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At least 271 records · Page 15

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

ENSO Variations in Tropical Precipitation

TRMM was launched during the height of the 1997-98 El Nino and offered new insights into the evolution of precipitation during this event. The rapid decline of the El Nino in May 1998 was followed by a long lasting La Nina. Extreme wet and dry regions in the tropics during this El Nino/Southern Oscillation (ENSO) cycle will be compared with the previous 23 years using the Global Precipitation Climatology Project (GPCP) products. In particular, patterns of precipitation anomalies preceding El Nino will be examined. It has been shown that 30-60 day oscillations in convection appear in the western Pacific before the onset of El Nino. Also, a fast traveling equatorial wave of rainfall circled the globe during the demise of 1997-98 El Nino. Recent work has revealed an interesting relationship between a gradient of anomalous precipitation in the eastern Indian Ocean and the initiation of El Nino. This link will be explored as well as other anomaly patterns in 2002, which may signal an upcoming El Nino.

Curtis, Scott↗

Subsurface Emission Effects in AMSR-E Measurements: Implications for Land Surface Microwave Emissivity Retrieval

An analysis of land surface microwave emission time series shows that the characteristic diurnal signature associated with subsurface emission in sandy deserts carry over to arid and semi-arid region worldwide. Prior work found that diurnal variation of Special Sensor Microwave/Imager (SSM/I) brightness temperatures in deserts was small relative to International Satellite Cloud Climatology Project land surface temperature (LST) variation and that the difference varied with surface type and was largest in sand sea regions. Here we find more widespread subsurface emission effects in Advanced Microwave Scanning Radiometer-EOS (AMSR-E) measurements. The AMSR-E orbit has equator crossing times near 01:30 and 13 :30 local time, resulting in sampling when near-surface temperature gradients are likely to be large and amplifying the influence of emission depth on effective emitting temperature relative to other factors. AMSR-E measurements are also temporally coincident with Moderate Resolution Imaging Spectroradiometer (MODIS) LST measurements, eliminating time lag as a source of LST uncertainty and reducing LST errors due to undetected clouds. This paper presents monthly global emissivity and emission depth index retrievals for 2003 at 11, 19, 37, and 89 GHz from AMSR-E, MODIS, and SSM/I time series data. Retrieval model fit error, stability, self-consistency, and land surface modeling results provide evidence for the validity of the subsurface emission hypothesis and the retrieval approach. An analysis of emission depth index, emissivity, precipitation, and vegetation index seasonal trends in northern and southern Africa suggests that changes in the emission depth index may be tied to changes in land surface moisture and vegetation conditions

Galantowicz, John F.↗

Germanium-silicon solid solutions

An experiment on melting and directional crystallization of an antimony (Sb) doped germanium silicon (GeSi) solid solution was designed for the Apollo-Soyuz Test Project (ASTP) to study the possibility of using zero-g conditions for obtaining solid-solution monocrystals with uniformly distributed components. Crystallization in the zero-g environment did not occur under ideal stationary growth and segregation conditions. Crystallization under zero-g conditions revealed the heterogeneous nature of Si and Sb distribution in the cross sections of crystals. The presence of the radial thermal gradient in the multipurpose furnace could be one of the reasons for such Si and Sb distribution. The structure of space-grown crystals correlates with the nature of heterogeneities of Si and Sb distribution in crystals. The type of surface morphology and the contour observed in space-grown crystals were never observed in ground-based crystals and indicate the absence of wetting of the graphitized walls of the ampoule by the melt during melting and crystallization.

Zemskov, V. S.↗

A comparison of spectral mixture analysis an NDVI for ascertaining ecological variables

In this study, we compare the performance of spectral mixture analysis to the Normalized Difference Vegetation Index (NDVI) in detecting change in a grassland across topographically-induced nutrient gradients and different management schemes. The Konza Prairie Research Natural Area, Kansas, is a relatively homogeneous tallgrass prairie in which change in vegetation productivity occurs with respect to topographic positions in each watershed. The area is the site of long-term studies of the influence of fire and grazing on tallgrass production and was the site of the First ISLSCP (International Satellite Land Surface Climatology Project) Field Experiment (FIFE) from 1987 to 1989. Vegetation indices such as NDVI are commonly used with imagery collected in few (less than 10) spectral bands. However, the use of only two bands (e.g. NDVI) does not adequately account for the complex of signals making up most surface reflectance. Influences from background spectral variation and spatial heterogeneity may confound the direct relationship with biological or biophysical variables. High dimensional multispectral data allows for the application position of techniques such as derivative analysis and spectral curve fitting, thereby increasing the probability of successfully modeling the reflectance from mixed surfaces. The higher number of bands permits unmixing of a greater number of surface components, separating the vegetation signal for further analyses relevant to biological variables.

Wessman, Carol A.↗

NASA-UVA Light Aerospace Alloy and Structures Technology program (LA2ST)

The objective of the LA2ST Program is to conduct interdisciplinary graduate student research on the performance of next generation, light-weight aerospace alloys, composites, and thermal gradient structures in collaboration with NASA-Langley researchers. The general aim is to produce relevant data and basic understanding of material mechanical response, environment/corrosion behavior, and microstructure; new monolithic and composite alloys; advanced processing methods; new solid and fluid mechanics analyses; measurement and modeling advances; and a pool of educated students for aerospace technologies. Specific technical objectives are presented for each of the following research projects: time-temperature dependent fracture in advanced wrought ingot metallurgy, and spray deposited aluminum alloys; cryogenic temperature effects on the deformation and fracture of Al-Li-Cu-In alloys; effects of aging and temperature on the ductile fracture of AA2095 and AA2195; mechanisms of localized corrosion in alloys 2090 and 2095; hydrogen interactions in aluminum-lithium alloys 2090 and selected model alloys; mechanisms of deformation and fracture in high strength titanium alloys (effects of temperature and hydrogen and effects of temperature and microstructure); evaluations of wide-panel aluminum alloy extrusions; Al-Si-Ge alloy development; effects of texture and precipitates on mechanical property anisotropy of Al-Cu-Mg-X alloys; damage evolution in polymeric composites; and environmental effects in fatigue life prediction - modeling crack propagation in light aerospace alloys.

Starke, Edgar A., Jr.↗

Relaxation and Preconditioning for High Order Discontinuous Galerkin Methods with Applications to Aeroacoustics and High Speed Flows

This project is about the investigation of the development of the discontinuous Galerkin finite element methods, for general geometry and triangulations, for solving convection dominated problems, with applications to aeroacoustics. Other related issues in high order WENO finite difference and finite volume methods have also been investigated. methods are two classes of high order, high resolution methods suitable for convection dominated simulations with possible discontinuous or sharp gradient solutions. In [18], we first review these two classes of methods, pointing out their similarities and differences in algorithm formulation, theoretical properties, implementation issues, applicability, and relative advantages. We then present some quantitative comparisons of the third order finite volume WENO methods and discontinuous Galerkin methods for a series of test problems to assess their relative merits in accuracy and CPU timing. In [3], we review the development of the Runge-Kutta discontinuous Galerkin (RKDG) methods for non-linear convection-dominated problems. These robust and accurate methods have made their way into the main stream of computational fluid dynamics and are quickly finding use in a wide variety of applications. They combine a special class of Runge-Kutta time discretizations, that allows the method to be non-linearly stable regardless of its accuracy, with a finite element space discretization by discontinuous approximations, that incorporates the ideas of numerical fluxes and slope limiters coined during the remarkable development of the high-resolution finite difference and finite volume schemes. The resulting RKDG methods are stable, high-order accurate, and highly parallelizable schemes that can easily handle complicated geometries and boundary conditions. We review the theoretical and algorithmic aspects of these methods and show several applications including nonlinear conservation laws, the compressible and incompressible Navier-Stokes equations, and Hamilton-Jacobi-like equations.

Shu, Chi-Wang↗

Elemental Mercury Diffusion Processes and Concentration at the Lunar Poles

In 2009, the Lyman Alpha Mapping Project (LAMP) spectrograph onboard the Lunar Reconnaissance Orbiter (LRO) spacecraft made the first detection of element mercury (Hg) vapor in the lunar exosphere after the Lunar Crater Observing and Sensing Satellite (LCROSS) Centaur rocket impacted into the Cabeus crater in the southern polar region of the Moon. The lunar regolith core samples from the Apollo missions determined that Hg had a devolatilized pattern with a concentration gradient increasing with depth, in addition to a layered pattern suggesting multiple episodes of burial and volatile loss. Hg migration on the lunar surface resulted in cold trapping at the poles. We have modeled the rate at which indigenous Hg is lost from the regolith through diffusion out of lunar grains. We secondly modeled the migration of Hg vapor in the exosphere and estimated the rate of cold-trapping at the poles using a Monte Carlo technique. The Hg vapor may be lost from the exosphere via ionization, Jeans escape, or re-impact into the surface causing reabsorption.

Moxley, Frederick↗

Climate Change Impacts on North Dakota: Agriculture and Hydrology

North Dakota is one of the principal producers of agricultural commodities in the USA, including over half of the total spring wheat production. While the region includes some of the best agricultural lands in the world, the steep temperature and precipitation gradients also make it one of the most sensitive to climate change. Over the 20th century, both the temperature and the pattern of precipitation in the state have changed; one of the most dramatic examples of the consequences of this change is the Devils Lake flooding. In two studies, we estimated the climate change impacts on crop yields and on the hydrology of the Devils Lake basin. The projections of six GCMs, driven by three SRES scenarios were statistically downscaled for multiple locations throughout the state, for the 2020s, 2050s, and 2080s climate. Averaged over all GCMs, there is a small increase in precipitation, by 0.6 - 1.1% in 2020s, 3.1 - 3.5% in 2050s, and 3.0 - 7.6% in 2080s. This change in precipitation varies with the seasons, with cold seasons becoming wetter and warm seasons not changing.

FROM↗

Wind-Tunnel Tests of a 0.16-Scale Model of the Douglas MX-656 Airplane at High Subsonic Speeds. II - Wing and Fuselage Pressure Distribution

Measurements of wing and fuselage pressure distributions were made at low and high subsonic Much numbers on a 0.16-scale model of the projected MX-656 research airplane. The MX-656 is a supersonic design utilizing a low-aspect-ratio wing and tail. Pressure-distribution measurements indicated that, although the critical Mach number of the wing was approximately 0.81 at 0 degree angle of attack, compressibility effects were of little significance below a Mach number of at least 0.90. The principal effect of compressibility was an increase in the pressure gradient over the after 30 percent of the wing chord, causing a tendency for the flow to separate. At 0.40 Mach number, the wing stalled abruptly at approximately 12 deg, angle of attack. The wing-pressure distribution showed this stall was a result of complete separation of the flow from the upper surface of the wing, Deflecting the leading-edge flaps delayed the stall to a higher angle of attack with some increase in the maximum section normal force,

Cleary, Joseph W.↗

Emittance Measurements Relevant to a 250 W(sub t) Class RTPV Generator for Space Exploration

A proposed 250 Wt Radioisotope Thermophotovoltaic (RTPV) power system for utilization in lunar exploration and the subsequent exploration of Mars is described. Details of emitter selection are outlined for use in a maintenance free power supply that is productive over a 14-year mission life. Thorough knowledge of a material s spectral emittance is essential for accurate modeling of the RTPV system. While sometimes treated as a surface effect, emittance involves radiation from within a material. This creates a complex thermal gradient which is a combination of conductive and radiative heat transfer mechanisms. Emittance data available in the literature is a valuable resource but it is particular to the test sample s physical characteristics and the test environment. Considerations for making spectral emittance measurements relevant to RTPV development are discussed. Measured spectral emittance data of refractory emitter materials is given. Planned measurement system modifications to improve relevance to the current project are presented.

Wolford, Dave↗

Optimization of mass placement in Space Station applications

A methodology is presented by means of which the projected NASA Space Station's structural elements, primarily involving externally attached masses reresenting payloads, can be prearranged to meet all constraints imposed on Station design by mission type, safety, and physical criteria. Five different configurations are considered. The methodology has been automated in the form of a computer-aided engineering tool for the optimization of masses with respect to the products of inertia. By minimizing the induced gravity-gradient torques, the momentum buildup over an orbital period is also minimized.

Ferebee, M. J., Jr.↗

Tropical Rainfall Analysis Using TRMM in Combination With Other Satellite Gauge Data: Comparison with Global Precipitation Climatology Project (GPCP) Results

This paper describes recent results of using Tropical Rainfall Measuring Mission (TRMM) information as the key calibration tool in a merged analysis on a 1 deg x 1 deg latitude/longitude monthly scale based on multiple satellite sources and raingauge analysis. The procedure used to produce the GPCP data set is a stepwise approach which first combines the satellite low-orbit microwave and geosynchronous IR observations into a "multi-satellite" product and than merges that result with the raingauge analysis. Preliminary results produced with the still-stabilizing TRMM algorithms indicate that TRMM shows tighter spatial gradients in tropical rain maxima with higher peaks in the center of the maxima. The TRMM analyses will be used to evaluate the evolution of the 1998 ENSO variations, again in comparison with the GPCP analyses.

Adler, Robert F.↗

Low-Cost Evaluation of EO-1 Hyperion and ALI for Detection and Biophysical Characterization of Forest Logging in Amazonia (NCC5-481)

Major uncertainties exist regarding the rate and intensity of logging in tropical forests worldwide: these uncertainties severely limit economic, ecological, and biogeochemical analyses of these regions. Recent sawmill surveys in the Amazon region of Brazil show that the area logged is nearly equal to total area deforested annually, but conversion of survey data to forest area, forest structural damage, and biomass estimates requires multiple assumptions about logging practices. Remote sensing could provide an independent means to monitor logging activity and to estimate the biophysical consequences of this land use. Previous studies have demonstrated that the detection of logging in Amazon forests is difficult and no studies have developed either the quantitative physical basis or remote sensing approaches needed to estimate the effects of various logging regimes on forest structure. A major reason for these limitations has been a lack of sufficient, well-calibrated optical satellite data, which in turn, has impeded the development and use of physically-based, quantitative approaches for detection and structural characterization of forest logging regimes. We propose to use data from the EO-1 Hyperion imaging spectrometer to greatly increase our ability to estimate the presence and structural attributes of selective logging in the Amazon Basin. Our approach is based on four "biogeophysical indicators" not yet derived simultaneously from any satellite sensor: 1) green canopy leaf area index; 2) degree of shadowing; 3) presence of exposed soil and; 4) non-photosynthetic vegetation material. Airborne, field and modeling studies have shown that the optical reflectance continuum (400-2500 nm) contains sufficient information to derive estimates of each of these indicators. Our ongoing studies in the eastern Amazon basin also suggest that these four indicators are sensitive to logging intensity. Satellite-based estimates of these indicators should provide a means to quantify both the presence and degree of structural disturbance caused by various logging regimes. Our quantitative assessment of Hyperion hyperspectral and ALI multi-spectral data for the detection and structural characterization of selective logging in Amazonia will benefit from data collected through an ongoing project run by the Tropical Forest Foundation, within which we have developed a study of the canopy and landscape biophysics of conventional and reduced-impact logging. We will add to our base of forest structural information in concert with an EO-1 overpass. Using a photon transport model inversion technique that accounts for non-linear mixing of the four biogeophysical indicators, we will estimate these parameters across a gradient of selective logging intensity provided by conventional and reduced impact logging sites. We will also compare our physical ly-based approach to both conventional (e.g., NDVI) and novel (e.g., SWIR-channel) vegetation indices as well as to linear mixture modeling methods. We will cross-compare these approaches using Hyperion and ALI imagers to determine the strengths and limitations of these two sensors for applications of forest biophysics. This effort will yield the first physical ly-based, quantitative analysis of the detection and intensity of selective logging in Amazonia, comparing hyperspectral and improved multi-spectral approaches as well as inverse modeling, linear mixture modeling, and vegetation index techniques.

Asner, Gregory P.↗

Parabolic Dish Concentrator (PDC-1)

The design, construction, and installation of the Parabolic Dish Concentrator, Type 1 (PDC-1) has been one of the most significant JPL concentrator projects because of the knowledge gained about this type of concentrator and the development of design, testing, and analysis procedures which are applicable to all solar concentrator projects. The need for these procedures was more clearly understood during the testing period which started with the prototype panel evaluation and ended with the performance characterization of the completed concentrator. For each phase of the test program, practical test procedures were required and these procedures defined the mathematical analysis which was essential for successful concentrator development. The concentrator performance appears to be limited only by the distortions resulting from thermal gradients through the reflecting panels. Simple optical testing can be extremely effective, but comprehensive mechanical and optical analysis is essential for cost effective solar concentrator development.

Dennison, E. W.↗

Remote Sensing of Coronal Forces During a Solar Prominence Eruption

We present a new methodology—the Keplerian Optical Dynamics Analysis (KODA)—for quantifying the dynamics of erupting magnetic structures in the solar corona. The technique involves adaptive spatiotemporal tracking of propagating intensity gradients and their characterization in terms of time-evolving Keplerian areas swept out by the position vectors of moving plasma blobs. Whereas gravity induces purely ballistic motions consistent with Kepler's second law, noncentral forces such as the Lorentz force introduce nonzero torques resulting in more complex motions. KODA algorithms enable direct evaluation of the line-of-sight component of the net torque density from the image-plane projection of the areal acceleration. The method is applied to the prominence eruption of 2011 June 7, observed by the Solar Dynamics Observatory's Atmospheric Imaging Assembly. Results obtained include quantitative estimates of the magnetic forces, field intensities, and blob masses and energies across a vast region impacted by the postreconnection redistribution of the prominence material. The magnetic pressure and energy are strongly dominant during the early, rising phase of the eruption, while the dynamic pressure and kinetic energy become significant contributors during the subsequent falling phases. Measured intensive properties of the prominence blobs are consistent with those of typical active-region prominences; measured extensive properties are compared with those of the whole pre-eruption prominence and the post-eruption coronal mass ejection of 2011 June 7, all derived by other investigators and techniques. We show that KODA provides valuable information on spatially and temporally dependent characteristics of coronal eruptions that is not readily available via alternative means, thereby shedding new light on the environment and evolution of these solar events.

V M Uritskiy↗

Photophoretic Propulsion Enabling Mesosphere Exploration NIAC Phase I Final Report

This Phase I report presents a comprehensive study on photophoretic flyers—innovative, ultralight, solar-powered vehicles that harness photophoretic forces generated via Knudsen pumping to achieve sustained flight in the mesosphere (50–80 km altitude). By integrating advanced materials such as nanocardboard— characterized by its extremely low areal density (~1 g/m²) and high bending stiffness—with ultrathin light-absorbing coatings, the project converts incident solar radiation directly into a directed thrust. Extensive experimental investigations, coupled with high-fidelity computational fluid dynamics (CFD) simulations using ANSYS Fluent, validate the concept across various three-dimensional geometries, including spherical, conical, and rocket-shaped configurations. These simulations bridge the gap between free-molecular and continuum flow regimes, demonstrating that optimized designs can generate lift forces sufficient to support kilogram-scale payloads even in low-pressure environments. At the heart of this innovation is the use of Knudsen pumping, where temperature gradients across porous surfaces induce directional gas flow, creating a modest overpressure that provides lift. The report introduces an analytical framework that interpolates between the well-known low-Reynolds number drag regime and the high-Reynolds number momentum theory. This model accurately predicts lift based on design parameters such as microchannel dimensions, porous wall geometry, areal density, and nozzle exit area. For instance, simulations indicate that 10-meter-scale structures with carefully engineered porous walls can achieve the necessary pressure differential to support scientifically significant payloads (~1 kg). The study also explores a hybrid propulsion approach that combines solar buoyancy with photophoretic lift. Initially, solar heating creates a buoyant force that elevates the flyer to mesospheric altitudes. Once in the optimal pressure range, the photophoretic mechanism—powered by Knudsen pumping—takes over as the primary source of lift, ensuring stable, long-duration flight. This dual-mode operation not only facilitates the deployment of photophoretic flyers but also broadens the potential applications for mesospheric exploration. In addition to propulsion, the report investigates the integration of photophoretic thrusters for trajectory control of existing research balloons in the upper stratosphere. By dynamically adjusting the nozzle orientation and controlling the flow-through velocity, these thrusters provide precise maneuverability, enabling the flyers to counteract atmospheric disturbances and adjust their flight paths in real time. For example, a photophoretic thruster approximately 7.5 by 7.5 meters in size could be unfolded below a payload gondola of a 60 million-cubic-foot zero-pressure balloon. Such a thruster can provide horizontal speed control of approximately 1 m/s using only sunlight and no moving parts (except those needed to track the Sun and control the jet direction). Importantly, photophoretic thrusters operate more efficiently at higher altitudes, which is complementary to known trajectory control techniques, such as propellers and tethered wings, which are more effective at lower altitudes. Finally, the report identifies three scientific research thrusts where mesospheric aircraft technology can have a profound impact: atmospheric tides, characterization of gravity waves, and investigation of mesospheric instabilities. Overall, the findings of this Phase I project represent a significant advancement in photophoretic propulsion technology. By demonstrating that large-scale, ultralight structures can be powered solely by solar radiation—via carefully engineered Knudsen pumping—this work lays a robust foundation for scalable, near-space flight architectures. Future refinements in material fabrication, structural optimization, and integrated trajectory control are expected to further enhance performance, paving the way for operational demonstrations that could revolutionize atmospheric science, remote sensing, and communication networks.

Knudsen Pump↗