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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 325 records · Page 18

Ground-Based High Spectral Resolution Lidar Observation of Aerosol Vertical Distribution in the Summertime Southeast United States

As part of the Southeast United States-based Studies of Emissions and Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys (SEAC4RS), and collinear with part of the Southeast Atmosphere Study, the University of Wisconsin High Spectral Resolution Lidar system was deployed to the University of Alabama from 19 June to 4 November 2013. With a collocated Aerosol Robotic Network (AERONET) sun photometer, a nearby Chemical Speciation Network (PM2.5) measurement station, and near daily ozonesonde releases for the August-September SEAC4RS campaign, the site allowed the regions first comprehensive diurnal monitoring of aerosol particle vertical structure. A 532nm lidar ratio of 55 sr provided good closure between aerosol backscatter and AERONET (aerosol optical thickness, AOT). A principle component analysis was performed to identify key modes of variability in aerosol backscatter. ''Fair weather'' days exhibited classic planetary boundary layer structure of a mixed layer accounting for approx. 50% of AOT and an entrainment zone providing another 25%. An additional 5-15% of variance is gained from the lower free troposphere from either convective detrainment or frequent intrusions of western United States biomass burning smoke. Generally, aerosol particles were contained below the 0 C level, a common level of stability in convective regimes. However, occasional strong injections of smoke to the upper troposphere were also observed, accounting for the remaining 10-15% variability in AOT. Examples of these common modes of variability in frontal and convective regimes are presented, demonstrating why AOT often has only a weak relationship to surface PM2.5 concentration.

HSRL↗

Rover Graphical Simulator

Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

Bon, Bruce↗

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

guidepath position navigation control system↗

Advanced District Energy Controls for Improved Efficiency and Resilience

District energy (DE) systems have efficiently provided heat and cooling to buildings in the US for over a century by leveraging economies of scale through shared generation assets. However, optimizing DE boiler and chiller plants is complex due to the intricate mix of equipment and multiple operating flows. Sophisticated controls are necessary to achieve highest efficiencies.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Implementation of Sensor and Control Designs for Bioregenerative Systems

The goal of the Spring 1990 EGM 4001 Design class was to design, fabricate, and test sensors and control systems for a closed loop life support system (CLLSS). The designs investigated were to contribute to the development of NASA's Controlled Ecological Life Support System (CELSS) at Kennedy Space Center (KSC). Designs included a seed moisture content sensor, a porous medium wetness sensor, a plant health sensor, and a neural network control system. The seed group focused on the design and implementation of a sensor that could detect the moisture content of a seed batch. The porous medium wetness group concentrated on the development of a sensor to monitor the amount of nutrient solution within a porous plate incorporating either infrared reflectance or thermal conductance properties. The plant health group examined the possibility of remotely monitoring the health of the plants within the Biomass Production Chamber (BPC) using infrared reflectance properties. Finally, the neural network group concentrated on the ability to use parallel processing in order to control a robot arm and analyze the data from the health sensor to detect regions of a plant.

Rodriguez, Pedro R.↗

Report of the Advisory Committee on the Future of the US Space Program

The United States' civil space program was rather hurriedly formulated some three decades ago on the heels of the successful launch of the Soviet Sputnik. A dozen humans have been placed on the Moon and safely returned to Earth, seven of the other eight planets have been viewed at close range, including the soft landing of two robot spacecraft on Mars, and a variety of significant astronomical and other scientific observations have been accomplished. Closer to Earth, a network of communications satellites has been established, weather and ocean conditions are now monitored and reported as they occur, and the Earth's surface is observed from space to study natural resources and detect sources of pollution. Problems and perspectives of the program are given as seen by the committee. The committee finds that there are nine concerns about the space program which are deserving of attention. The responsibilities of the agency are given. The space agenda becomes one of what can and should the U.S. afford for its space program. Also given is a concept of what the committee believes is a balanced space program. The programs international role is defined and some final observations and recommendations are made.

Source record↗

Role of automation in the ACRV operations

The Assured Crew Return Vehicle (ACRV) will provide the Space Station Freedom with contingency means of return to earth (1) of one disabled crew member during medical emergencies, (2) of all crew members in case of accidents or failures of SSF systems, and (3) in case of interruption of the Space Shuttle flights. A wide range of vehicle configurations and system approaches are currently under study. The Program requirements focus on minimizing life cycle costs by ensuring simple operations, built-in reliability and maintainability. The ACRV philosophy of embedded operations is based on maximum use of existing facilities, resources and processes, while minimizing the interfaces and impacts to the Space Shuttle and Freedom programs. A preliminary integrated operations concept based on this philosophy and covering the ground, flight, mission support, and landing and recovery operations has been produced. To implement the ACRV operations concept, the underlying approach has been to rely on vehicle autonomy and automation, to the extent possible. Candidate functions and processes which may benefit from current or near-term automation and robotics technologies are identified. These include, but are not limited to, built-in automated ground tests and checkouts; use of the Freedom and the Orbiter remote manipulator systems, for ACRV berthing; automated passive monitoring and performance trend analysis, and periodic active checkouts during dormant periods. The major ACRV operations concept issues as they relate to the use of automation are discussed.

Sepahban, S. F.↗

Synergism of MODIS Aerosol Remote Sensing from Terra and Aqua

The MODerate-resolution Imaging Spectro-radiometer (MODIS) sensors, aboard the Earth Observing System (EOS) Terra and Aqua satellites, are showing excellent competence at measuring the global distribution and properties of aerosols. Terra and Aqua were launched on December 18, 1999 and May 4, 2002 respectively, with daytime equator crossing times of approximately 10:30 am and 1:30 pm respectively. Several aerosol parameters are retrieved at 10-km spatial resolution from MODIS daytime data over land and ocean surfaces. The parameters retrieved include: aerosol optical thickness (AOT) at 0.47, 0.55 and 0.66 micron wavelengths over land, and at 0.47, 0.55, 0.66, 0.87, 1.2, 1.6, and 2.1 microns over ocean; Angstrom exponent over land and ocean; and effective radii, and the proportion of AOT contributed by the small mode aerosols over ocean. Since the beginning of its operation, the quality of Terra-MODIS aerosol products (especially AOT) have been evaluated periodically by cross-correlation with equivalent data sets acquired by ground-based (and occasionally also airborne) sunphotometers, particularly those coordinated within the framework of the AErosol Robotic NETwork (AERONET). Terra-MODIS AOT data have been found to meet or exceed pre-launch accuracy expectations, and have been applied to various studies dealing with local, regional, and global aerosol monitoring. The results of these Terra-MODIS aerosol data validation efforts and studies have been reported in several scientific papers and conferences. Although Aqua-MODIS is still young, it is already yielding formidable aerosol data products, which are also subjected to careful periodic evaluation similar to that implemented for the Terra-MODIS products. This paper presents results of validation of Aqua-MODIS aerosol products with AERONET, as well as comparative evaluation against corresponding Terra-MODIS data. In addition, we show interesting independent and synergistic applications of MODIS aerosol data from both Terra and Aqua. In certain situations, this combined analysis of Terra- and Aqua-MODIS data offers an insight into the diurnal cycle of aerosol loading.

Ichoku, Charles↗

Prospects for Interdisciplinary Science Aboard the International Space Station

The assembly of the International Space Station was completed in early 2011, and is now embarking on its first year of the coming decade of use as a laboratory. Two key types of physical science research are enabled by ISS: studies of processes that are normally masked by gravity, and instruments that take advantage of its position as a powerful platform in orbit. The absence of buoyancy-driven convection enables experiments in diverse areas such as fluids near the critical point, Marangoni convection, combustion, and coarsening of metal alloys. The positioning of such a powerful platform in orbit with robotic transfer and instrument support also provides a unique alternative platform for astronomy and physics instruments. Some of the operating or planned instruments related to fundamental physics on the International Space Station include MAXI (Monitoring all-sky X-ray Instrument for ISS), the Alpha Magnetic Spectrometer, CALET (Calorimetric Electron Telescope), and ACES (Atomic Clock Experiment in Space). The presentation will conclude with an overview of pathways for funding different types of experiments from NASA funding to the ISS National Laboratory, and highlights of the streamlining of services to help scientists implement their experiments on ISS.

Robinson, Julie A.↗

Simulation of Hazards and Poses for a Rocker-Bogie Rover

Provisions for specification of hazards faced by a robotic vehicle (rover) equipped with a rocker-bogie suspension, for prediction of collisions between the vehicle and the hazards, and for simulation of poses of the vehicle at selected positions on the terrain have been incorporated into software that simulates the movements of the vehicle on planned paths across the terrain. The software in question is that of the Web Interface for Telescience (WITS), selected aspects of which have been described in a number of prior NASA Tech Briefs articles. To recapitulate: The WITS is a system of computer software that enables scientists, located at geographically dispersed computer terminals connected to the World Wide Web, to command instrumented robotic vehicles (rovers) during exploration of Mars and perhaps eventually of other planets. The WITS also has potential for adaptation to terrestrial use in telerobotics and other applications that involve computer-based remote monitoring, supervision, control, and planning.

Backes, Paul↗

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end-effector in response to commands generated by an operator. In one embodiment, the system provides a real-time image of the target for the operator as the robot approaches the object. The system is also adapted for use in virtual reality systems in which a remote object or workpiece is to be acted upon by a remote robot arm or other mechanism controlled by an operator.

Wells, Dennis L.↗

Laser Ranging System

Laser system points and focuses TV camera. Ranger is modified stock distance-measuring unit mounted on and electrically connected to television camera. Effective over target range of 3 to 500 ft. (approximately 1 to 150m). Developed for television monitoring of nearby objects from Space Shuttle. Super-imposes range and range-rate (speed of approach or recession) data on television image of target. Principle adaptable to applications such as proximity warning and robot control.

Russell, J. K.↗

An automated protein crystal growth facility on the space station

The need is addressed for an automated Protein Crystal Growth experiment on the Space Station and how robotics will be integrated into the system design. This automated laboratory system will enable several hundred protein crystals to grow simultaneously in microgravity and will allow the major variables in protein crystal growth to be monitored and controlled during the experiment. Growing good quality crystals is important in determining the complete structure of the protein by X-ray diffraction. This information is useful in the research and development of medicines and other important medical and biotechnological products. Previous Protein Crystal Growth experiments indicate that the microgravity environment of space allows larger crystals of higher quality to be grown as compared to the same crystals grown on the ground. It is therefore important to have a laboratory in space where protein crystals can be grown under carefully controlled conditions so that a crystal type can be reproduced as needed.

Herrmann, Melody↗

Regional Comparison and Assimilation of GOCART and MODIS Aerosol Optical Depth across the Eastern U.S.

This study compares aerosol optical depths (AOD) products from the Moderate Resolution Imaging Spectroradiometer (MODIS) and the Goddard Chemistry Aerosol Radiation and Transport (GOCART) model and their integrated products with ground measurements across the eastern U.S. from March 1, 2000 to December 31, 2001. The Terra MODIS Level-3 (collection 4) AOD at 0.55 pm has better correlation, but consistently overestimates the values of the Aerosol Robotic Network (AERONET) measurements. GOCART has small biases for a 22-month integration, and slight positive biases are appeared for the cold season. These results are also supported by the comparison with the IMPROVE (Interagency Monitoring of Protected Visual Environments) light extinction index. The optimal interpolation improves the daily-scale RMSE from either MODIS or GOCART alone. However, the regional biases in the aerosol products constitute a major constraint to the optimal estimate of AOD.

Matsui, Toshihisa↗

NASA Tech Briefs, August 2006

Topics covered include: Measurement and Controls Data Acquisition System IMU/GPS System Provides Position and Attitude Data Using Artificial Intelligence to Inform Pilots of Weather Fast Lossless Compression of Multispectral-Image Data Developing Signal-Pattern-Recognition Programs Implementing Access to Data Distributed on Many Processors Compact, Efficient Drive Circuit for a Piezoelectric Pump; Dual Common Planes for Time Multiplexing of Dual-Color QWIPs; MMIC Power Amplifier Puts Out 40 mW From 75 to 110 GHz; 2D/3D Visual Tracker for Rover Mast; Adding Hierarchical Objects to Relational Database General-Purpose XML-Based Information Managements; Vaporizable Scaffolds for Fabricating Thermoelectric Modules; Producing Quantum Dots by Spray Pyrolysis; Mobile Robot for Exploring Cold Liquid/Solid Environments; System Would Acquire Core and Powder Samples of Rocks; Improved Fabrication of Lithium Films Having Micron Features; Manufacture of Regularly Shaped Sol-Gel Pellets; Regulating Glucose and pH, and Monitoring Oxygen in a Bioreactor; Satellite Multiangle Spectropolarimetric Imaging of Aerosols; Interferometric System for Measuring Thickness of Sea Ice; Microscale Regenerative Heat Exchanger Protocols for Handling Messages Between Simulation Computers Statistical Detection of Atypical Aircraft Flights NASA's Aviation Safety and Modeling Project Multimode-Guided-Wave Ultrasonic Scanning of Materials Algorithms for Maneuvering Spacecraft Around Small Bodies Improved Solar-Radiation-Pressure Models for GPS Satellites Measuring Attitude of a Large, Flexible, Orbiting Structure

Source record↗

Applications of Intelligent Tutoring Systems to Human-Robotic Exploration of Mars

Space missions with small crews extending over several years with time-delay preventing normal conversations with people on earth will raise many challenges for training. Of special interest are possible three-year missions to Mars, requiring refresher instruction and learning new skills based on unexpected problems with machines and environmental conditions. For example, the crew will be required to monitor and repair more complex life support systems for air and water recycling than we even know how to build today. Highly educated astronauts, often with several doctorate degrees, require a very different mode of interaction than we have developed for school children or even typical college students. Explanation methods may need to differ-using analogies and techniques from different domains-depending on whether the astronaut is an astrophysicist, a pilot, or a geologist.Virtual reality (e.g., for Hubble repair missions) and "integrated" simulations (involving role-playing and emphasizing failure scenarios) are the most common advanced forms of instruction used in space flight today. The emphasis is on collaborative, embodied interaction with the same workstations and tools used in practice (e.g., a cockpit simulator). Otherwise, computerized instructional technology used by NASA is not model-based or tutorial in nature. This discussion will review some of the key instructional methods used at NASA over the past two decades and consider why ITS methods have not been exploited. Some of the problems and opportunities for training for Mars missions are examined, including how using robots in exploration activities will help but raise new training problems. These ideas will be illustrated with examples from the BrahmsVE system in which a browser- based virtual reality display with avatars allows interacting with a distributed multiagent system, in which agents can be people, robots, or software programs. Using BrahmsVE may provide a way for astronauts to interact with proxies of people who serve as instructional coaches on Mars.

Clancey, William J.↗

Results from Testing Crew-Controlled Surface Telerobotics on the International Space Station

During Summer 2013, the Intelligent Robotics Group at NASA Ames Research Center conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed lunar mission, in which an astronaut in lunar orbit would remotely operate a planetary rover to deploy a radio telescope on the lunar far side. Over the course of Expedition 36, three ISS astronauts remotely operated the NASA "K10" planetary rover in an analogue lunar terrain located at the NASA Ames Research Center in California. The astronauts used a "Space Station Computer" (crew laptop), a combination of supervisory control (command sequencing) and manual control (discrete commanding), and Ku-band data communications to command and monitor K10 for 11 hours. In this paper, we present and analyze test results, summarize user feedback, and describe directions for future research.

robotics↗

Chapter 10 - Remote Sensing Measurements of Aerosol Properties

Satellite instruments have proven especially capable at monitoring the quantity of airborne particles in columns of atmosphere, globally. This chapter describes the principles of satellite measurements and retrieval algorithms, and surveys current instruments and their capabilities. We outline the issues associated with retrieval algorithms, such as surface characterization and aerosol proximity to clouds, and the challenges with interpretation of the results. The relationship between measured aerosol properties and climate-relevant aerosol properties simulated in models is outlined, as well as how measurements are used to evaluate models. Most space-based aerosol instruments are passive sensors that measure reflected sunlight at multiple wavelengths, some at multiple viewing angles. A few are active sensors that send out their own laser light and measure the returned signal. Except when clouds are present, the excess amount of light scattered back to space, beyond that expected from the surface and atmospheric gas, is attributed to aerosol. Satellite measurements are used in many ways in aerosol research. They often provide the only method for monitoring hazardous phenomena such as major wildfire and volcanic eruption plumes, especially in remote areas. Stable, long-term, near-global-scale satellite data records make it possible to identify regional and global aerosol trends. Aerosol radiative effects on climate can be quantified on a near-global scale and used to estimate the strength of aerosol–radiation and aerosol–cloud interactions as well as to evaluate climate model simulations of these interactions. Aerosol-type mapping from satellite imagery is helpful for source attribution, model validation, and to constrain particle light-absorption properties that are essential for radiative forcing calculations. The range of aerosol properties retrieved from satellite observations has grown considerably since the first global estimates of aerosol optical depth (τ a) over ocean were made in the late 1970s. Methods for retrieving particle size and light-absorption properties were explored in the 1990s using multispectral, multi-angle observations, and polarization in visible and near-infrared wavelengths. Sensitivity to particle light absorption, primarily from black or brown carbon content, improved with the inclusion of UV channels, and sensitivity to very thin aerosol layers in the upper troposphere and lower stratosphere was advanced with the use of limb-sounding instruments and active sensors. There are limitations to every measurement technique, including satellite aerosol remote sensing. For wide-swath, passive instruments, aerosol retrievals near clouds can present substantial challenges as far as 15 km away due to cloud-scattered light contaminating the signal. In nearly all cases, retrievals over bright snow and ice surfaces are precluded because surface reflectance uncertainties can overwhelm the aerosol signal. Similarly, meteorological cloud is identified and masked out where possible. Data from passive sensors also lack vertical resolution except those that view toward the limb or where multi-angle imagery is acquired over plumes from wildfires, erupting volcanoes, and wind-blown dust. Yet, passive sensors provide vastly more coverage than the active instruments that mitigate these issues. Particle microphysical information is qualitative from all remote sensing techniques, relying on proxies to infer particle composition, hygroscopicity, and the amount of light-absorbing material. Further, particles smaller than about 200 nm diameter cannot be distinguished from atmospheric gas molecules with remote sensing, which hinders studies of cloud condensation nuclei and their effects on clouds. Most satellite instruments dedicated to aerosol observations are in low-Earth, near-polar, sun-synchronous orbits, which means they cross the equator at the same local time each day. Most are set on cycles that repeat approximately every 16 days, which makes it difficult to monitor aerosol evolution locally. Geostationary satellites make it possible to observe changes occurring from minutes to hours over regions up to 8000 km in size, but lack coverage of high latitudes, and often provide more limited constraints on aerosol properties. Ground-truth data are vital for satellite aerosol-retrieval validation. The AErosol RObotic NETwork (AERONET) of sun photometers was created in 1993 and has become an established global network of over 350 instruments for validating satellite measurements. The network, as well as global networks of ground-based lidars, solar flux radiometers and other sun photometers, are widely used for evaluating global satellite retrievals and model simulations. NASA's Earth Observing System (EOS) program beginning in 1999 led to improvements in reliability, spatial resolution, and spectral resolution (and hence, to improved particle size discrimination and light absorption properties). Satellite payloads include advanced broad-swath and multi-angle imagers, along with the first space-based active sensor focused largely on long-term aerosol monitoring. Since about 2002, Europe's SENTINEL and operational meteorological satellite fleets are also providing sustained aerosol observations, with planned continuation until at least 2030. Satellite remote sensing instruments offer valuable data for evaluating aerosol representations in global climate models. They have been used to assess aerosol optical and physical properties, trends and distributions, and are applied increasingly as direct model constraints in data assimilation to create global aerosol reanalysis products. Aerosol optical depth is the most common quantity adopted for routine model evaluation, including multiwavelength data to loosely constrain particle-size distributions. These evaluations of multiple models have revealed general biases in their regional aerosol amounts and seasonal patterns of transport and removal. Although satellite measurements have near-global coverage, substantial errors can be introduced into the model observation comparison unless attention is paid to spatial and temporal collocation, cloud screening, subgrid-scale variability, and measurement uncertainties that vary with retrieval conditions.

aerosol properties↗