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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 307 records · Page 17
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NASA NTRS1993

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗
NASA NTRS1993

Contribution towards a draft revision of recommendations 681: Propagation data required for the design of Earth-space land mobile telecommunications systems

Propagation models that can be used for the design of earth-space land mobile-satellite telecommunications systems are presented. These models include: empirical roadside shadowing, attenuation frequency scaling, fade and non-fade duration distribution, multipath in a mountain environment, and multipath in a roadside tree environment. Propagation data from helicopter-mobile and satellite-mobile measurements in Australia and the United States were used to develop the models.

Davarian, Faramaz↗
NASA NTRS1993

Propagation considerations in the American Mobile Satellite system design

An overview of the American Mobile Satellite Corporation (AMSC) mobile satellite services (MSS) system with special emphasis given to the propagation issues that were considered in the design is presented. The aspects of the voice codec design that effect system performance in a shadowed environment are discussed. The strategies for overcoming Ku-Band rain fades in the uplink and downlink paths of the gateway station are presented. A land mobile propagation study that has both measurement and simulation activities is described.

Kittiver, Charles↗
NASA NTRS1993

Mobile and replicated alignment of arrays in data-parallel programs

When a data-parallel language like FORTRAN 90 is compiled for a distributed-memory machine, aggregate data objects (such as arrays) are distributed across the processor memories. The mapping determines the amount of residual communication needed to bring operands of parallel operations into alignment with each other. A common approach is to break the mapping into two stages: first, an alignment that maps all the objects to an abstract template, and then a distribution that maps the template to the processors. We solve two facets of the problem of finding alignments that reduce residual communication: we determine alignments that vary in loops, and objects that should have replicated alignments. We show that loop-dependent mobile alignment is sometimes necessary for optimum performance, and we provide algorithms with which a compiler can determine good mobile alignments for objects within do loops. We also identify situations in which replicated alignment is either required by the program itself (via spread operations) or can be used to improve performance. We propose an algorithm based on network flow that determines which objects to replicate so as to minimize the total amount of broadcast communication in replication. This work on mobile and replicated alignment extends our earlier work on determining static alignment.

Chatterjee, Siddhartha↗
NASA NTRS1993

Mobile antenna development at JPL

The Jet Propulsion Laboratory (JPL), under the sponsorship of NASA, has pioneered the development of land vehicle antennas for commercial mobile satellite communications. Several novel antennas have been developed at L-band frequencies for the Mobile Satellite (MSAT) program initiated about a decade ago. Currently, two types of antennas are being developed at K- and Ka-band frequencies for the ACTS (Advanced Communications Technology Satellite) Mobile Terminal (AMT) project. For the future, several hand-held antenna concepts are proposed for the small terminals of the Ka-band Personal Access Satellite System (PASS). For the L-band MSAT program, a number of omni-directional low-gain antennas, such as the crossed drooping-dipoles, the higher-order-mode circular microstrip patch, the quadrifilar helix, and the wrapped-around microstrip 'mast' array, have been developed for lower data rate communications. Several medium-gain satellite tracking antennas, such as the electronically scanned low-profile phased array, the mechanically steered tilted microstrip array, the mechanically steered low-profile microstrip Yagi array, and the hybrid electronically/mechanically steered low-profile array, have been developed for the MSAT's higher data rate and voice communications. To date, for the L-band vehicle application, JPL has developed the world's lowest-profile phased array (1.8 cm height), as well as the lowest-profile mechanically steered antenna (3.7 cm height). For the 20/30 GHz AMT project, a small mechanically steered elliptical reflector antenna with a gain of 23 dBi has recently been developed to transmit horizontal polarization at 30 GHz and receive vertical polarization at 20 GHz. Its hemispherical radome has a height of 10 cm and a base diameter of 23 cm. In addition to the reflector, a mechanically steered printed MMIC active array is currently being developed to achieve the same electrical requirements with a low profile capability. These AMT antenna developments, along with other Ka-band technologies, will lead to the development of several compact hand-held terminals for the PASS program. A few antenna concepts, such as the lap-top or desk-top terminal's printed array, the hand-held phased array, and the head-mounted low-profile array, have been proposed to achieve a future vision for the personal access communications system.

Huang, J.↗
NASA NTRS1993

Use of negotiated rulemaking in developing technical rules for low-Earth orbit mobile satellite systems

Technical innovations have converged with the exploding market demand for mobile telecommunications to create the impetus for low-earth orbit (LEO) communications satellite systems. The so-called 'Little LEO's' propose use of VHF and UHF spectrum to provide position - location and data messaging services. The so-called 'Big LEO's' propose to utilize the RDSS bands to provide voice and data services. In the United States, several applications were filed with the U.S. Federal Communications Commission (FCC) to construct and operate these mobile satellite systems. To enable the prompt introduction of such new technology services, the FCC is using innovative approaches to process the applications. Traditionally, when the FCC is faced with 'mutually exclusive' applications, e.g. a grant of one would preclude a grant of the others, it uses selection mechanisms such as comparative hearings or lotteries. In the case of the LEO systems, the FCC has sought to avoid these time-consuming approaches by using negotiated rulemakings. The FCC's objective is to enable the multiple applicants and other interested parties to agree on technical and service rules which will enable the grant of all qualified applications. With regard to the VHF/UHF systems, the Advisory Committee submitted a consensus report to the FCC. The process for the systems operating in the bands above 1 GHz involved more parties and more issues but still provided the FCC useful technical information to guide the adoption of rules for the new mobile satellite service.

Taylor, Leslie A.↗
NASA NTRS1993

Trends in mobile satellite communication

Ever since the U.S. Federal Communication Commission opened the discussion on spectrum usage for personal handheld communication, the community of satellite manufacturers has been searching for an economically viable and technically feasible satellite mobile communication system. Hughes Aircraft Company and others have joined in providing proposals for such systems, ranging from low to medium to geosynchronous orbits. These proposals make it clear that the trend in mobile satellite communication is toward more sophisticated satellites with a large number of spot beams and onboard processing, providing worldwide interconnectivity. Recent Hughes studies indicate that from a cost standpoint the geosynchronous satellite (GEOS) is most economical, followed by the medium earth orbit satellite (MEOS) and then by the low earth orbit satellite (LEOS). From a system performance standpoint, this evaluation may be in reverse order, depending on how the public will react to speech delay and collision. This paper discusses the trends and various mobile satellite constellations in satellite communication under investigation. It considers the effect of orbital altitude and modulation/multiple access on the link and spacecraft design.

Johannsen, Klaus G.↗
NASA NTRS1993

The Globalstar mobile satellite system for worldwide personal communications

Loral Aerospace Corporation along with Qualcomm Inc. have developed a satellite system which offers global mobile voice and data services to and from handheld and mobile user terminals with omni-directional antennas. By combining the use of low-earth orbit (LEO) satellites with existing terrestrial communications systems and innovative, highly efficient spread spectrum techniques, the Globalstar system provides users with low-cost, reliable communications throughout the world. The Globalstar space segment consists of a constellation of 48 LEO satellites in circular orbits with 750 NM (1389 km) altitude. Each satellite communicates with the mobile users via the satellite-user links and with gateway stations. The gateway stations handle the interface between the Globalstar network and the OSTN/PLMN systems. Globalstar transceivers are similar to currently proposed digital cellular telephones in size and have a serial number that will allow the end user to make and receive calls from or to that device anywhere in the world. The Globalstar system is designed to operate as a complement to existing local, long-distance, public, private and specialized telecommunications networks. Service is primarily designed to serve the rural and thin route communications needs of consumers, government users, and private networks.

Wiedeman, Robert A.↗
NASA NTRS1993

Measurements on the satellite-mobile channel at L and S bands

An experiment is described in which measurements are made on the satellite-mobile channel at L and S bands. A light aircraft carrying a c.w. beacon is flown at elevation angles of 40, 60 and 80 degrees to a mobile receiver. The signal strength at the mobile is recorded in open, urban, suburban and tree shadowed environments. This data is then analyzed to produce statistics for the channel with respect to frequency, elevation angle, and environment. Results are presented together with a brief discussion, suggested interpretation, and conclusion.

Smith, H.↗
NASA NTRS1993

Measurement of multipath delay profile in land mobile satellite channels

Mobile satellite communication channel has been evaluated mainly with fading statistics of signal. When bandwidth of transmitting signal becomes wider, frequency selectivity of fading becomes a significant factor of the channel. Channel characteristics, not only signal variation but multipath delay spread should be evaluated. A multipath measurement system is proposed and developed for mobile satellite applications. With this system and ETS-V satellite, multipath delay profiles are measured in various environments including Tokyo metropolis and Sapporo city at 1.5 GHz. Results show that the maximum excess delay is within 1 microsec and the maximum delay spread is 0.2 microsecs at elevation angles of 40 to 47 degrees. In wideband signal transmission of about 1 MHz and more, designers should consider the effect of selective fading due to the multipath of land mobile satellite channel.

Ikegami, Tetsushi↗
NASA NTRS1993

Propagation model for the Land Mobile Satellite channel in urban environments

This paper presents the major characteristics of a simulation package capable of performing a complete narrow and wideband analysis of the mobile satellite communication channel in urban environments for any given orbital configuration. The wavelength-to-average urban geometrical dimension ratio has required the use of the Geometrical Theory of Diffraction (GTD). For the RF frequency range, the model has been designed to be (1 up to 60 GHz) extended to include effects of non-perfect conductivity and surface roughness. Taking advantage of the inherent capabilities of such a high frequency method, we are able to provide a complete description of the electromagnetic field at the mobile terminal. Using the information made available at the ray-tracer and GTD solver outputs, the Land Mobile Satellite (LMS) urban model can also give a detailed description of the communication channel in terms of power delay profiles, Doppler spectra, channel scattering functions, and so forth. Statistical data, e.g. cumulative distribution functions, level crossing rates or distributions of fades are also provided. The user can access the simulation tool through a Design-CAD user-friendly interface by means of which she can effectively design her own urban layout and run consequently all the envisaged routines. The software is optimized in its execution time so that numerous runs can be achieved in a considerably short time.

Sforza, M.↗
NASA NTRS1993

First satellite mobile communication trials using BLQS-CDMA

In this paper, technical results obtained in the first MSBN Land mobile technical trial are reported. MSBN (Mobile Satellite Business Network) is a new program undertaken by the European Space Agency (ESA) to promote mobile satellite communication in Europe, in particular voice capability. The first phase of the MSBN system implementation plan is an experimental phase. Its purpose is to evaluate through field experiments the performance of the MSBN system prior to finalization of its specifications. Particularly, the objective is to verify in the field and possibly improve the performance of the novel satellite access technique BLQS-CDMA (Band Limited Quasi-Synchronous-Code Division Multiple Access), which is proposed as baseline for the MSBN.

Luzdemateo, Maria↗
NASA NTRS1993

Transmission over EHF mobile satellite channels

Land mobile satellite communications at Ka-band (30/20 GHz) are attracting an increasing interest among researchers because of the frequency band availability and the possibility of small earth station designs. However, communications at the Ka-band pose significant challenges in the system designs due to severe channel impairments. Because only very limited experimental data for mobile applications at Ka-band is available, this paper studies the channel characteristics based on experimental data at L-band (1.6/1.5 GHz) and the use of frequency scaling. The land mobile satellite communication channel at Ka-band is modelled as log-normal Rayleigh fading channel. The first and second-order statistics of the fading channel are studied. The performance of a coherent BPSK system over the fading channel at L-band and K-band is evaluated theoretically and validated by computer simulations. Conclusions on the communication channel characteristics and system performance at L-band and Ka-band are presented.

Zhuang, W.↗
NASA NTRS1993

Advanced mobile satellite communications using COMETS satellite in MM-wave and Ka-band

Early in the 21st century, the demand for personal communications using mobile, hand-held, and VSAT terminals will rapidly increase. In a future system, many different types of services should be provided with one-hop connection. The Communications Research Laboratory (CRL) has studied a future advanced mobile satellite communications system using millimeter wave and Ka band. In 1990, CRL started the Communications and Broadcasting Engineering Test Satellite (COMETS) project. The satellite has been developed in conjunction with NASDA and will be launched in 1997. This paper describes the COMETS payload configuration and the experimental system for the advanced mobile communications mission.

Ohmori, Shingo↗
NASA NTRS1995

Coordinated Control Of Mobile Robotic Manipulators

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Seraji, Homayoun↗
NASA NTRS1995

Unified Approach To Control Of Motions Of Mobile Robots

Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Seraji, Homayoun↗
NASA NTRS1995

Design of an anti-Rician-fading modem for mobile satellite communication systems

To design a demodulator applicable to mobile satellite communication systems using differential phase shift keying modulation, we have developed key technologies including an anti-Rician-fading demodulation scheme, an initial acquisition scheme, automatic gain control (AGC), automatic frequency control (AFC), and bit timing recovery (BTR). Using these technologies, we have developed one-chip digital signal processor (DSP) modem for mobile terminal, which is compact, of light weight, and of low power consumption. Results of performance test show that the developed DSP modem achieves good performance in terms of bit error ratio in mobile satellite communication environment, i.e., Rician fading channel. It is also shown that the initial acquisition scheme acquires received signal rapidly even if the carrier-to-noise power ratio (CNR) of the received signal is considerably low.

Kojima, Toshiharu↗
NASA NTRS1995

ITU recommendations regarding propagation effects on mobile-satellite links

To predict the effect of radiowave propagation on mobile-satellite links, the International Telecommunication Union (ITU) offers three Recommendations. These Recommendations have been developed by the participants of ITU Study Groups to enable service planners and design engineers of mobile-satellite systems to characterize the mobile satellite link. This paper briefly reviews the structure of the ITU, its Study Groups, and its contributions to propagation modeling. The shortcomings of some of these models are examined and means to overcome them have been pointed out. The protocol for participation in ITU Study Groups is very briefly discussed.

Davarian, F.↗