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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 343 records · Page 19
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

Optoelectronic Alignment And Ultrasonic Ranging Apparatus

Beam of light guides alignment, then range measured by use of ultrasound. Optoelectronic/ultrasonic apparatus facilitates three-dimensional alignment of spot on one object with respect to facing (but not touching) spot on another nearby object. Designed to help in positioning external tank of space shuttle between two solid rocket boosters. Useful in other applications to align large components to be locked together in assemblies.

Collins, J. David↗
NASA NTRS1995

Discrete Gabor Filters For Binocular Disparity Measurement

Discrete Gabor filters proposed for use in determining binocular disparity - difference between positions of same feature or object depicted in stereoscopic images produced by two side-by-side cameras aimed in parallel. Magnitude of binocular disparity used to estimate distance from cameras to feature or object. In one potential application, cameras charge-coupled-device video cameras in robotic vision system, and binocular disparities and distance estimates used as control inputs - for example, to control approaches to objects manipulated or to maintain safe distances from obstacles. Binocular disparities determined from phases of discretized Gabor transforms.

Weiman, Carl F. R.↗
NASA NTRS1996

High Temperature Degradation Mechanisms in Polymer Matrix Composites

Polymer matrix composites are increasingly used in demanding structural applications in which they may be exposed to harsh environments. The durability of such materials is a major concern, potentially limiting both the integrity of the structures and their useful lifetimes. The goal of the current investigation is to develop a mechanism-based model of the chemical degradation which occurs, such that given the external chemical environment and temperatures throughout the laminate, laminate geometry, and ply and/or constituent material properties, we can calculate the concentration of diffusing substances and extent of chemical degradation as functions of time and position throughout the laminate. This objective is met through the development and use of analytical models, coupled to an analysis-driven experimental program which offers both quantitative and qualitative information on the degradation mechanism. Preliminary analyses using a coupled diffusion/reaction model are used to gain insight into the physics of the degradation mechanisms and to identify crucial material parameters. An experimental program is defined based on the results of the preliminary analysis which allows the determination of the necessary material coefficients. Thermogravimetric analyses are carried out in nitrogen, air, and oxygen to provide quantitative information on thermal and oxidative reactions. Powdered samples are used to eliminate diffusion effects. Tests in both inert and oxidative environments allow the separation of thermal and oxidative contributions to specimen mass loss. The concentration dependency of the oxidative reactions is determined from the tests in pure oxygen. Short term isothermal tests at different temperatures are carried out on neat resin and unidirectional macroscopic specimens to identify diffusion effects. Mass loss, specimen shrinkage, the formation of degraded surface layers and surface cracking are recorded as functions of exposure time. Geometry effects in the neat resin, and anisotropic diffusion effects in the composites, are identified through the use of specimens with different aspect ratios. The data is used with the model to determine reaction coefficients and effective diffusion coefficients. The empirical and analytical correlations confirm the preliminary model results which suggest that mass loss at lower temperatures is dominated by oxidative reactions and that these reaction are limited by diffusion of oxygen from the surface. The mechanism-based model is able to successfully capture the basic physics of the degradation phenomena under a wide range of test conditions. The analysis-based test design is successful in separating out oxidative, thermal, and diffusion effects to allow the determination of material coefficients. This success confirms the basic picture of the process; however, a more complete understanding of some aspects of the physics are required before truly predictive capability can be achieved.

Cunningham, Ronan A.↗
NASA NTRS1997

High Temperature Degradation Mechanisms in Polymer Matrix Composites

Polymer matrix composites are increasingly used in demanding structural applications in which they may be exposed to harsh environments. The durability of such materials is a major concern, potentially limiting both the integrity of the structures and their useful lifetimes. The goal of the current investigation is to develop a mechanism-based model of the chemical degradation which occurs, such that given the external chemical environment and temperatures throughout the laminate, laminate geometry, and ply and/or constituent material properties, we can calculate the concentration of diffusing substances and extent of chemical degradation as functions of time and position throughout the laminate. This objective is met through the development and use of analytical models, coupled to an analysis-driven experimental program which offers both quantitative and qualitative information on the degradation mechanism. Preliminary analyses using coupled diffusion/reaction model are used to gain insight into the physics of the degradation mechanisms and to identify crucial material parameters. An experimental program is defined based on the results of the preliminary analysis which allows the determination of the necessary material coefficients. Thermogravimetric analyses are carried out in nitrogen, air, and oxygen to provide quantitative information on thermal and oxidative reactions. Powdered samples are used to eliminate diffusion effects. Tests in both inert and oxidative environments allow the separation of thermal and oxidative contributions to specimen mass loss. The concentration dependency of the oxidative reactions is determined from the tests in pure oxygen. Short term isothermal tests at different temperatures are carried out on neat resin and unidirectional macroscopic specimens to identify diffusion effects. Mass loss, specimen shrinkage, the formation of degraded surface layers and surface cracking are recorded as functions of exposure time. Geometry effects in the neat resin, and anisotropic diffusion effects in the composites, are identified through the use of specimens with different aspect ratios. The data is used with the model to determine reaction coefficients and effective diffusion coefficients. The empirical and analytical correlations confirm the preliminary model results which suggest that mass loss at lower temperatures is dominated by oxidative reactions and that these reaction are limited by diffusion of oxygen from the surface. The mechanism-based model is able to successfully capture the basic physics of the degradation phenomena under a wide range of test conditions. The analysis-based test design is successful in separating out oxidative, thermal, and diffusion effects to allow the determination of material coefficients. This success confirms the basic picture of the process; however, a more complete understanding of some aspects of the physics are required before truly predictive capability can be achieved.

Cunningham, Ronan A.↗
NASA NTRS2010

Formal Verification of Safety Buffers for Sate-Based Conflict Detection and Resolution

The information provided by global positioning systems is never totally exact, and there are always errors when measuring position and velocity of moving objects such as aircraft. This paper studies the effects of these errors in the actual separation of aircraft in the context of state-based conflict detection and resolution. Assuming that the state information is uncertain but that bounds on the errors are known, this paper provides an analytical definition of a safety buffer and sufficient conditions under which this buffer guarantees that actual conflicts are detected and solved. The results are presented as theorems, which were formally proven using a mechanical theorem prover.

Herencia-Zapana, Heber↗
NASA NTRS2005

Two-Photon Fluorescence Microscope for Microgravity Research

A two-photon fluorescence microscope has been developed for the study of biophysical phenomena. Two-photon microscopy is a novel form of laser-based scanning microscopy that enables three-dimensional imaging without many of the problems inherent in confocal microscopy. Unlike one-photon optical microscopy, two-photon microscopy utilizes the simultaneous nonlinear absorption of two near-infrared photons. However, the efficiency of two-photon absorption is much lower than that of one-photon absorption, so an ultra-fast pulsed laser source is typically employed. On the other hand, the critical energy threshold for two-photon absorption leads to fluorophore excitation that is intrinsically localized to the focal volume. Consequently, two-photon microscopy enables optical sectioning and confocal performance without the need for a signal-limiting pinhole. In addition, there is a reduction (relative to one-photon optical microscopy) in photon-induced damage because of the longer excitation wavelength. This reduction is especially advantageous for in vivo studies. Relative to confocal microscopy, there is also a reduction in background fluorescence, and, because of a reduction in Rayleigh scattering, there is a 4 increase of penetration depth. The prohibitive cost of a commercial two-photon fluorescence-microscope system, as well as a need for modularity, has led to the construction of a custom-built system (see Figure 1). This system includes a coherent mode-locked titanium: sapphire laser emitting 120-fs-duration pulses at a repetition rate of 80 MHz. The pulsed laser has an average output power of 800 mW and a wavelength tuning range of 700 to 980 nm, enabling the excitation of a variety of targeted fluorophores. The output from the laser is attenuated, spatially filtered, and then directed into a confocal scanning head that has been modified to provide for side entry of the laser beam. The laser output coupler has been replaced with a dichroic filter that reflects the longer-wavelength excitation light and passes the shorter-wavelength fluorescence light. Also, the confocal pinhole has been removed to increase the signal strength. The laser beam is scanned by a twoperpendicular- axis pair of galvanometer mirrors through a pupil transfer lens into the side port of an inverted microscope. Finally, the beam is focused by a 63-magnification, 1.3-numerical- aperture oil-immersion objective lens onto a specimen. The pupil transfer lens serves to match the intermediate image planes of the scanning head and the microscope, and its location is critical. In order to maximize the quality of the image, (that is, the point spread function of the objective lens for all scan positions), the entire system was modeled in optical-design software, and the various free design parameters (the parameters of the spatial-filter components as well as the separations of all of the system components) were determined through an iterative optimization process. A modular design was chosen to facilitate access to the optical train for future fluorescence correlation spectroscopy and fluorescence-lifetime experiments.

Fischer, David G.↗
NASA NTRS1989

Exocentric direction judgements in computer-generated displays and actual scenes

One of the most remarkable perceptual properties of common experience is that the perceived shapes of known objects are constant despite movements about them which transform their projections on the retina. This perceptual ability is one aspect of shape constancy (Thouless, 1931; Metzger, 1953; Borresen and Lichte, 1962). It requires that the viewer be able to sense and discount his or her relative position and orientation with respect to a viewed object. This discounting of relative position may be derived directly from the ranging information provided from stereopsis, from motion parallax, from vestibularly sensed rotation and translation, or from corollary information associated with voluntary movement. It is argued that: (1) errors in exocentric judgements of the azimuth of a target generated on an electronic perspective display are not viewpoint-independent, but are influenced by the specific geometry of their perspective projection; (2) elimination of binocular conflict by replacing electronic displays with actual scenes eliminates a previously reported equidistance tendency in azimuth error, but the viewpoint dependence remains; (3) the pattern of exocentrically judged azimuth error in real scenes viewed with a viewing direction depressed 22 deg and rotated + or - 22 deg with respect to a reference direction could not be explained by overestimation of the depression angle, i.e., a slant overestimation.

Ellis, Stephen R.↗
NASA NTRS2012

Impact of Non-Gaussian Error Volumes on Conjunction Assessment Risk Analysis

An understanding of how an initially Gaussian error volume becomes non-Gaussian over time is an important consideration for space-vehicle conjunction assessment. Traditional assumptions applied to the error volume artificially suppress the true non-Gaussian nature of the space-vehicle position uncertainties. For typical conjunction assessment objects, representation of the error volume by a state error covariance matrix in a Cartesian reference frame is a more significant limitation than is the assumption of linearized dynamics for propagating the error volume. In this study, the impact of each assumption is examined and isolated for each point in the volume. Limitations arising from representing the error volume in a Cartesian reference frame is corrected by employing a Monte Carlo approach to probability of collision (Pc), using equinoctial samples from the Cartesian position covariance at the time of closest approach (TCA) between the pair of space objects. A set of actual, higher risk (Pc >= 10 (exp -4)+) conjunction events in various low-Earth orbits using Monte Carlo methods are analyzed. The impact of non-Gaussian error volumes on Pc for these cases is minimal, even when the deviation from a Gaussian distribution is significant.

Ghrist, Richard W.↗
NASA NTRS1992

Task definition, decoupling and redundancy resolution by nonlinear feedback in multi-robot object handling

The problem of rigid object handling by multiple robot arms is investigated. The primary goal is to make the object exhibit a prescribed behavior while in contact with a fully known environment. Point contacts are assumed between the object and the arms. The aspect of task definition to achieve decoupling and linearizing control laws is discussed. Control laws are first formulated at the object level to provide decoupled force and position servo loops. It is then used to form control laws for the individual arms. Redundancies exist at the object and arm levels. The object level redundancy is used to achieve secondary goals in object handling. The arm level redundancies are the zero dynamics and can be controlled by redundant inputs. Full use of the available inputs are used to control the system as a whole. Numerical simulations for a dual-arm situation illustrate the validity of the approach.

Ramadorai, A. K.↗
NASA NTRS2012

Instrument Package Manipulation Through the Generation and Use of an Attenuated-Fluent Gas Fold

This document discusses a technique that provides a means for suspending large, awkward loads, instrument packages, components, and machinery in a stable, controlled, and precise manner. In the baseplate of the test machine, a pattern of grooves and ports is installed that when pressurized generates an attenuated- fluent gas fold providing a low-cost, near-zero-coefficient-of-friction lubrication boundary layer that supports the object evenly, and in a predictable manner. Package movement control requires minimal force. Aids to repeatable travel and positional accuracy can be added via the addition of simple guide bars and stops to the floor or object being moved. This allows easily regulated three-axis motions. Loads of extreme weight and size can be moved and guided by a single person, or by automated means, using minimal force. Upon removal of the attenuated fluent gas fold, the object returns to a stable resting position without impact forces affecting the object.

Breen, Daniel P.↗
NASA NTRS1995

Algorithms for detection of objects in image sequences captured from an airborne imaging system

This research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.

Kasturi, Rangachar↗
NASA NTRS1980

Discovery of a compact X-ray source at the center of the supernova remnant RCW 103

A point source of X-ray emission has been detected at the center of the supernova remnant RCW 103 using the Einstein Observatory. The 10 arcsec radius error circle is centered at alpha 16h13m47.8s, delta = -50 deg 55 arcmin 05 arcsec (1950) and contains two candidate stars of approximately 20th magnitude. No coincident point source of radio emission is known, but it is pointed out that the X-ray object lies 1.2 deg away from the centroid position of a gamma-ray source, CG 333 + 0. The observed flux from the object at the earth is approximately 7 x 10 to the -13th ergs/sq cm s in the 0.6-2 keV band. It is likely that the object is either a hot neutron star or an X-ray emitting pulsar. In contrast to the Crab and Vela pulsars, however, no extended X-ray emission associated with the point source is discernible. If the object is a hot neutron star, it has a blackbody temperature of 2 x 10 to the 6th K, and would represent the first detection of surface radiation from a neutron star.

Tuohy, I.↗
NASA NTRS1992

Robotic Gripper With Force Control And Optical Sensors

Robotic gripper locates, measures, recognizes and manipulates objects in assembly-line setting. Fiber-optic sensors in fingertips help locate and identify object. Gripper grasps object and determines size from finger-position feedback, while grasped under force control. Prototype handles geranium cuttings in commercial greenhouse, basic concept and design modified for other objects (rods or nuts), including sorting to size.

Montgomery, James L.↗
NASA NTRS1992

Supervisory telerobotics testbed for unstructured environments

A telerobotics testbed for performing tasks such as assembly and repair of spacecraft in unstructured environments is described. This fully operational multiarm system can operate in teleoperated or supervisory control modes, as well as mixed shared-control modes, thus enabling operations in totally to partially unstructured environments. Various sources of uncertainty are identified and approaches to minimize their effects are presented. In the teleoperated mode, the system uses two force-reflecting hand controllers to operate two manipulator arms. A third arm is utilized to position four cameras to view the scene. In the supervisory mode, the system can be operated from three different levels: task, process, and servo levels, providing different levels of autonomy and performance. Various tools are provided so that an operator can perform tasks even when objects are partially occluded or their positions are not known a priori.

Hayati, S.↗
NASA NTRS1987

Dynamics and control of coordinated multiple manipulators

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of a manipulators each having six joints. Additional constraint equations are considered when one or more of the degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamics equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Finally, simulation results for the control of a pair of two-link manipulators are presented.

Hayati, S. A.↗
NASA NTRS1988

Faint blue objects at high Galactic latitude. V - Palomar Schmidt field centered on selected area 71

Starlike objects with both blue and ultraviolet excess have been selected from a Palomar 1.2 m Schmidt field centered on Kapteyn selected area 71. The method of selection is that used in the previous papers of this series, but modified to account for the differential reddening that occurs across the field. The color classes, color subclasses, positions, and magnitudes of the selected objects are listed.

Usher, Peter D.↗
NASA NTRS1995

Optoelectronic Inclinometer

Proposed optoelectronic instrument measures tilt of object about single horizontal axis by measuring change of position and orientation of laser beam reflected from hanging mirror. Mirror remains vertical while rest of instrument rotated with object. Optoelectronic inclinometer measures tilt about gimbal axis by measuring change in position and orientation of beam of light reflected from mirror hanging in gimbal. Maximum amount of tilt about pivot axis of pendulum that instrument tolerates depends on size of mirror and physical size of linear array and spacing of components. Compensating lens included to correct for nonlinearity and to ensure that beam continued to fall on array throughout desired angular range of instrument.

Schott, Timothy D.↗