated. In both theories, the molecules can dissociate to atoms when the kinetic energies of the atoms exceed the strength of the chemical bonds. The number of atoms is always preserved in a closed system. This is not true, however, when the matter takes up much higher energies at relativistic scales. New particles can be produced at the expense of the kinetic energy. The number of particles is no longer preserved. There are other conserved quantities, however, these quantities, the charge, baryon number, lepton number, are associated with particles that are considered elementary today. The properties and behavior of these elementary particles is the subject of Particle Physics or High Energy Physics. Practice Page: A crewmember touching a positively charged surface was thought to be galvanically isolated from the vehicle ground analogous to a bird on a high voltage power wire. Recent analysis confirms that positive floating potentials, ionospheric currents to the EVA suit, can be hazardous. The analysis is wrong in that the ionospheric plasma itself can close the circuit. Parametric analysis of very low voltage exposures (2 to 15 volts) could cause pain and/or involuntary muscle tetani or spinal cord shock. NASA worked with the Naval Health Research Center Detachment Directed Energy Bioeffects Laboratory to examine the affects electrical hazards could have on extravehicular activity using two models. The results of the two computational models were combined to predict areas of the body in which neurons of different diameters would be excited. They predicted that physiologically active current could be conducted across the crew member causing catastrophic hazards. Future work to analyze additional current paths was proposed. The FUSE spectrum of BB Dor, observed in a high state, is modeled with an accretion disk with a very low inclination (possibly lower than 10 degrees). Assuming an average WD mass of 0.8 solar mass leads to a distance of the order of approximately 650pc, consistent with the extremely low galactic reddening in its direction, and a mass accretion rate of 10 (exp -9) solar mass a year. The spectrum presents some broad and deep silicon and sulfur absorption lines, indicating that these elements are over-abundant: silicon is 3 times solar, and sulfur is 20 times solar. The FUSE spectrum of BB Dor, observed in a high state, is modeled with an accretion disk with a very low inclination (possibly lower than 10 degrees). Assuming an average WD mass of 0.8 solar mass leads to a distance of the order of approximately 650pc, consistent with the extremely low galactic reddening in its direction, and a mass accretion rate of 10 (exp -9) solar mass a year. The spectrum presents some broad and deep silicon and sulfur absorption lines, indicating that these elements are over-abundant: silicon is times solar, and sulfur is 20 times solar. From its previously observed optical emission lines, P831-57 (WD 0334 6400 or Ret 1 in A Catalog and Atlas of Cataclysmic Variables: Living Edition) has been suspected to contain an accretion disk associated with a companion star in orbit around a subdwarf star with a temperature T is greater than 21,000K. P831-57 has therefore been classified as a nova-like. However, our present observations show it to be a DA + dMe binary. The analysis of its Far Ultraviolet Spectroscopic Explorer (FUSE) spectrum (continuum and lines) reveal an average mass white dwarf (Log(g) approximately equals 7.8 plus or minus 0.1)with a temperature T approximately equals 37,000 plus or minus 500K, an extremely low projected rotational velocity, and a distance of about 115 plus or minus 5pc. The photosphere contains C, N, Si, and S (at about 1% of solar abundances). The dMe star is seen as a flux excess in near-infrared photometry and appears to show occasional flaring of about one magnitude as seen in the Harvard plates. There is no evidence of periodic variability in the spectroscopic or photometric data. We find no evidence of a an accretion disk, instead we find evidence of wind accretion as the stellar carbon abundance (N(C)/N(H) = 2.5 x 10 (exp -6) is about ten times larger than predicted by radiative levitation for such a gravity and temperature. The power needs and solutions for the space exploration and lunar mobility program are discussed. Long term missions in space and on the lunar surface require high energy batteries. Rechargeable batteries for mobility systems and portable utility pallet are needed for successful exploration missions. Nanomaterial usage increases the energy density of the cells apart from increasing the power density. The symptoms and threats from acute mountain sickness (AMS) are discussed. The underlying assumptions concerning spacecraft atmosphere mean there is a potential risk to astronauts. The baseline worst case scenario is about 25% based on direct ascent to 8.0 psia with 32% O2. The practical mitigation approach is a staged depressurization scheme. Due to the uncertainty about potential AMS risk the flight surgeon should prepare, focused research should proceed, and current analytical efforts should continue. This slide presentation reviews the threat astronauts face from acute mountain sickness (AMS). The incidence of AMS is highly variable and the risk to astronauts is unclear. However, the potential risk is higher than current EAAs suggest and precautions should be implemented. Due to the uncertain nature of the risk flight surgeons should prepare, and focused research should proceed. Quasiparticle tunneling can be understood at low temperatures using a non-equilibrium kinetic theory. Low-temperature tunneling can be suppressed using existing techniques: island-lead gap engineering, lead cooling with SIN junctions, and quasiparticle traps. The slide presentation reviews the science goals and mission planning for the proposed Jupiter System Observer (JSO). The spacecraft would accommodate 9 instruments making the instrument payload more capable than any previously flown to Jupiter. The would-be mission includes study programs for Jupiter's satellites, interior, magnetosphere and atmosphere. The power needs and solutions for the space exploration and lunar mobility program are discussed. Long term missions in space and on the lunar surface require high energy batteries. Rechargeable batteries for mobility systems and portable utility pallet are needed for successful exploration missions. Nanomaterial usage increases the energy density of the cells apart from increasing the power density. This slide presentation reviews the power requirements for the space exploration and the lunar surface mobility programs. It includes information about the specifications for high energy batteries and the power requirements for lunar rovers,

Roberts, William↗

Visual SLAM Using Variance Grid Maps

An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance maps are much better for representing the structure of vegetated or rocky terrain.

Howard, Andrew B.↗

Process-Hardened, Multi-Analyte Sensor for Characterizing Rocket Plume Constituents

A multi-analyte sensor was developed that enables simultaneous detection of rocket engine combustion-product molecules in a launch-vehicle ground test stand. The sensor was developed using a pin-printing method by incorporating multiple sensor elements on a single chip. It demonstrated accurate and sensitive detection of analytes such as carbon dioxide, carbon monoxide, kerosene, isopropanol, and ethylene from a single measurement. The use of pin-printing technology enables high-volume fabrication of the sensor chip, which will ultimately eliminate the need for individual sensor calibration since many identical sensors are made in one batch. Tests were performed using a single-sensor chip attached to a fiber-optic bundle. The use of a fiber bundle allows placement of the opto-electronic readout device at a place remote from the test stand. The sensors are rugged for operation in harsh environments.

Goswami, Kisholoy↗

Ares I Integrated Test Approach

This slide presentation reviews the testing approach that NASA is developing for the Ares I launch vehicle. NASA is planning a complete series of development, qualification and verification tests. These include: (1) Upper stage engine sea-level and altitude testing (2) First stage development and qualification motors (3) Upper stage structural and thermal development and qualification test articles (4) Main Propulsion Test Article (MPTA) (5) Upper stage green run testing (6) Integrated Vehicle Ground Vibration Testing (IVGVT) and (7) Aerodynamic characterization testing.

Taylor, Jim↗

The Reconstruction and Failure Analysis of the Space Shuttle Columbia

Several days following the Columbia accident a team formed and began planning for the reconstruction of Columbia. A hangar at the Kennedy Space Center was selected for this effort due to it's size, available technical workforce and materials science laboratories and access to the vehicle ground processing infrastructure. The Reconstruction team established processes for receiving, handling, decontamination, tracking, identifying, cleaning and assessment of the debris. Initially, a 2-dimensional reconstruction of the Orbiter outer mold line was developed. As the investigation progressed fixtures which allowed a 3-dimensional reconstruction of the forward portions of the left wing's leading edge was developed. To support the reconstructions and forensic analyses a Materials and Processes (M&P) 'team was formed. This M&P team established processes for recording factual observations, debris cleaning, and engineering analysis. Fracture surfaces and thermal effects of selected airframe debris were assessed, and process flows for both nondestructive and destructive sampling and evaluation of debris were developed. The Team also assessed left hand airframe components that were believed to be associated with a structural breach of Columbia. A major portion of this analysis was evaluation of metallic deposits were prevalent on left wing leading edge components. Extensive evaluation of the visual, metallurgical and chemical nature of the deposits provided conclusions that were consistent with the visual assessments and interpretations of the NASA lead teams and the findings of the Columbia Accident Investigation Board. Analytical data collected by the M&P Team showed that a significant thermal event occurred at the left wing leading edge in the proximity of LH RCC Panels 8-9, and a correlation was formed between the deposits and overheating in these areas to the wing leading edge components. The analysis of deposits also showed exposure to temperatures in excess of 1649 C (3200 F), which would severely degrade support structure, tiles, and RCC panel materials. The integrated failure analysis of wing leading edge debris and deposits strongly supported the hypothesis that a breach occurred at LH RCC Panel 8.

Russell, Richard↗

Software for Automation of Real-Time Agents, Version 2

Version 2 of Closed Loop Execution and Recovery (CLEaR) has been developed. CLEaR is an artificial intelligence computer program for use in planning and execution of actions of autonomous agents, including, for example, Deep Space Network (DSN) antenna ground stations, robotic exploratory ground vehicles (rovers), robotic aircraft (UAVs), and robotic spacecraft. CLEaR automates the generation and execution of command sequences, monitoring the sequence execution, and modifying the command sequence in response to execution deviations and failures as well as new goals for the agent to achieve. The development of CLEaR has focused on the unification of planning and execution to increase the ability of the autonomous agent to perform under tight resource and time constraints coupled with uncertainty in how much of resources and time will be required to perform a task. This unification is realized by extending the traditional three-tier robotic control architecture by increasing the interaction between the software components that perform deliberation and reactive functions. The increase in interaction reduces the need to replan, enables earlier detection of the need to replan, and enables replanning to occur before an agent enters a state of failure.

Fisher, Forest↗

Water Detection Based on Color Variation

This software has been designed to detect water bodies that are out in the open on cross-country terrain at close range (out to 30 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). This detector exploits the fact that the color variation across water bodies is generally larger and more uniform than that of other naturally occurring types of terrain, such as soil and vegetation. Non-traversable water bodies, such as large puddles, ponds, and lakes, are detected based on color variation, image intensity variance, image intensity gradient, size, and shape. At ranges beyond 20 meters, water bodies out in the open can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. But at closer range, the color coming out of a water body dominates sky reflections, and the water cue from sky reflections is of marginal use. Since there may be times during UGV autonomous navigation when a water body does not come into a perception system s field of view until it is at close range, the ability to detect water bodies at close range is critical. Factors that influence the perceived color of a water body at close range are the amount and type of sediment in the water, the water s depth, and the angle of incidence to the water body. Developing a single model of the mixture ratio of light reflected off the water surface (to the camera) to light coming out of the water body (to the camera) for all water bodies would be fairly difficult. Instead, this software detects close water bodies based on local terrain features and the natural, uniform change in color that occurs across the surface from the leading edge to the trailing edge.

Rankin, Arturo L.↗

AeroMACS System Characterization and Demonstrations

This The Aeronautical Mobile Airport Communications System (AeroMACS) is being developed to provide a new broadband wireless communications capability for safety critical communications in the airport surface domain, providing connectivity to aircraft and other ground vehicles as well as connections between other critical airport fixed assets. AeroMACS development has progressed from requirements definition through technology definition, prototype deployment and testing, and now into national and international standards development. The first prototype AeroMACS system has been deployed at the Cleveland Hopkins International Airport (CLE) and the adjacent NASA Glenn Research Center (GRC). During the past 3 years, extensive technical testing has taken place to characterize the performance of the AeroMACS prototype and provide technical support for the standards development process. The testing has characterized AeroMACS link and network performance over a variety of conditions for both fixed and mobile data transmission and has included basic system performance testing and fixed and mobile applications testing. This paper provides a summary of the AeroMACS performance testing and the status of standardization activities that the testing supports.

Kerczewski, Robert J.↗

NASA Tech Briefs, November 2013

Topics include: Cryogenic Liquid Sample Acquisition System for Remote Space Applications; 5 Spatial Statistical Data Fusion (SSDF); GPS Estimates of Integrated Precipitable Water Aid Weather Forecasters; Integrating a Microwave Radiometer into Radar Hardware for Simultaneous Data Collection Between the Instruments; Rapid Detection of Herpes Viruses for Clinical Applications; High-Speed Data Recorder for Space, Geodesy, and Other High-Speed Recording Applications; Datacasting V3.0; An All-Solid-State, Room-Temperature, Heterodyne Receiver for Atmospheric Spectroscopy at 1.2 THz; Stacked Transformer for Driver Gain and Receive Signal Splitting; Wireless Integrated Microelectronic Vacuum Sensor System; Fabrication Method for LOBSTER-Eye Optics in <110> Silicon; Compact Focal Plane Assembly for Planetary Science; Fabrication Methods for Adaptive Deformable Mirrors; Visiting Vehicle Ground Trajectory Tool; Workflow-Based Software Development Environment; Mobile Thread Task Manager; A Kinematic Calibration Process for Flight Robotic Arms; Magnetostrictive Alternator; Bulk Metallic Glasses and Composites for Optical and Compliant Mechanisms; Detection of Only Viable Bacterial Spores Using a Live/Dead Indicator in Mixed Populations; and Intravenous Fluid Generation System.

Source record↗

AeroMACS System Characterization and Demonstrations

The Aeronautical Mobile Airport Communications System (AeroMACS) is being developed to provide a new broadband wireless communications capability for safety critical communications in the airport surface domain, providing connectivity to aircraft and other ground vehicles as well as connections between other critical airport fixed assets. AeroMACS development has progressed from requirements definition through technology definition, prototype deployment and testing, and now into national and international standards development. The first prototype AeroMACS system has been deployed at the Cleveland Hopkins International Airport (CLE) and the adjacent NASA Glenn Research Center (GRC). During the past three years, extensive technical testing has taken place to characterize the performance of the AeroMACS prototype and provide technical support for the standards development process. The testing has characterized AeroMACS link and network performance over a variety of conditions for both fixed and mobile data transmission and has included basic system performance testing and fixed and mobile applications testing. This paper provides a summary of the AeroMACS performance testing and the status of standardization activities that the testing supports.

Kerczewski, Robert J.↗

NDE and SHM Simulation for CFRP Composites

Ultrasound-based nondestructive evaluation (NDE) is a common technique for damage detection in composite materials. There is a need for advanced NDE that goes beyond damage detection to damage quantification and characterization in order to enable data driven prognostics. The damage types that exist in carbon fiber-reinforced polymer (CFRP) composites include microcracking and delaminations, and can be initiated and grown via impact forces (due to ground vehicles, tool drops, bird strikes, etc), fatigue, and extreme environmental changes. X-ray microfocus computed tomography data, among other methods, have shown that these damage types often result in voids/discontinuities of a complex volumetric shape. The specific damage geometry and location within ply layers affect damage growth. Realistic threedimensional NDE and structural health monitoring (SHM) simulations can aid in the development and optimization of damage quantification and characterization techniques. This paper is an overview of ongoing work towards realistic NDE and SHM simulation tools for composites, and also discusses NASA's need for such simulation tools in aeronautics and spaceflight. The paper describes the development and implementation of a custom ultrasound simulation tool that is used to model ultrasonic wave interaction with realistic 3-dimensional damage in CFRP composites. The custom code uses elastodynamic finite integration technique and is parallelized to run efficiently on computing cluster or multicore machines.

Leckey, Cara A. C.↗

Towards Human-Friendly Efficient Control of Multi-Robot Teams

This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

multi-robot control↗

Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

passive perception↗

Daytime Water Detection Based on Color Variation

Robust water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation. This is particularly true in wide open areas where water can collect in naturally occurring terrain depressions during periods of heavy precipitation and form large water bodies (such as ponds). At far range, reflections of the sky provide a strong cue for water. But at close range, the color coming out of a water body dominates sky reflections and the water cue from sky reflections is of marginal use. We model this behavior by using water body intensity data from multiple frames of RGB imagery to estimate the total reflection coefficient contribution from surface reflections and the combination of all other factors. Then we describe an algorithm that uses one of the color cameras in a forward- looking, UGV-mounted stereo-vision perception system to detect water bodies in wide open areas. This detector exploits the knowledge that the change in saturation-to-brightness ratio across a water body from the leading to trailing edge is uniform and distinct from other terrain types. In test sequences approaching a pond under clear, overcast, and cloudy sky conditions, the true positive and false negative water detection rates were (95.76%, 96.71%, 98.77%) and (0.45%, 0.60%, 0.62%), respectively. This software has been integrated on an experimental unmanned vehicle and field tested at Ft. Indiantown Gap, PA.

reflection coefficient↗