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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 289 records · Page 16
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Shao, Lejun↗
NASA NTRS2019

Satellite Conjunction Assessment Risk Analysis for "Dilution Region" Events: Issues and Operational Approaches

An important activity within Space Traffic Management is the detection and prevention of possible on-orbit collisions between space objects. The principal parameter for assessing collision likelihood is the probability of collision, which is widely accepted among conjunction assessment practitioners; but it possesses a known deficiency in that it can produce a false sense of safety when the orbital position uncertainties for the conjuncting objects are high. The probability of collision is said to be “diluted” in such a situation and to understate the possible risk; certain approaches have been recommended by researchers to provide (largely conservative) risk estimates and remediation methodologies in these cases. The present analysis explores two of the main proposals for quantifying and remediating possible risk in the dilution region and quantifies their operational implications. These implications with regard to imputed additional workload are considerable, especially in anticipating the conjunction event levels expected with the deployment of the USAF Space Fence radar. This effort has been undertaken as part of a larger enterprise that seeks to clarify the philosophical and statistical underpinnings of the conjunction risk assessment process. The analysis presented herein argues that a form of hypothesis testing is implicitly used in conjunction assessment risk analysis, and that there are a number of conceptual and practical reasons for constructing the associated null hypothesis to counsel against a satellite conjunction remediation action. In short, it is concluded that, for the purposes of determining whether a conjunction remediation action should be pursued, dilution-region probabilities of collision should be treated no differently from those produced under other circumstances.

Probability of collision↗
NASA NTRS1996

AO 0235+164 and Surrounding Field: Surprising HST Results

Results obtained with the Hubble Space Telescope on the highly variable radio, x-ray, and gamma-ray emitting QSO (or BL Lac object) AO 0235 + 164 are presented and analyzed. WFPC2 images were obtained in 1994 June, when AO 0235 + 164 was bright (m approx. 17), and the results are described in Sec. 3. After subtraction of the PSF of the QSO, hereafter called AO following the nomenclature of Yanny et al. (1989), the companion object named A, 2 sec south of AO, is discovered not to be an elliptical galaxy as hypothesized earlier, but to be an AGN object, with a central UV-bright point-source nucleus and faint surrounding nebulosity extending to AO. The second companion object 1.3 sec east of AO discovered by Yanny et al. (1989) and named object Al, appears more like a normal spiral galaxy. We have measured the positions, luminosities, and colors of some 30 faint objects in the field around AO 0235 + 16; most are extended and may be star-forming galaxies in a loose group or cluster. Our most surprising result of the HST observations comes from FOS spectra obtained in 1995 July, discussed in Sec. 4. Because of a positioning error of the telescope and AO's faintness at that time (m approx. 20), object A was observed instead of the intended target AO. Serendipitously, we discovered A to have broad deep BALQSO-type absorptions of C IV, Si IV, N V shortward of broad emissions. A is thus ejecting high velocity, highly ionized gas into the surrounding IGM. We discuss in Sec. 5 the relationship of the objects in the central 10 sec X 1O sec region around AO, where redshifts z(sub e) = 0.94, z(sub a) = 0.524, 0.851 in AO, (sub e) = 0.524 and Z(sub BAL)=0.511 in A, are found. We hypothesize that some of the 30 faint objects in the 77 sec. x 77 sec. field may be part of a large star-forming region at z approx. 0.5, as suggested for a few objects by Yanny et al. (1989). The proximity of two highly active extragalactic objects, AO 0235+164 and its AGN companion A, is remarkable and one of the authors (EMB) suggests it may require consideration of a non-cosmological component of redshift in AO 0235+164.

Burbidge, E. M.↗
NASA NTRS1994

Precision orbit determination for TOPEX/POSEIDON

The TOPEX/POSEIDON mission objective requires that the radial position of the spacecraft be determined with an accuracy better than 13 cm RMS (root mean square). This stringent requirement is an order of magnitude below the accuracy achieved for any altimeter mission prior to the definition of the TOPEX/POSEIDON mission. To satislfy this objective, the TOPEX Precision Orbit determination (POD) Team was established as a joint effort between the NASA Goddard Space Flight Center and the University of Texas at Austin, with collaboration from the University of Colorado and the Jet Propulsion Laboratory. During the prelaunch development and the post launch verification phases, the POD team improved, calibrated, and validated the precision orbit determination computer software systems. The accomplishments include (1) increased accuracy of the gravity and surface force models and (2) improved peformance of both laser ranging and Doppler tracking systems. The result of these efforts led to orbit accuracies for TOPEX/POSEIDON which are significantly better than the original mission requirement. Tests based on data fits, covariance analysis, and orbit comparisons indicate that the radial component of the TOPEX/POSEIDON spacecraft is determined, relative to the Earth's mass center, with an root mean square (RMS) error in the range of 3 to 4 cm RMS. This orbit accuracy, together with the near continuous dual-frequency altimetry from this mission, provides the means to determine the ocean's dynamic topography with an unprecedented accuracy.

Tapley, B. D.↗
NASA NTRS1993

Hubble Space Telescope observations of the galactic center region at 1.02 micron

We present HST observations of the galactic center region using the Planetary Camera with the F1042M filter at an effective wavelength of 1.02 micron. We detect several infrared sources seen at this wavelength before but with angular resolution better than previous observations. Our data reveal the source GZ A which was first seen by Rosa et al. (1992) at 1 micron. However, our astrometry identifies this source as IRS 16C, not Sgr A*. We marginally detect an object at 2- to 3-sigma, coincident with the position of Sgr A* to within 0.2 arcsec. This object has unphysical continuum colors which are bluer than an infinite temperature blackbody. If the source is real and associated with Sgr A*, 1 micron line emission is a possible explanation. The possibility of this object being a foreground star or an HST artifact cannot be ruled out.

Liu, T.↗
NASA NTRS1995

TAOS Orbit Determination Results Using Global Positioning Satellites

Orbit determination results for the Air Force Phillips Laboratory's Technology for Autonomous Operational Survivability (TAOS) satellite using a Rockwell AST V Global Positioning System (GPS) receiver are presented in this paper. Under a cooperative effort, GPS orbit determination technology developed at Jet Propulsion Laboratory (JPL) has been transferred to the U.S. Air Force. JPL's post processing differential GPS software MIRAGE [1] was modified to perform precise orbit determination for the TAOS satellite. Reconstructed TAOS position accuracies of 10 meters (3 sigma) are the objective. With four days of data, three-dimensional positions of less than 3 meters (1 sigma) have been achieved with overlapping orbit determination spans. Orbit determination results are also compared with those of the on-board GPS receiver's navigation solutions and with the Air Force's Satellite Control Network SGLS processing.

TAOS↗
NASA NTRS2004

Improved Position Sensor for Feedback Control of Levitation

An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.

Hyers, Robert↗
DOE OSTI2024

Shadow of a laser beam

Light, being massless, casts no shadow; under ordinary circumstances, photons pass right through each other unimpeded. Here, we demonstrate a laser beam acting like an object — the beam casts a shadow upon a surface when the beam is illuminated by another light source. We observe a regular shadow in the sense it can be seen by the naked eye, it follows the contours of the surface it falls on, and it follows the position and shape of the object (the laser beam). Specifically, we use a nonlinear optical process involving four atomic levels of ruby. We are able to control the intensity of a transmitted laser beam by applying another perpendicular laser beam. We experimentally measure the dependence of the contrast of the shadow on the power of the laser beam, finding a maximum of approximately 22%, similar to that of a shadow of a tree on a sunny day. We provide a theoretical model that predicts the contrast of the shadow. This work opens new possibilities for fabrication, imaging, and illumination.

47 OTHER INSTRUMENTATION↗
NASA NTRS1988

Coordination of dual robot arms using kinematic redundancy

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Suh, Il Hong↗
NASA NTRS1985

Temperature averaging thermal probe

A thermal probe to average temperature fluctuations over a prolonged period was formed with a temperature sensor embedded inside a solid object of a thermally conducting material. The solid object is held in a position equidistantly spaced apart from the interior surfaces of a closed housing by a mount made of a thermally insulating material. The housing is sealed to trap a vacuum or mass of air inside and thereby prevent transfer of heat directly between the environment outside of the housing and the solid object. Electrical leads couple the temperature sensor with a connector on the outside of the housing. Other solid objects of different sizes and materials may be substituted for the cylindrically-shaped object to vary the time constant of the probe.

Kalil, L. F.↗
DOE OSTI2026

IPC-Fusion (Infrastructure Perception and Control (IPC): Multisensor Data Fusion Software) [SWR-25-153]

As part of the National Laboratory of the Rockies' (NLR’s) Infrastructure Perception and Control Laboratory, the IPC-Fusion toolkit provides a probabilistic, scalable, multi-sensor fusion framework that integrates (late-stage fusion) heterogeneous object detection data from traffic sensors to enable robust, real-time tracking of roadway occupants. The algorithmic design of the toolkit is motivated by the need for creating a digital twin of traffic at the edge in a scalable and affordable manner. The software operates by combining object-level measurements (such as position and velocity) from a suite of sensors (such as radar, lidar, camera) using Kalman filtering and probabilistic data association techniques to overcome individual sensor limitations and achieve superior tracking performance in complex traffic zones. The framework addresses key challenges including heterogeneous measurement uncertainties, asynchronous data streams, varying spatiotemporal data resolutions, robust data association, and adaptive object lifecycle management. Validated on real-world traffic intersection data including vehicles and pedestrians, IPC-Fusion demonstrates enhanced tracking reliability across scenarios involving occlusions, sensor failures, and varying traffic densities, supporting the broader IPC initiative's goal of transforming transportation infrastructure through advanced perception capabilities for intelligent transportation systems, traffic safety applications, and autonomous vehicle support.

Sandhu, Rimple [National Laboratory of the Rockies↗
NASA NTRS1994

Higher-Order Neural Networks Applied to 2D and 3D Object Recognition

A Higher-Order Neural Network (HONN) can be designed to be invariant to geometric transformations such as scale, translation, and in-plane rotation. Invariances are built directly into the architecture of a HONN and do not need to be learned. Thus, for 2D object recognition, the network needs to be trained on just one view of each object class, not numerous scaled, translated, and rotated views. Because the 2D object recognition task is a component of the 3D object recognition task, built-in 2D invariance also decreases the size of the training set required for 3D object recognition. We present results for 2D object recognition both in simulation and within a robotic vision experiment and for 3D object recognition in simulation. We also compare our method to other approaches and show that HONNs have distinct advantages for position, scale, and rotation-invariant object recognition. The major drawback of HONNs is that the size of the input field is limited due to the memory required for the large number of interconnections in a fully connected network. We present partial connectivity strategies and a coarse-coding technique for overcoming this limitation and increasing the input field to that required by practical object recognition problems.

Spirkovska, Lilly↗
NASA NTRS2002

Vertical Field of View Reference Point Study for Flight Path Control and Hazard Avoidance

Researchers within the eXternal Visibility System (XVS) element of the High-Speed Research (HSR) program developed and evaluated display concepts that will provide the flight crew of the proposed High-Speed Civil Transport (HSCT) with integrated imagery and symbology to permit path control and hazard avoidance functions while maintaining required situation awareness. The challenge of the XVS program is to develop concepts that would permit a no-nose-droop configuration of an HSCT and expanded low visibility HSCT operational capabilities. This study was one of a series of experiments exploring the 'design space' restrictions for physical placement of an XVS display. The primary experimental issues here was 'conformality' of the forward display vertical position with respect to the side window in simulated flight. 'Conformality' refers to the case such that the horizon and objects appear in the same relative positions when viewed through the forward windows or display and the side windows. This study quantified the effects of visual conformality on pilot flight path control and hazard avoidance performance. Here, conformality related to the positioning and relationship of the artificial horizon line and associated symbology presented on the forward display and the horizon and associated ground, horizon, and sky textures as they would appear in the real view through a window presented in the side window display. No significant performance consequences were found for the non-conformal conditions.

Comstock, J. Raymond, Jr.↗
NASA NTRS2002

Relative Navigation of Formation-Flying Satellites

This paper compares autonomous relative navigation performance for formations in eccentric, medium and high-altitude Earth orbits using Global Positioning System (GPS) Standard Positioning Service (SPS), crosslink, and celestial object measurements. For close formations, the relative navigation accuracy is highly dependent on the magnitude of the uncorrelated measurement errors. A relative navigation position accuracy of better than 10 centimeters root-mean-square (RMS) can be achieved for medium-altitude formations that can continuously track at least one GPS signal. A relative navigation position accuracy of better than 15 meters RMS can be achieved for high-altitude formations that have sparse tracking of the GPS signals. The addition of crosslink measurements can significantly improve relative navigation accuracy for formations that use sparse GPS tracking or celestial object measurements for absolute navigation.

Long, Anne↗
NASA NTRS1983

Acoustical-Levitation Chamber for Metallurgy

Sample moved to different positions for heating and quenching. Acoustical levitation chamber selectively excited in fundamental and second-harmonic longitudinal modes to hold sample at one of three stable postions: A, B, or C. Levitated object quickly moved from one of these positions to another by changing modes. Object rapidly quenched at A or C after heating in furnace region at B.

Barmatz, M. B.↗
NASA NTRS1989

Self-locking clamping tool with swivel jaws

A plier-like tool (11) having two plier-like members (13, 15) pivotally joined togther intermediate of their ends and having handle portions (17, 18) and swivel jaw members (29,30). An automatic locking mechanism (27) extending between the members permits an user to clamp the handle portions together so as to clamp the jaw members on an object (25) but holds the position so reached if the clamping action of the user is removed. A release device (65) is provided so that the jaw members may be opened up again. A compression spring (23) extending between the members (19, 20) assists in the opening of the jaw members. The swivel jaw members (29, 30) permit the user to rotate the plier-like members (13,15) relative to the object (25) being grasped.

Redmon, Jr., John W.↗
NASA NTRS2004

Video Image Tracking Engine

A method and system for processing an image including capturing an image and storing the image as image pixel data. Each image pixel datum is stored in a respective memory location having a corresponding address. Threshold pixel data is selected from the image pixel data and linear spot segments are identified from the threshold pixel data selected.. Ihe positions of only a first pixel and a last pixel for each linear segment are saved. Movement of one or more objects are tracked by comparing the positions of fust and last pixels of a linear segment present in the captured image with respective first and last pixel positions in subsequent captured images. Alternatively, additional data for each linear data segment is saved such as sum of pixels and the weighted sum of pixels i.e., each threshold pixel value is multiplied by that pixel's x-location).

Howard, Richard T.↗
NASA NTRS1990

Kalman filter based range estimation for autonomous navigation using imaging sensors

Rotorcraft operating in high-threat environments fly close to the surface of the earth to utilize surrounding terrain, vegetation, or man-made objects to minimize the risk of being detected by the enemy. Two basic requirements for obstacle avoidance are detection and range estimation of the object from the current rotorcraft position. There are many approaches to the estimation of range using a sequence of images. The approach used in this analysis differes from previous methods in two significant ways: an attempt is not made to estimate the rotorcraft's motion from the images; and the interest lies in recursive algorithms. The rotorcraft parameters are assumed to be computed using an onboard inertial navigation system. Given a sequence of images, using image-object differential equations, a Kalman filter (Sridhar and Phatak, 1988) can be used to estimate both the relative coordinates and the earth coordinates of the objects on the ground. The Kalman filter can also be used in a predictive mode to track features in the images, leading to a significant reduction of search effort in the feature extraction step of the algorithm. The purpose is to summarize early results obtained in extending the Kalman filter for use with actual image sequences. The experience gained from the application of this algorithm to real images is very valuable and is a necessary step before proceeding to the estimation of range during low-altitude curvilinear flight. A simple recursive method is presented to estimate range to objects using a sequence of images. The method produces good range estimates using real images in a laboratory set up and needs to be evaluated further using several different image sequences to test its robustness. The feature generation part of the algorithm requires further refinement on the strategies to limit the number of features (Sridhar and Phatak, 1989). The extension of the work reported here to curvilinear flight may require the use of the extended Kalman filter.

Sridhar, Banavar↗