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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
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NASA NTRSDate not supplied

Multi-Agent Search and Rescue Applied to a Swarm of Ground Vehicles

This paper presents an algorithm for efficient search and rescue using a multi-agent system of vehicles. The algorithm uses an artificial potential field combined with a time-varying reward function for visiting various points within the search area. The reward function is used as a weight for the attractiveness of these points in the potential field. The reward value increases while the point is not being observed, and decreases while the point is observed. Collision avoidance terms are used to repel vehicles from each other, which has the additional effect of reducing duplication of searching efforts. Gradient descent of the potential field results in persistent surveillance of the search area. The algorithm generates position commands in real-time based on communication with the other vehicles. This framework allows vehicles to react in a dynamic environment, which is a significant advantage to simply following a-priori defined trajectories. The algorithm is applied to a swarm of ground robots, and experimental data is presented showing that the swarm effectively searches the entire area and self-allocates search regions to individual vehicles.

multi-agent↗
NASA NTRS1985

Proposed new concepts for an advanced search and rescue satellite system

Methods of reducing the forwarding time from COSPAS/SARSAT (Space System for Search of Distressed Vessels/Search and Rescue Satellite-Aided Tracking System) satellite passage until a location is supplied to the search and rescue (SAR) forces are studied. It is shown how supplemental use of geostationary satellites or institution off-polar ground stations can reduce the time delay from 62 min to 7 min. The tradeoff between the two approaches is their cost and complexity versus time delay reduction. Sample systems are developed here in order to examine the tradeoffs.

Hembree, W. A.↗
NASA NTRS2020

Search and Rescue under the Forest Canopy using Multiple UAS

We consider the problem of multi-robot search and rescue under the forest canopy. Forest is a particularly challenging environment for collaborative mapping and exploration, mainly due to the existence of severe perceptual aliasing, which hinders reliable mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) with onboard sensing and autonomy. Each UAV runs a lightweight filtering algorithm for local state estimation, and a dynamic-aware frontier selection algorithm for fast exploration. The essential and computationally intensive task of collaborative simultaneous localization and mapping (CSLAM) is performed at a central ground station. To handle perceptual aliasing, we make use of stable landmarks extracted from trees, which significantly improve precision and recall during place recognition. Furthermore, to recover from incorrect pairwise data associations during loop closure, we propose a novel procedure for global data association based on recently developed techniques on cycle consistent multiway matching. Our algorithm returns a global data association that is guaranteed to be cycle consistent, and is shown to significantly improve precision compared to the input pairwise associations. The overall multi-UAV system is extensively validated during real-world collaborative exploration missions in a forest at NASA Langley Research Center.

Multi-robot systems↗
NASA NTRS1977

Error analysis for relay type satellite-aided search and rescue systems

An analysis was made of the errors in the determination of the position of an emergency transmitter in a satellite aided search and rescue system. The satellite was assumed to be at a height of 820 km in a near circular near polar orbit. Short data spans of four minutes or less were used. The error sources considered were measurement noise, transmitter frequency drift, ionospheric effects and error in the assumed height of the transmitter. The errors were calculated for several different transmitter positions, data rates and data spans. The only transmitter frequency used was 406 MHz, but the results can be scaled to different frequencies. In a typical case, in which four Doppler measurements were taken over a span of two minutes, the position error was about 1.2 km.

Marini, J. W.↗
NASA NTRS1979

Error analysis for relay type satellite-aided search and rescue systems

An analysis is made of the errors in the determination of the position of an emergency transmitter in a satellite-aided search and rescue system. The satellite is assumed to be at a height of 820 km in a near-circular near polar orbit. Short data spans of four minutes or less are used. The error sources considered are measurement noise, transmitter frequency drift, ionospheric effects, and error in the assumed height of the transmitter. The errors are calculated for several different transmitter positions, data rates, and data spans. The only transmitter frequency used was 406 MHz, but the result can be scaled to different frequencies.

Marini, J. W.↗
NASA NTRS2002

Synthetic Aperture Radar: The NCCS Enables Search and Rescue

For as long as planes have gone down, dedicated men and women have used ever-improving technologies to aid their search for survivors. Nearly 2,000 general aviation crashes occur each year in U.S.-and many, like the Montana incident, occur without witnesses. On average, every day in the U.S. one airplane is reported missing. The Air Force Rescue Coordination Center (AFRCC) organizes search missions for about 100 aircraft each year. Some of these are not found before the searches called off, and are discovered only by chance long after the crash. In some cases, the crash site is never found. NASA Search and Rescue Mission is using NCCS rescues to develop tools for processing radar data that can help these effort

Source record↗
NASA NTRS1987

Power sources for search and rescue 406 MHz beacons

The results of a study directed at the selection of a commercially available, safe, low cost, light weight and long storage life battery for search and rescue (Sarsat) 406 MHz emergency beacons are presented. In the course of this work, five electrochemical systems (lithium-manganese dioxide, lithium-carbon monofluoride, lithium-silver vanadium oxide, alkaline cells, and cadmium-mercuric oxide) were selected for limited experimental studies to determine their suitability for this application. Two safe, commercially available batteries (lithium-manganese dioxide and lithium-carbon monofluoride) which meet the near term requirements and several alternatives for the long term were identified.

Attia, Alan I.↗
NASA NTRS1976

Satellites for distress alerting and locating: Report by Interagency Committee for Search and Rescue Ad Hoc Working Group

The background behind the congressional legislation that led to the requirement for the Emergency Locator Transmitter (ELT) and the Emergency Position-Indicating Radio Beacon (EPIRB) to be installed on certain types of aircraft and inspected marine vessels respectively is discussed. The DAL problem is discussed for existing ELT and EPIRB equipped aircraft and ships. It is recognized that the DAL requirement for CONUS and Alaska and the maritime regions are not identical. In order to address the serious DAL problem which currently exists in CONUS and Alaska, a low orbiting satellite system evolves as the most viable and cost effective alternative that satisfies the overall SAR system design requirements. A satellite system designed to meet the needs of the maritime regions could be either low orbiting or geostationary. The conclusions drawn from this report support the recommendation to proceed with the implementation of a SAR orbiting satellite system.

Ehrlich, E.↗
NASA NTRS1976

Single pass Doppler positioning for Search and Rescue satellite missions

This paper describes the implementation of beacon location experiments involving the NASA Nimbus-6 and the Amateur Satellite Corporation (AMSAT) Oscar-6 and Oscar-7 spacecraft. The purpose of these experiments is to demonstrate the feasibility of determining the geographical location of a low power VHF 'distress beacon' via satellite. Doppler data collected during satellite passes is reduced in a mini-computer by means of a simple algorithm resulting in the simultaneous recovery of the unknown receiver coordinates and the unknown Doppler bias frequency. Results indicate point positioning to within a few kilometers - which is within the required accuracies for the positioning of downed aircraft for Search/Rescue missions.

Schmid, P. E.↗
NASA NTRS1977

Microprocessor utilization in search and rescue missions

The feasibility of performing the same task in real time using microprocessor technology was determined. The least square algorithm was implemented on an Intel 8080 microprocessor. Results indicated that a microprocessor could easily match the IBM implementation in accuracy and be performed inside the time limitations set.

Schwartz, M.↗
NASA NTRS1978

Microprocessor utilization in search and rescue missions

The position of an emergency transmitter may be determined by measuring the Doppler shift of the distress signal as received by an orbiting satellite. This requires the computation of an initial estimate and refinement of this estimate through an iterative, nonlinear, least squares estimation. A version of the algorithm was implemented and tested by locating a transmitter on the premises and obtaining observations from a satellite. The computer used was an IBM 360/95. The position was determined within the desired 10 km radius accuracy. The feasibility of performing the same task in real time using microprocessor technology, was determined. The least squares algorithm was implemented on an Intel 8080 microprocessor. The results indicate that a microprocessor can easily match the IBM implementation in accuracy and be performed inside the time limitations set.

Schwartz, M.↗
NASA NTRS1978

Search and rescue by satellite

A system of satellites, ground stations and user equipments is proposed to provide an operational demonstration, using existing technology, for the timely detection and position location of general aviation aircraft and marine distress incidents so that rescue efforts can be started as soon as possible. The spaceborne equipment will consist of a transponder capable of receiving signals from existing and planned distress beacons at 121.5, 243.0 and 406.0 MHz, and transmitting at 1543 MHz. The program has generated international interest with Canada, France and the USSR presently planning to participate jointly with the U.S. in the development of the space and ground hardware.

Ehrlich, E.↗
NASA NTRS1978

The search and rescue satellite mission - A basis for international cooperation

The use of geostationary and polar-orbiting satellites to monitor and locate signals of the Emergency Locator Transmitter (ELT) and Emergency Position Indicating Radio Beacon (EPIB) of general aviation aircraft and inspected marine vessels respectively is described. The joint U.S. Canada/France SARSAT demonstration program will require a minimum of four minutes of mutual visibility of distress transmitter, local user terminal and satellite to obtain a location by Doppler tracking. The program consisting of placing instrumentation on-board three of the Tiros-N series of NOAA operational satellites is attracting interest also from other countries including the USSR, Norway, Australia, and Japan.

Redisch, W. N.↗
NASA NTRS1980

Search and rescue satellite-aided tracking system

The objective of Sarsat is to demonstrate that satellites can greatly facilitate the monitoring, detection, and location of distress incidents alerted by Emergency Locator Transmitters (ELTs) and Emergency Position Indicating Radio Beacons (EPIRBs) carried on commercial, military, and general aviation aircraft and some marine vessels. The detection and location will be accomplished by relaying, via satellite, ELT/EPIRB distress information to ground stations, which will complete the data processing and forward alert and position location data to rescue coordination services. This paper presents a Sarsat system description and a summary of Coast Guard and USAF objectives for the initial demonstration and evaluation tests of Sarsat.

Trudell, B.↗
NASA NTRS1980

Search and rescue emergency locating transmitter detection/location procedure via TIROS satellite

A procedure is described which works effectively to detect and locate emergency locating transmitters (ELTs) and emergency position indicating radio beacons (EPIRBs) in a multisignal environment. Using data generated from several manufactured ELTs with diverse superimposed Doppler curves, as many as 9 simultaneous ELTs can be detected and located at a variety of signal strengths. It is noted that average position errors of 10 km are attainable today at signal power to noise spectral density ratios as low as 17 dB-Hz.

Wren, P. E.↗
NASA NTRS1984

SARSAT - Using space for the search and rescue of lives in distress

A major cooperative effort between west and east bloc nations in developing a new space system for detecting ships and aircraft in distress is discussed. The compatible working of the SARSAT system developed by Canada, France, and the US and the COSPAS system developed by the Soviet bloc is summarized, and the SARSAT system is described. The method of location determination is presented, and the ELT and EPIRB, space segment, local user terminal, and mission control center subsystems of the SARSAT system are surveyed, showing block diagrams and data on spacecraft orbital parameters and ELT/EPIRB BECON characteristics. The current problem of ground-based interference is discussed. An outline of future development activities leading to the implementation of a fully operational system is included.

Flatow, F.↗
NASA NTRS1984

Search and rescue satellite (SARSAT) error analysis of the 406 MHz system

A computer simulation investigated conditions encountered by the SARSAT 406 MHz system. Three and four parameter emergency transmitter (ET) location solutions were determined. Latitude and longitude, a frequency bias, and in the four-parameters solutions, a linear frequency drift term were estimated. Earth gravity, frequency drift, and measurement noise are the major error contributors to the ET position. Time-tag ET height and velocity errors, although significant are not routinely present. In the four-parameter solutions the drift error is eliminated; however, the sensitivity to measurement noise increases. Using the four-parameter pass solutions, the 406 MHz oscillator specifications can be relaxed and still satisfy the 5 km positioning requirement. Since a linear oscillator drift is removed in the four-parameter solution, only the measurement noise over 10-15 min is important.

Yionoulis, S. M.↗