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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
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Chien, Chiun-Hong↗
NASA NTRS1995

Stereo-Based Region-Growing using String Matching

We present a novel stereo algorithm based on a coarse texture segmentation preprocessing phase. Matching is performed using a string comparison. Matching sub-strings correspond to matching sequences of textures. Inter-scanline clustering of matching sub-strings yields regions of matching texture. The shape of these regions yield information concerning object's height, width and azimuthal position relative to the camera pair. Hence, rather than the standard dense depth map, the output of this algorithm is a segmentation of objects in the scene. Such a format is useful for the integration of stereo with other sensor modalities on a mobile robotic platform. It is also useful for localization; the height and width of a detected object may be used for landmark recognition, while depth and relative azimuthal location determine pose. The algorithm does not rely on the monotonicity of order of image primitives. Occlusions, exposures, and foreshortening effects are not problematic. The algorithm can deal with certain types of transparencies. It is computationally efficient, and very amenable to parallel implementation. Further, the epipolar constraints may be relaxed to some small but significant degree. A version of the algorithm has been implemented and tested on various types of images. It performs best on random dot stereograms, on images with easily filtered backgrounds (as in synthetic images), and on real scenes with uncontrived backgrounds.

Mandelbaum, Robert↗
NASA NTRS2010

A New Method for Interfacing Unsuited Subjects to Overhead Suspension Partial Gravity Simulators

The purpose of performing unsuited testing as part of a reduced gravity extravehicular (EVA) suited human performance research program is to define baseline performance. These results are then coupled with suited test results to evaluate how the suit system affects human performance at reduced gravity. The primary drawback to this approach is that previous studies used notably different systems to interface suited and unsuited subjects to overhead-suspension, partial-gravity simulators. A spreader bar (SB) assembly previously used for unsuited tests allowed limited pitch and roll of the subject, whereas the gimbal for suited tests allowed more pitch and roll, although the mass distribution led to large moments of inertia in the yaw axis. It is hypothesized that use of the same methods for offload of both unsuited and suited subjects is needed to make meaningful comparisons. A new gimbal (GIM) was designed with the idea that it could function with both suited and unsuited subjects. GIM was designed to minimize mass and moments of inertia and to be adjustable to co-locate the 3 axes of rotation with the subject s center of gravity. OBJECTIVE: To evaluate human performance differences between SB and GIM. METHODS: Ten unsuited subjects were off-loaded to 1/6-g using both interfaces. Subjects completed tasks including overground and treadmill ambulation, picking up objects, shoveling, postural stability, range of motion testing, and recovery from the kneeling and prone positions. Metabolic, biomechanical, and/or subjective data were collected based on task. RESULTS: Initial analyses suggest that subjects completed all tasks with lower levels of compensation and a more terrestrial approach to movement when suspended via GIM. With SB, subjects were not able to fall or get into a prone position and had increased difficulty both retrieving objects off the floor and with overground ambulation, especially at gait initiation, because they were unable to bend their torso. GIM shows promise as a new method.

Norcross, Jason R.↗
NASA NTRS2011

A New Method for Interfacing Unsuited Subjects to Overhead Suspension Partial Gravity Simulators

The purpose of performing unsuited testing as part of a reduced gravity extravehicular (EVA) suited human performance research program is to define baseline performance. These results are then coupled with suited test results to evaluate how the suit system affects human performance at reduced gravity. The primary drawback to this approach is that previous studies used notably different systems to interface suited and unsuited subjects to overhead-suspension, partial-gravity simulators. A spreader bar (SB) assembly previously used for unsuited tests allowed limited pitch and roll of the subject, whereas the gimbal for suited tests allowed more pitch and roll, although the mass distribution led to large moments of inertia in the yaw axis. It is hypothesized that use of the same methods for offload of both unsuited and suited subjects is needed to make meaningful comparisons. A new gimbal (GIM) was designed with the idea that it could function with both suited and unsuited subjects. GIM was designed to minimize mass and moments of inertia and to be adjustable to co-locate the 3 axes of rotation with the subject s center of gravity. OBJECTIVE: To evaluate human performance differences between SB and GIM. METHODS: Ten unsuited subjects were offloaded to 1/6-g using both interfaces. Subjects completed tasks including overground and treadmill ambulation, picking up objects, shoveling, postural stability, range of motion testing, and recovery from the kneeling and prone positions. Metabolic, biomechanical, and/or subjective data were collected based on task. RESULTS: Initial analyses suggest that subjects completed all tasks with lower levels of compensation and a more terrestrial approach to movement when suspended via GIM. With SB, subjects were not able to fall or get into a prone position and had increased difficulty both retrieving objects off the floor and with overground ambulation, especially at gait initiation, because they were unable to bend their torso. GIM shows promise as a new method.

Norcross, Jason↗
NASA NTRS2008

Post-Flight Estimation of Motion of Space Structures: Part 1

A computer program estimates the relative positions and orientations of two space structures from data on the angular positions and distances of fiducial objects on one structure as measured by a target tracking electronic camera and laser range finders on another structure. The program is written specifically for determining the relative alignments of two antennas, connected by a long truss, deployed in outer space from a space shuttle. The program is based partly on transformations among the various coordinate systems involved in the measurements and on a nonlinear mathematical model of vibrations of the truss. The program implements a Kalman filter that blends the measurement data with data from the model. Using time series of measurement data from the tracking camera and range finders, the program generates time series of data on the relative position and orientation of the antennas. A similar program described in a prior NASA Tech Briefs article was used onboard for monitoring the structures during flight. The present program is more precise and designed for use on Earth in post-flight processing of the measurement data to enable correction, for antenna motions, of scientific data acquired by use of the antennas.

Brugarolas, Paul↗
NASA NTRS1998

Effects of Cycling Conditions of Active Material From Discharged Ni Positive Plates Studied by Inelastic Neutron Scattering Spectroscopy

The objectives of this presentation are: identify atomic-level signatures of electrochemical activity of the active material on the Ni positive plates of Ni-H2 batteries, relate finding to cycling conditions and histories, and develop INS spectroscopy as a non-destructive testing technique for the evaluation of Ni-positive plates of Ni-H2 batteries.

Eckert, Juergen↗
NASA NTRS1988

Dexterity analysis and robot hand design

Understanding about a dexterous robot hand's motion ranges is important to the precision grasping and precision manipulation. A planar robot hand is studied for object orientation, including ranges of motion, measures with respect to the palm, position reaching of a point in the grasped object, and rotation of the object about the reference point. The rotational dexterity index and dexterity chart are introduced and an analysis procedure is developed for calculating these quantities. A design procedure for determining the hand kinematic parameters based on a desired partial or complete dexterity chart is also developed. These procedures have been tested in detail for a planar robot hand with two 2- or 3-link fingers. The derived results are shown to be useful to performance evaluation, kinematic parameter design, and grasping motion planning for a planar robot hand.

Li, LU↗
NASA NTRSDate not supplied

Trajectory Generation for Distributed Electric Propulsion Vehicles with Propeller Synchronization

In this paper, we propose a method for generating dynamically feasible trajectories for an acoustically aware vehicle with propeller phase control. The trajectory generation procedure allows both propeller phase control and navigation objectives to be considered simultaneously. The presented method is demonstrated where the mission objectives are given as a desired position and phase trajectory. From these trajectories, the full desired state of the vehicle is calculated. Furthermore, the control inputs that realize the desired mission objectives are computed. The acoustic performance for the given trajectory is estimated in terms of sound pressure level as a function of tracking performance. The method is demonstrated in simulation, where the vehicle must navigate through an urban environment with both spatial and acoustic constraints. In the presented scenario, the vehicle must follow a given flight path, and can only reduce sound pressure level by changing the propeller phase targets.

acoustically-aware vehicle↗
NASA NTRSDate not supplied

Trajectory Generation for Distributed Electric Propulsion Vehicles with Propeller Synchronization

In this paper, we propose a method for generating dynamically feasible trajectories for an acoustically aware vehicle with propeller phase control. The trajectory generation procedure allows both propeller phase control and navigation objectives to be considered simultaneously. The presented method is demonstrated where the mission objectives are given as a desired position and phase trajectory. From these trajectories, the full desired state of the vehicle is calculated. Furthermore, the control inputs that realize the desired mission objectives are computed. The acoustic performance for the given trajectory is estimated in terms of sound pressure level as a function of tracking performance. The method is demonstrated in simulation, where the vehicle must navigate through an urban environment with both spatial and acoustic constraints. In the presented scenario, the vehicle must follow a given flight path, and can only reduce sound pressure level by changing the propeller phase targets.

Acoustically-aware vehicle↗
NASA NTRS1990

On the nature of the X-ray pulsar near Lynds 1457

The rotation of a magnetized white dwarf or neutron star accidentally located within or behind the Lynds 1457 molecular cloud, is considered as a model for the hard X-ray source H0253 + 193. It is calculated that all models of this type have a low a priori probability because the positions are so remarkably coincident and because the objects involved are not sufficiently common. A neutron star accreting in a close binary is rejected because its likelihood is extremely small and because the observed position, luminosity, and spectrum of the object are all quite atypical for X-ray binaries. Two other possibilities are considered: (1) an isolated white dwarf or neutron star drifting accidentally into the cloud and accreting sufficient gas to power the X-ray source and (2) a white dwarf accreting in a close binary.

Patterson, J.↗
NASA NTRS1999

Study the Effects of Charged Particle Radiation on Gravitational Sensors in Space

Space-flight charging of free floating masses poses an unusual problem-- how can one control charge on the object without exerting a significant force on it? One approach is to make contact to the object with a fine wire. However, for many precision applications no physical contact is permissible, so charge must be conveyed in, a more sophisticated manner. One method has already been developed: Gravitational Probe B (GP-B) uses an ultraviolet photo-emission system described in ref 1. This system meets the experiment requirements, yet poses a number of constraints, including high power dissipation (approximately 10 W peak, approximately 1 W average), low current output (approximately 10(exp -13) A), and potential reliability problems associated with fiber optics system and the UV source. The aim of the current research is to improve this situation and, if possible, develop a more rugged and lower power alternative, usable in a wide range of situations. An potential alternative to the UV electron source is a Spindt-type field emission cathode. These consist of an array of extremely sharp silicon tips mounted in a standard IC package with provision for biasing them relative to the case potential. They are attractive as electron sources for space applications due to their low power consumption (10(exp -5) W), high current levels (10(exp -9) to 10(exp -5) A), and the absence of mechanical switching. Unfortunately, existing cathodes require special handling to avoid contamination and gas absorption. These contaminants can cause severe current fluctuations and eventual destruction of the cathode tips. Another potential drawback is the absence of any data indicating the possibility of bipolar current flow. This capability is needed because of the large uncertainties in the net charge transfer from cosmic rays to a free floating mass in space. More recent devices reduce the current fluctuations and destructive arcing by mounting the tips on a resistive substrate rather than a good conductor. This effectively wires a resistor to each individual tip, providing a current limit and thus greatly reducing the possibility of destructive arcing through an individual tip. An issue with this resistive layer is its range of operating temperatures. From the experience with the GP-B system, we hypothesized about using secondary electron emission for control of net charge transfer to an object. An important goal of the testing described below was to demonstrate the ability to apply both positive and negative charges to the test object from a single emitter.

Lipa, John A.↗
DOE OSTI2026

2004 Kansas City Regional Household Travel Survey

The 2004 Regional Household Travel Survey documented the travel behavior characteristics of Kansas City residents to update the area's transportation model. The Mid-America Regional Council and the Kansas and Missouri Departments of Transportation sponsored the survey, which was administered by NuStats. Activity and travel information was collected for all household members, regardless of age, during a specific 24-hour period. It relied on the willingness of households to provide demographic information about its members and vehicles and to have all household members record all travel and activity for a specific 24-hour period. The study also included a subsample of household vehicles with global positioning system (GPS) devices. The objectives of the GPS component were twofold: (1) to provide an independent data stream of vehicular travel in order to measure the accuracy of the travel data reported over the telephone, and (2) to obtain details about those trips that were captured by GPS but not reported over the telephone, in order to derive a trip-correction factor.

1Hz data↗
DOE OSTI2025

Enhanced Monte Carlo Simulations for Electron Energy Loss Mitigation in Real-Space Nanoimaging of Thick Biological Samples and Microchips

High-resolution imaging using Transmission Electron Microscopy (TEM) is essential for applications such as grain boundary analysis, microchip defect characterization, and biological imaging. However, TEM images are often compromised by electron energy spread and other factors. In TEM mode, where the objective and projector lenses are positioned downstream of the sample, electron–sample interactions cause energy loss, which adversely impacts image quality and resolution. This study introduces a simulation tool to estimate the electron energy loss spectrum (EELS) as a function of sample thickness, covering electron beam energies from 300 keV to 3 MeV. Leveraging recent advances in MeV-TEM/STEM technology, which includes a state-of-the-art electron source with 2-picometer emittance, an energy spread of 3 × 10 -5 , and optimized beam characteristics, we aim to minimize energy spread. By integrating EELS capabilities into the BNL Monte Carlo (MC) simulation code for thicker samples, we evaluate electron beam parameters to mitigate energy spread resulting from electron–sample interactions. Based on our simulations, we propose an experimental procedure for quantitively distinguishing between elastic and inelastic scattering. The findings will guide the selection of optimal beam settings, thereby enhancing resolution for nanoimaging of thick biological samples and microchips.

36 MATERIALS SCIENCE↗
NASA NTRS1972

Study of optical properties of X-ray sources

A series of optical and X-ray observations of Sco X-1 and Cyg X-2 by UHURU satellite is reported. Results for Sco X-1 show a definite correlation between optical and X-ray intensity and thus indicate a common emitting region with the source being quiet and having no short term fluctuations bigger than 10%. Spectra reveal the presence of a high excitation complex at wavelength 4650 due to N III-C III. Spectra of a faint 15-mag red object NW of the radio position indicate that Cyg X-1 is associated with a bright B supergiant star. The flux from the edges of the Cygnus Loop in the coronal line at wavelength 5303 was measured to be less than five times ten to the minus nine power erg/sq cm/sterad/sec (0.017 R) in a 3-A band centered on the line. This indicates substantial broadening of the line profile by mass motion or that the temperature is somewhat higher than the present estimate from X-ray data.

Vandenbout, P. A.↗
NASA NTRS1974

Dynamic techniques for studies of secular variations in position from ranging to satellites

Evaluation of numerous laser range data obtained in orbit determination experiments and by analysis of orbit perturbations due to solid-earth and ocean tides. Results obtained from both a single-laser tracking system and two-laser systems are discussed. With the introduction of radar altimeters, satellite-to-satellite tracking techniques, and more accurate laser data in greater quantities, significant improvements in the gravity field, GM, and station coordinates can be projected such that 10-cm precision relative positioning should be a realizable objective from a single four-pass orbital arc. The use of simultaneous range measurements to a satellite from two stations several hundred km apart is being used to measure the motion between points 900 km apart on opposite sides of the San Andreas fault. Computer simulation of this experiment shows that it will permit determination of the change in baseline (plate motion) to better than 0.5 cm/yr over a seven-year period.

Smith, D. E.↗