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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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Path planning using optically computed potential fields

An algorithm for the optical computation of potential field maps suitable for mobile robot navigation is described and experimentally produced maps and paths are presented. The parallel analog optical computation employs a two-dimensional spatial light modulator on which an image of the potential field map is generated. Optically calculated fields contain no local minima, tend to produce paths centered in gaps between obstacles, and produce paths which give preference to wide gaps. Calculation of 128 x 128 pixel fields at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

Reid, Max B.↗
NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves.

Renewed interest in deep space exploration has made establishing a persistent human presence on the Moon and eventually Mars a priority. Sustained habitation of the Moon will require in-situ resource utilization (ISRU) and protection from radiation at the lunar surface. Lunar caves are of interest to the space community because they could provide shelter from radiation, access to water deposits, and a space for habitation, as well as hold information about the geology, volcanology, and evolution of the Moon. Developing the tools to explore, map, and characterize these voids is key to understanding the Moon as a planetary body and to establishing a permanent human presence there. Our team is currently developing tools that enable ultra-high resolution terrain mapping and navigation using mobile light detection and ranging (LIDAR) technology and simultaneous localization and mapping (SLAM) algorithms in fully GPS-denied and no-light environments. 3D mapping with LiDAR and SLAM is relatively under-used, particularly in the context of planetary exploration and planetary analog environments. The backpack mounted LiDAR instrument currently under development by the KNaCK (Kinematic Navigation and Cartography Knapsack) team has demonstrated the potential of mobile SLAM LiDAR for lunar, planetary, and terrestrial cave exploration, study, and utilization. A description of the instrument and associated SLAM algorithms used for mapping in GPS-denied environments are referenced here.

LiDAR↗
NASA NTRS1993

Calculating potential fields using microchannel spatial light modulators

We describe and present experimental results of the optical calculation of potential field maps suitable for mobile robot navigation. The optical computation employs two write modes of a microchannel spatial light modulator (MSLM). In one mode, written patterns expand spatially, and this characteristic is used to create an extended two dimensional function representing the influence of the goal in a robot's workspace. Distinct obstacle patterns are written in a second, non-expanding, mode. A model of the mechanisms determining MSLM write mode characteristics is developed and used to derive the optical calculation time for full potential field maps. Field calculations at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

Reid, Max B.↗
NASA NTRS2001

Maximally Informative Statistics for Localization and Mapping

This paper presents an algorithm for localization and mapping for a mobile robot using monocular vision and odometry as its means of sensing. The approach uses the Variable State Dimension filtering (VSDF) framework to combine aspects of Extended Kalman filtering and nonlinear batch optimization. This paper describes two primary improvements to the VSDF. The first is to use an interpolation scheme based on Gaussian quadrature to linearize measurements rather than relying on analytic Jacobians. The second is to replace the inverse covariance matrix in the VSDF with its Cholesky factor to improve the computational complexity. Results of applying the filter to the problem of localization and mapping with omnidirectional vision are presented.

Deans, Matthew C.↗
NASA NTRS1986

MAPM: A coherent dual CO2 laser DIAL system

The Mobile Atmospheric Pollutant Mapping System (MAPM) is a dual CO2 laser DIAL system with heterodyne detection that is being developed for large distance range resolved measurement of organic solvent vapors and aerosol clouds. The components have been chosen to allow measurements to be made to distances of 6 to 7 km in a period of 20 to 30 s. The major components of the system are listed. MAPM is being integrated into a system and will be tested with several organic solvent gases and vapors in a remotely positioned sample chamber and with a free release of ethylene. Experimental results and system performance are discussed.

Grant, W. B.↗
NASA NTRS1987

CO2 DIAL measurements of water vapor

CO2 lidars have heretofore been used to measure water vapor concentrations primarily using the 10R(20) line at 10.247 microns, which has a strong overlap with a water vapor absorption line. This paper discusses the use of that line as well as other CO2 laser lines for which the absorption coefficients are weaker. The literature on measurement of water vapor absorption coefficients using CO2 lasers is reviewed, and the results from four laboratories are shown to be generally consistent with each other after they are normalized to the same partial pressure, temperature, and ethylene absorption coefficent for the 10P(14) CO2 laser line; however, the agreement with the Air Force Geophysics Laboratory's HITRAN and FASCOD 2 spectral data tapes is not good either for the water vapor absorption lines or for the water vapor continuum. Demonstration measurements of atmospheric water vapor have been conducted using the Mobile Atmospheric Pollutant Mapping System, a dual CO2 lidar system using heterodyne detection. Results are discussed for measurements using three sets of laser line pairs covering a wide range of water vapor partial pressures.

Grant, William B.↗
NASA NTRS2010

Long-Term Time Series of Remote Sensing Observations for Development of Regulatory Water Quality Standards

Water quality standards in the U.S. consist of: designated uses (the services that a water body provides; e.g., drinking water, aquatic life, harvestable species, recreation) . criteria that define the environmental conditions that must be maintained to support the uses For estuaries and coastal waters in the Gulf of Mexico, there are no numeric (quantitative) criteria to protect designated uses from effects of nutrients. This is largely due to the absence of adequate data that would quantitatively link biological conditions to nutrient concentrations. The Gulf of Mexico Alliance, an organization fostering collaboration between the Gulf States and U.S. Federal agencies, has identified the development of the numeric nutrient criteria as a major step leading to reduction in MODIS Products Figure 6. Map of the Mobile Bay with a yellow patch indicating the Bon Secour Bay area selected in this study for averaging water clarity parameters retrieved from MODIS datasets. nutrient inputs to coastal ecosystems. Nutrient enrichment in estuaries and coastal waters can be quantified based on response variables that measure phytoplankton biomass and water clarity. Long-term, spatially and temporally resolved measurements of chlorophyll a concentration, total concentration of suspended solids, and water clarity are needed to establish reference conditions and to quantify stressor-response relationships.

Blonski, Slawomir↗
NASA NTRS2012

Regolith Depth, Mobility, and Variability on Vesta from Dawn's Low Altitude Mapping Orbit

Regolith, the fragmental debris layer formed from impact events of all sizes, covers the surface of all asteroids imaged by spacecraft to date. Here we use Framing Camera (FC) images [1] acquired by the Dawn spacecraft [2] from its low-altitude mapping orbit (LAMO) of 210 km (pixel scales of ~20 m) to characterize regolith depth, variability, and mobility on Vesta, and to locate areas of especially thin regolith and exposures of competent material. These results will help to evaluate how the surface of this differentiated asteroid has evolved over time, and provide key contextual information for understanding the origin and degree of mixing of the surficial materials for which compositions are estimated [3,4] and the causes of the relative spectral immaturity of the surface [5]. Vestan regolith samples, in the form of howardite meteorites, can be studied in the laboratory to provide complementary constraints on the regolith process [6].

Denevi, B. W.↗
NASA NTRSDate not supplied

Caves as Terrestrial Analogs for Mapping and Exploration in Planetary Surface and Subsurface Environments.

The Kinematic Navigation and Cartography Knapsack (KNaCK) team is developing tools that will enable ultra-high resolution terrain mapping and navigation at the lunar surface. KNaCK uses mobile light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM) algorithms to operate in fully GPS-denied and unilluminated environments. Testing in relevant analogs is key to perfecting this technology for planetary applications. After utilizing desert and volcanic environments for multiple tests, the team is now using caves as an additional proving ground. Tests in terrestrial caves have demonstrated the potential of mobile SLAM LiDAR for use in challenging surface environments such as steep walled craters and permanently shadowed regions as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗
NASA NTRS2011

Combined EDL-Mobility Planning for Planetary Missions

This paper presents an analysis framework for planetary missions that have coupled mobility and EDL (Entry-Descent-Landing) systems. Traditional systems engineering approaches to mobility missions such as MERs (Mars Exploration Rovers) and MSL (Mars Science Laboratory) independently study the EDL system and the mobility system, and does not perform explicit trade-off between them or risk minimization of the overall system. A major challenge is that EDL operation is inherently uncertain and its analysis results such as landing footprint are described using PDF (Probability Density Function). The proposed approach first builds a mobility cost-to-go map that encodes the driving cost of any point on the map to a science target location. The cost could include variety of metrics such as traverse distance, time, wheel rotation on soft soil, and closeness to hazards. It then convolves the mobility cost-to-go map with the landing PDF given by the EDL system, which provides a histogram of driving cost, which can be used to evaluate the overall risk of the mission. By capturing the coupling between EDL and mobility explicitly, this analysis framework enables quantitative tradeoff between EDL and mobility system performance, as well as the characterization of risks in a statistical way. The simulation results are presented with a realistic Mars terrain data

mission analysis↗
NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK) LiDAR System: Overview and Applications.

Improved terrain characterization and navigation sensors and methods are needed to enhance crew safety, ISRU return, and scientific understanding of future landing sites. Specific to the Artemis Program and sustained exploration at the lunar South Pole, extreme low-angle solar illumination conditions pose significant challenges to existing photogrammetry-based robotic navigation. Additionally, a major challenge for navigation on the Moon and other planetary surfaces is the lack of Global Positioning and Navigation Systems (GPS or GNSS). Thus, there is a need for an alternative to image-based navigation that allow for precise and accurate mapping in GPS-denied environments on any planetary body. Here, we describe the Kinematic Navigation and Cartography Knapsack (KNaCK) LiDAR system; a backpack-mounted, mobile navigation and terrain mapping system that uses a velocity-sensing coherent light detection and ranging (LiDAR) system based on a frequency modulated continuous wave (FMCW) technique, contains minimal moving parts, and employs sophisticated positioning algorithms. During a traverse, this instrument emits light pulses to continually scan a scene to build a three-dimensional point cloud representation of topography. A measure of the Doppler-velocity at each of millions of range points sampled per second allows for a 6 degree of freedom (6- DoF) estimate of the sensor’s position and the development of novel position-from-velocity mapping and positioning algorithms for loop-closure in GPS denied environments. Included with paper is the video presentation for the Figure 2: FMCW-LiDAR sensor on Kinematic Navigation and Cartography Knapsack (KNaCK) (Aeva Aeries 1)

M. Zanetti↗
NASA NTRS2010

Use of Land Use Land Cover Change Mapping Products in Aiding Coastal Habitat Conservation and Restoration Efforts of the Mobile Bay NEP

The Mobile Bay region has undergone significant land use land cover change (LULC) over the last 35 years, much of which is associated with urbanization. These changes have impacted the region s water quality and wildlife habitat availability. In addition, much of the region is low-lying and close to the Gulf, which makes the region vulnerable to hurricanes, climate change (e.g., sea level rise), and sometimes man-made disasters such as the Deepwater Horizon (DWH) oil spill. Land use land cover change information is needed to help coastal zone managers and planners to understand and mitigate the impacts of environmental change on the region. This presentation discusses selective results of a current NASA-funded project in which Landsat data over a 34-year period (1974-2008) is used to produce, validate, refine, and apply land use land cover change products to aid coastal habitat conservation and restoration needs of the Mobile Bay National Estuary Program (MB NEP). The project employed a user defined classification scheme to compute LULC change mapping products for the entire region, which includes the majority of Mobile and Baldwin counties. Additional LULC change products have been computed for select coastal HUC-12 sub-watersheds adjacent to either Mobile Bay or the Gulf of Mexico, as part of the MB NEP watershed profile assessments. This presentation will include results of additional analyses of LULC change for sub-watersheds that are currently high priority areas, as defined by MB NEP. Such priority sub-watersheds include those that are vulnerable to impacts from the DWH oil spill, as well as sub-watersheds undergoing urbanization. Results demonstrating the nature and permanence of LULC change trends for these higher priority sub-watersheds and results characterizing change for the entire 34-year period and at approximate 10-year intervals across this period will also be presented. Future work will include development of value-added coastal habitat quality assessment products that will be used by the MB NEP and its partners in the planning of coastal conservation and restoration activities.

Spruce, Joseph P.↗
NASA NTRSDate not supplied

KNaCK-SLAM: Kinematic Navigation and Cartography Knapsack Velocity-aided LiDAR Inertial Simultaneous Localization and Mapping (SLAM)

As manned missions return to the Moon and continue on to Mars in the near future, surface navigation and mapping in extremely low solar illumination and unstructured environments without navigation aids like Global Navigation Satellite Systems (GNSS) becomes more important than even. This work explores the use of LiDAR-based Simultaneous Localization and Mapping (SLAM) to solve those problems. A LiDAR-based SLAM system be deployed as a self-contained instrument independent of external sensor inputs, and can operate in unlit environments where Vision-based SLAM system are inoperable. Furthermore, the advent of chip-scale frequency modulated continuous wave (FMCW) LiDAR technology provides Doppler-velocity information for each sensed point in the scene, which can be used to further constrain localization error in the SLAM front-end. Here we discuss the development of SLAM algorithm that makes use of the unique velocity and range sensing capabilities of FMCW-LiDAR based sensors for rover and kinematic (i.e. person-mounted) mobile navigation and terrain mapping applications for surface exploration and scientific investigations.

Kyle Miller↗
NASA NTRS2024

Winter Lightning to the Lee of Lake Ontario: The Lake-Effect Electrification (LEE) Field Campaign

The National Science Foundation-sponsored Lake-Effect Electrification (LEE) field campaign intensive observation periods occurred between November and early February 2022-23 across the eastern Lake Ontario region. Project LEE documented, for the first time, the total lightning and electrical charge structures of lake-effect storms and the associated storm environment using a lightning mapping array (LMA), a mobile dual-polarization X-band radar, and balloon-based soundings that measured vertical profiles of temperature, humidity, wind, electric field, and hydrometeor types. LEE also observed abundant wind turbine-initiated lightning, which is climatologically more likely during the winter. The frequent occurrence of intense lake-effect storms and the proximity of a wind farm with nearly 300 turbines each more than 100 m tall to the lee of Lake Ontario provided an ideal laboratory for this study.

Scott M Steiger↗
NASA NTRSDate not supplied

State of the Art and Practice for Equity in Urban Air Mobility

Traditionally, new modes of transportation in the United States have benefited upper social classes at the expense of underrepresented and lower socioeconomic classes. Several recent studies in transportation have explored this disparity, and research has highlighted factors that contribute to transportation equity. In this effort, we will examine this previous work as it applies to the broader, current transportation system. We will use our literature search to highlight and educate the current emerging aviation stakeholders on equity strategies that are directly applicable to these novel operations. We will also use our literature research to make informed recommendations for experiments and data collection that will increase our understanding about how these new aviation concepts can be encouraged to provide equity as an emergent property.

transportation equity↗
NASA NTRS1991

The MARCOR GPS mobile data system

Market research revealed several key demands for an Automatic Vehicle Location (AVL) Global Positioning System (GPS) radio. The demands were for minimization of urban building blockage, easy programmability to minimize mobile data transmission costs, high accuracy for street map level coordination, interface capability with non-digital Specialized Mobile Radios (SMR), and a selling price close to that of alternatives such as Signposts and Loran-C. A team of experts was assembled to surmount these challenges and deliver a GPS radio for $500 to $1000, which operates at high accuracy in an urban environment and is plug-compatible with nearly all vehicle radios. Among the engineering and production breakthroughs described here are a unique Simultrac (Trademark) approach to satellite tracking, enabling up to eight GPS satellites to be used for position determination with a 2-channel receiver, and a receiver-in-a-microphone design. A powerful Application Specific Integrated Circuit (ASIC) allowed GPS to be brought within easy reach of millions of AVL users such as bus, taxi, and delivery vehicle fleets.

Rothblatt, Martin↗