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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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NASA NTRS2005

Tumbleweed Rovers

Tumbleweed rovers, now undergoing development, are lightweight, inflatable, approximately spherical exploratory robotic vehicles designed to roll across terrain, using only wind for propulsion. Tumbleweed rovers share many features with beach-ball rovers, which were discussed in several prior NASA Tech Briefs articles. Conceived for use in exploring remote planets, tumbleweed rovers could also be used for exploring relatively inaccessible terrain on Earth. A fully developed tumbleweed rover would consist of an instrumentation package suspended in an inflated twolayer (nylon/polypropylene) ball. The total mass of the rover would be of the order of 10 kg, the diameter of the ball when inflated would be 2 meters, and the minimum wind speed needed for propulsion would be about 5 m/s. The instrumentation package would contain a battery power supply, sensors, a Global Positioning System (GPS) receiver, and a radio transmitter that would send the sensor readings and the GPS position and time readings to a monitoring station via a satellite communication system. Depending on the specific exploratory mission, the sensors could include a thermometer, a barometer, a magnetometer (for studying the terrestrial magnetic field and/or detecting buried meteorites), a subsurface radar system (for measuring ice thickness and/or detecting buried meteorites), and/or one or two diametrally opposed cameras that would take the part of sending two side-looking images out. In the planned Antarctic field test, a prototype tumbleweed rover was released at a location near the South Pole. Using the global Iridium satellite network to send information about its position, the rover transmitted temperature, pressure, humidity, and light intensity data to NASA s Jet Propulsion Laboratory. The rover reached speeds of 30 km per hour over the Antarctic ice cap, and traveled at an average speed of about 6 km per hour. The test was designed to confirm the rover s long-term durability in an extremely cold environment, with the goal being eventual use of the device to explore the Martian polar caps and other planets in the solar system. On future Antarctic exploratory missions, tumbleweed rovers might be used to acquire sensor data for studies of global warming, ozone depletion, and impacts of meteorites.

Behar, Alberto↗
NASA NTRS2002

Apolipoprotein E expression and behavioral toxicity of high charge, high energy (HZE) particle radiation

Apolipoprotein E (apoE) is a lipid binding protein that plays an important role in tissue repair following brain injury. In the present studies, we have investigated whether apoE affects the behavioral toxicity of high charge, high energy (HZE) particle radiation. METHODS: Sixteen male apoE knockout (KO) mice and sixteen genetically matched wild-type (WT) C57BL mice were used in this experiment. Half of the KO and half of the WT animals were irradiated with 600 MeV/amu iron particles (2 Gy whole body). The effect of irradiation on motor coordination and stamina (Rotarod test), exploratory behavior (open field test), and spatial working and reference memory (Morris water maze) was assessed. ROTAROD TEST: Performance was adversely affected by radiation exposure in both KO and WT groups at 30 d after irradiation. By 60 d after radiation, the radiation effect was lost in WT, but still apparent in irradiated KO mice. OPEN FIELD TEST: Radiation reduced open field exploratory activity 14, 28, 56, 84, and 168 d after irradiation of KO mice, but had no effect on WT mice. MORRIS WATER MAZE: Radiation adversely affected spatial working memory in the KO mice, but had no discernible effect in the WT mice as assessed 180 d after irradiation. In contrast, irradiated WT mice showed marked impairment of spatial reference memory in comparison to non-irradiated mice, while no effect of radiation was observed in KO mice. CONCLUSIONS: These studies show that apoE expression influences the behavioral toxicity of HZE particle radiation and suggest that apoE plays a role in the repair/recovery from radiation injury of the CNS. ApoE deficiency may exacerbate the previously reported effects of HZE particle radiation in accelerating the brain aging process.

Non-NASA Center↗
NASA NTRS1980

AgRISTARS: Foreign commodity production forecasting. Minutes of the annual formal project manager's review, including preliminary technical review reports of FY80 experiments

The U.S./Canada wheat/barley exploratory experiment is discussed with emphasis on labeling, machine processing using P1A, and the crop calendar. Classification and the simulated aggregation test used in the U.S. corn/soybean exploratory experiment are also considered. Topics covered regarding the foreign commodity production forecasting project include: (1) the acquisition, handling, and processing of both U.S. and foreign agricultural data, as well as meteorological data. The accuracy assessment methodology, multicrop sampling and aggregation technology development, frame development, the yield project interface, and classification for area estimation are also examined.

Source record↗
NASA NTRS1985

Structure and properties of polyethylene films used in heavy lift balloons

The following features of five polyethylene films used by NASA in the construction of heavy lift balloons have been examined: molecular weight, molecular weight distribution, branching, melting behavior, density, surface texture, birefringence, orientation of crystalline regions, unlaxial deformation in the machine and transverse directions, and the effect of sample geometry and strain rate on deformation behavior. The goal of this exploratory study was to determine whether there are significant differences in any of the above mentioned features, or combination of features between the films. The acquisition of such information is a first step towards determining whether there are any specific correlations between film characteristics and the incidence of catastrophic failure of balloons during ascent through the troposphere. This exploratory study has resulted in the identification of similarities and differences between various features of the films.

Khoury, F.↗
NASA NTRS1990

Suspension systems for ground testing large space structures

A research program is documented for the development of improved suspension techniques for ground vibration testing of large, flexible space structures. The suspension system must support the weight of the structure and simultaneously allow simulation of the unconstrained rigid-body movement as in the space environment. Exploratory analytical and experimental studies were conducted for suspension systems designed to provide minimum vertical, horizontal, and rotational degrees of freedom. The effects of active feedback control added to the passive system were also investigated. An experimental suspension apparatus was designed, fabricated, and tested. This test apparatus included a zero spring rate mechanism (ZSRM) designed to support a range of weights from 50 to 300 lbs and provide vertical suspension mode frequencies less than 0.1 Hz. The lateral suspension consisted of a pendulum suspended from a moving cart (linear bearing) which served to increase the effective length of the pendulum. The torsion suspension concept involved dual pendulum cables attached from above to a pivoting support (bicycle wheel). A simple test structure having variable weight and stiffness characteristics was used to simulate the vibration characteristics of a large space structure. The suspension hardware for the individual degrees of freedom was analyzed and tested separately and then combined to achieve a 3 degree of freedom suspension system. Results from the exploratory studies should provide useful guidelines for the development of future suspension systems for ground vibration testing of large space structures.

Gold, Ronald R.↗
NASA NTRS1991

Four NASA submillimeter-wavelength space-astrophysics missions

For several years studies have been conducted at the NASA/Jet Propulsion Laboratory on four passively-cooled submillimeter-wavelength, space observatories. Two exploratory missions were studied: a 2.5-m Submillimeter Explorer (SMME) and a more ambitious 3.7-m Submillimeter Imager and Line Survey (SMILS). Only one of these missions would actually be flown, and its goal would be to perform a high-spectral-resolution survey of several hundreds of sources at wavelengths between 100 and about 750 microns with modest angular resolution. Following either SMME or SMILS, the Large Deployable Reflector (LDR) and/or the Synthesis Array for Lunar Submillimeter Astronomy (SALSA) would be flown. LDR is a 10- to 20-m diameter telescope with greatly increased sensitivity and imaging capabilities compared to the exploratory missions. SALSA is a lunar-based array consisting of twelve 3.5-m diameter telescopes with a maximum baseline of nearly 1-km. With operating wavelengths between 30 and 500 microns, SALSA would achieve 10 milliarcsecond angular resolution, and thus could explore source structure in much greater detail than the other missions. The purpose of this paper is to present the current conceptual designs for these missions, and to discuss the most recent payload analysis.

Mahoney, M. J.↗
NASA NTRS1989

A lunar venture

As the Earth's space station is in its final stages of design, the dream of a permanent manned space facility is now a reality. Despite this monumental achievement, however, man's quest to extend human habitation further out into space is far from being realized. The next logical step in space exploration must be the construction of a permanent lunar base. This lunar infrastucture can, in turn, be used as a staging ground for further exploration of the remote regions of the solar system. As outlined by the National Aeronautics and Space Administration, the lunar base program consists of three exploratory and implementation phases. In response to the technological and facility requirements of Phase 1 and 2 of this program, the Aerospace Vehicle Design Program of the University of Virgina (UVA) is proud to present a preliminary design for such a lunar infrastructure. This study is a comprehensive evaluation of the mission requirements as well as the design criteria for space vehicles and facilities. The UVA Lunar Venture is a dual system that consists of a lunar space station and a fleet of lunar landers/transporters. With such a design, it is demonstrated that all initial exploratory and construction requirements for the lunar base can be efficiently satisfied. Additionally, the need for such a dual system is justified both from a logistic and economic standpoint.

Lee, Joo Ahn↗
NASA NTRS1993

A strategy for a lunar base

A strategy for the establishment of a human-tended base on the moon that involves an evolutionary development spanning from an exploratory encampment to a self-sufficient lunar base is proposed. Four strategic architectural stages in the evolutionary human exploration and settlement of the moon, based on specified engineering requirements and feasible enabling technologies, are proposed. The four stages are: (1) exploratory; (2) pioneering; (3) outpost; and (4) base. Overall goals and specific objectives, functional requirements, structural characteristics, construction conditions, life support systems requirements, and supporting systems needed for lunar exploration and utilization in each stage are identified and discussed.

Sadeh, Willy Z.↗
NASA NTRS1997

Chemical Characteristics of Continental Outflow from Asia to the Troposphere Over the Western Pacific Ocean during February - March 1994: Results from PEM-West B

We present here the chemical composition of outflow from the Asian continent to the atmosphere over the western Pacific basin during the Pacific Exploratory Mission-West (PEM-West B) in February-March 1994. Comprehensive measurements of important tropospheric trace gases and aerosol particulate matter were performed from the NASA DC-8 airborne laboratory. Backward 5 day isentropic trajectories were used to partition the outflow from two major source regions- continental north (greater than 20 deg N) and continental south (less than 20 deg N). Air parcels that had not passed over continental areas for the previous 5 days were classified as originating from an aged marine source. The trajectories and the chemistry together indicated that there was extensive rapid outflow of air parcels at altitudes below 5 km, while aged marine air was rarely encountered and only at less than 20 deg N latitude. The outflow at low altitudes had enhancements in common industrial solvent vapors such as C2Cl4, CH3CCl3, and C6H6, intermixed with the combustion emission products C2H2, C2H6, CO, and NO. The mixing ratios of all species were up to tenfold greater in outflow from the continental north compared to the continental south source region, with Pb-210 concentrations reaching 38 fCi (10(exp -15) curies) per standard cubic meter. In the upper troposphere we again observed significant enhancements in combustion-derived species in the 8-10 km altitude range, but water-soluble trace gases and aerosol species were depleted. These observations suggest that ground level emissions were lofted to the upper troposphere by wet convective systems which stripped water-soluble components from these air parcels. There were good correlations between C2H2 and CO and C2H6 (r(sup 2) = 0.70 - 0.97) in these air parcels and much weaker ones between C2H2 and H2O2 or CH3OOH (r(sup 2) = 0.50). These correlations were the strongest in the continental north outflow where combustion inputs appeared to be recent (1 - 2 days old). Ozone and PAN showed general correlation in these same air parcels but not with the combustion products. It thus appears that several source inputs were intermixed in these upper tropospheric air masses, with possible contributions from European or Middle Eastern source regions. In aged marine air mixing ratios of 03 (approximately equals 20 parts per billion by volume) and PAN (less than or equal to 10 parts per trillion by volume) were nearly identical at less than 2 km and 10 - 12 km altitudes due to extensive convective uplifting of marine boundary layer air over the equatorial Pacific even in wintertime. Comparison of the Pacific Exploratory Mission-West A and PEM-West B data sets shows significantly larger mixing ratios of SO2 and H2O2 during PEM-West A. Emissions from eruption of Mount Pinatubo are a likely cause for the former, while suppressed photochemical activity in winter was probably responsible for the latter. This comparison also highlighted the twofold enhancement in C2H2, C2H6, and C3H8 in the continental north outflow during /PEM-West B. Although this could be due to reduced OH oxidation rates of these species in wintertime, we argue that increased source emissions are primarily responsible.

Talbot, R. W.↗
NASA NTRS1997

Distribution and Seasonality of Selected Hydrocarbons and Halocarbons over the Western Pacific Basin During PEM-West A and PEM-West B

Nonmethane hydrocarbons (NMHCs) and halocarbons were measured in the troposphere over the northwestern Pacific as part of the airborne component of NASA's Pacific Exploratory Mission-West Phase B (PEM-West B). This study took place in late winter of 1994, a period characterized by maximum outflow from the Asian continent. The results are compared to those from Pacific Exploratory Mission-West Phase A (PEM-West A), which was flown in the same region during late summer of 1991, when flow from the subtropical western Pacific dominated the lower troposphere. Mixing ratios of NMHCs, tetrachloroethene (C2Cl4), and methyl bromide (CH3Br) were significantly higher during PEM-West B than during PEM-West A, particularly at latitudes north of 25 deg N and altitudes lower than 6 km. The primary reasons for these higher ambient concentrations were the seasonal increase in the atmospheric lifetimes of trace gases controlled by HO radical reactions, and the more frequent input of continental air masses. During PEM-West B, air masses of continental origin observed north of 25 deg N latitude were augmented with urban signature gases such as C2Cl4. By contrast, more southerly continental outflow had characteristics associated with combustion sources such as biomass burning, including wood fuel burning. During the summer PEM-West A period, the spatial distribution of methyl iodide (CH3I) was consistent with effective oceanic sources at all latitudes, being especially strong in tropical and subtropical regions. At low latitudes, PEM-West B CH3I mixing ratios in the lower troposphere were similar to PEM-West A, but at latitudes greater than about 25 deg N PEM-West B concentrations were significantly reduced. Equatorial regions exhibited enhanced CH3I mixing ratios extending into the upper tropical troposphere, consistent with fast vertical transport of air from the tropical marine boundary layer.

Blake, Nicola J.↗
NASA NTRS1997

Atmospheric Layers Measured from the NASA DC-8 During PEM-West B and Comparison with PEM-West A

The Pacific Exploratory Mission-West B (PEM-West B) explored atmospheric layer structure using measurements of O3, H2O, CO, and CH4 from the NASA DC-8 fast-response instruments. The mission took place in February-March 1994 over the western Pacific, mainly in the northern hemisphere. Results were compared with similar measurements made during the Pacific Exploratory Mission-West A (PEM-West A) in September-October 1991. PEM-West B sampled 94 vertical profiles, with an average atmospheric depth per profile of 6.4 km, and this sampling yielded 254 discrete layers. PEM-West A sampled 105 profiles, also with a 6.4 km average depth, yielding 538 layers. Both missions revealed that layers containing high ozone and low water vapor were the most abundant, and low ozone and high water vapor layers were the next most abundant. Lidar images and potential vorticity cross sections showed the former associated with subsidence from the stratosphere in middle latitudes, spreading into the tropics. The latter was associated with convection from the boundary layer. The partition among different types of layers only changed slightly in the two missions, although PEM-West B had half as many layers. Compared to PEM-West A, PEM-West B showed only one-third the number of layers associated with polluted continental air. However, PEM-West B revealed significantly more layers showing characteristics of descended clean marine air. In some cases these layers originated from the southern hemisphere. For ozone- and water-vapor-rich layers, the ozone deviation amplitude was higher in low latitudes and lower in high latitudes in PEM-West B. The mean thickness of layers increased from about 450 m in PEM-West A to 680 in in PEM-West B. Layers also existed in the Intertropical Convergence Zone. CO2 measurements had sufficient vertical resolution to show layer structure as well.

Wu, Zhongxiang↗
NASA NTRS1997

End of Project Report

Nonmethane hydrocarbons (NMHCs) and halocarbons were measured in the troposphere over the northwestern Pacific as part of the airborne component of NASA's Pacific Exploratory Mission-West Phase B (PEM-West B). This study took place in late winter of 1994, a period characterized by maximum outflow from the Asian continent. The results are compared to those from Pacific Exploratory Mission-West Phase A (PEM-West A), which was flown in the same region during late summer of 1991, when flow from the subtropical western Pacific dominated the lower troposphere. Mixing ratios of NMHCS, tetrachloroethene (C2Cl4), and methyl bromide (CH3Br) were significantly higher during PEM-West B than during PEM-West A, particularly at latitudes north of 25 N and altitudes lower than 6 km. The primary reasons for these higher ambient concentrations were the seasonal increase in the atmospheric lifetimes of trace gases controlled by HO radical reactions, and the more frequent input of continental air masses. During PEM-West B, air masses of continental origin observed north of 25 N latitude were augmented with urban signature gases such as C2Cl4. By contrast, more southerly continental outflow had characteristics associated with combustion sources such as biomass burning, including wood fuel burning. During the summer PEM-West A period, the spatial distribution of methyl iodide (CH3I) was consistent with effective oceanic sources at all latitudes, being especially strong in tropical and subtropical regions. At low latitudes, PEM-West B CH3I mixing ratios in the lower troposphere were similar to PEM-West A, but at latitudes greater than about 25 N PEM-West B concentrations were significantly reduced. Equatorial regions exhibited enhanced CH3I mixing ratios extending into the upper tropical troposphere, consistent with fast vertical transport of air from the tropical marine boundary layer.

Blake, Donald R.↗
NASA NTRS1999

Applications of Constituent Data Assimilation Systems

Organizations in Europe, Australia, and the United States have recently broadened constituent assimilation activities beyond that water vapor, which has been assimilated for years in the numerical weather prediction community. Many of these activities have focused on ozone, with some efforts focused on the entire suite of reactive constituents that control the ozone distribution. This talk will draw from results from the near real-time ozone data assimilation system being run by NASA's Data Assimilation Office. This system utilizes ozone observations from both the TOMS and the SBUV instrument to generate global synoptic maps of ozone. The initial application of this product is to provide ozone fields to assist in the atmospheric corrections' that are necessary for the retrieval of information from other NASA instruments. The validation of the ozone assimilation system shows that the assimilated product agrees well with independent HALOE and ozonesonde observations. This suggests that the product is of sufficient quality to be extended to other applications. This talk will enumerate these other applications and present initial results from exploratory research. The applications being considered include estimates of tropospheric ozone, provision of ozone fields for interactive retrievals, use of analysis increments from the assimilation to evaluate model performance, and development of long-term consistent three-dimensional global ozone fields. The results from the exploratory studies are promising, and help demonstrate how assumptions made in the p development of the ozone assimilation impact the other applications. For instance, RMS errors in the current product are large near the tropopause, which is sensitive to the specification of vertical correlation functions, which in turns impacts the amount of ozone analyzed to be in the troposphere. How these sensitivities impact the different applications will also be discussed.

Rood, Richard B.↗
NASA NTRS2000

Results from NASA's Near Real Time Ozone Data Assimilation Systems

Organizations in Europe, Australia, and the United States have recently broadened constituent assimilation activities beyond water vapor, which has been assimilated for years in the numerical weather prediction applications. Many of these activities have focused on ozone, with some efforts focused on the entire suite of reactive constituents that control the ozone distribution. This talk will draw from results from the near real-time ozone data assimilation system being run by NASA's Data Assimilation Office. This system utilizes ozone observations from both the TOMS and the SBUV instrument to generate global synoptic maps of ozone. The initial application of this product is to provide ozone fields to assist in the atmospheric corrections' that are necessary for the retrieval of information from other NASA instruments. The validation of the ozone assimilation system shows that the assimilated product agrees well with independent HALOE and ozonesonde observations. Aside from providing a global synoptic map, there is verifiable geophysical information at higher vertical resolution than either of the date types input into the system. This talk will establish the validation results and enumerate applications of the ozone data assimilation system. Results from exploratory research will be presented. The applications being considered include estimates of tropospheric ozone, provision of ozone fields for interactive retrievals, use of analysis increments from the assimilation to evaluate model performance, and development of long-term consistent three-dimensional global ozone fields. The results from the exploratory studies are promising, and help demonstrate how assumptions made in the development of the ozone assimilation impact the other applications. For instance, RMS errors in the current product are large near the tropopause, which is sensitive to the specification of vertical correlation functions, which in turns impacts the amount of ozone analyzed to be in the troposphere. How these sensitivities impact the different applications will also be discussed.

Rood, Richard B.↗
NASA NTRS2001

Radiation transport modeling and assessment to better predict radiation exposure, dose, and toxicological effects to human organs on long duration space flights

NASA is very interested in improving its ability to monitor and forecast the radiation levels that pose a health risk to space-walking astronauts as they construct the International Space Station and astronauts that will participate in long-term and deep-space missions. Human exploratory missions to the moon and Mars within the next quarter century, will expose crews to transient radiation from solar particle events which include high-energy galactic cosmic rays and high-energy protons. Because the radiation levels in space are high and solar activity is presently unpredictable, adequate shielding is needed to minimize the deleterious health effects of exposure to radiation. Today, numerous models have been developed and used to predict radiation exposure. Such a model is the Space Environment Information Systems (SPENVIS) modeling program, developed by the Belgian Institute for Space Aeronautics. SPENVIS, which has been assessed to be an excellent tool in characterizing the radiation environment for microelectronics and investigating orbital debris, is being evaluated for its usefulness with determining the dose and dose-equivalent for human exposure. Thus far. the calculations for dose-depth relations under varying shielding conditions have been in agreement with calculations done using HZETRN and PDOSE, which are well-known and widely used models for characterizing the environments for human exploratory missions. There is disagreement when assessing the impact of secondary radiation particles since SPENVIS does a crude estimation of the secondary radiation particles when calculating LET versus Flux. SPENVIS was used to model dose-depth relations for the blood-forming organs. Radiation sickness and cancer are life-threatening consequences resulting from radiation exposure. In space. exposure to radiation generally includes all of the critical organs. Biological and toxicological impacts have been included for discussion along with alternative risk mitigation methods--shielding and anti-carcinogens. c 2001. Elsevier Science Ltd. All rights reserved.

STS-91 Shuttle Project↗
NASA NTRS1999

Electric organ discharges and electric images during electrolocation

Weakly electric fish use active electrolocation - the generation and detection of electric currents - to explore their surroundings. Although electrosensory systems include some of the most extensively understood circuits in the vertebrate central nervous system, relatively little is known quantitatively about how fish electrolocate objects. We believe a prerequisite to understanding electrolocation and its underlying neural substrates is to quantify and visualize the peripheral electrosensory information measured by the electroreceptors. We have therefore focused on reconstructing both the electric organ discharges (EODs) and the electric images resulting from nearby objects and the fish's exploratory behaviors. Here, we review results from a combination of techniques, including field measurements, numerical and semi-analytical simulations, and video imaging of behaviors. EOD maps are presented and interpreted for six gymnotiform species. They reveal diverse electric field patterns that have significant implications for both the electrosensory and electromotor systems. Our simulations generated predictions of the electric images from nearby objects as well as sequences of electric images during exploratory behaviors. These methods are leading to the identification of image features and computational algorithms that could reliably encode electrosensory information and may help guide electrophysiological experiments exploring the neural basis of electrolocation.

Review, Tutorial↗
NASA NTRS2004

Aeroshell Design Techniques for Aerocapture Entry Vehicles

A major goal of NASA s In-Space Propulsion Program is to shorten trip times for scientific planetary missions. To meet this challenge arrival speeds will increase, requiring significant braking for orbit insertion, and thus increased deceleration propellant mass that may exceed launch lift capabilities. A technology called aerocapture has been developed to expand the mission potential of exploratory probes destined for planets with suitable atmospheres. Aerocapture inserts a probe into planetary orbit via a single pass through the atmosphere using the probe s aeroshell drag to reduce velocity. The benefit of an aerocapture maneuver is a large reduction in propellant mass that may result in smaller, less costly missions and reduced mission cruise times. The methodology used to design rigid aerocapture aeroshells will be presented with an emphasis on a new systems tool under development. Current methods for fast, efficient evaluations of structural systems for exploratory vehicles to planets and moons within our solar system have been under development within NASA having limited success. Many systems tools that have been attempted applied structural mass estimation techniques based on historical data and curve fitting techniques that are difficult and cumbersome to apply to new vehicle concepts and missions. The resulting vehicle aeroshell mass may be incorrectly estimated or have high margins included to account for uncertainty. This new tool will reduce the guesswork previously found in conceptual aeroshell mass estimations.

Dyke, R. Eric↗
NASA NTRS2009

Determining Locations by Use of Networks of Passive Beacons

Networks of passive radio beacons spanning moderate-sized terrain areas have been proposed to aid navigation of small robotic aircraft that would be used to explore Saturn s moon Titan. Such networks could also be used on Earth to aid navigation of robotic aircraft, land vehicles, or vessels engaged in exploration or reconnaissance in situations or locations (e.g., underwater locations) in which Global Positioning System (GPS) signals are unreliable or unavailable. Prior to use, it would be necessary to pre-position the beacons at known locations that would be determined by use of one or more precise independent global navigation system(s). Thereafter, while navigating over the area spanned by a given network of passive beacons, an exploratory robot would use the beacons to determine its position precisely relative to the known beacon positions (see figure). If it were necessary for the robot to explore multiple, separated terrain areas spanned by different networks of beacons, the robot could use a long-haul, relatively coarse global navigation system for the lower-precision position determination needed during transit between such areas. The proposed method of precise determination of position of an exploratory robot relative to the positions of passive radio beacons is based partly on the principles of radar and partly on the principles of radio-frequency identification (RFID) tags. The robot would transmit radar-like signals that would be modified and reflected by the passive beacons. The distance to each beacon would be determined from the roundtrip propagation time and/or round-trip phase shift of the signal returning from that beacon. Signals returned from different beacons could be distinguished by means of their RFID characteristics. Alternatively or in addition, the antenna of each beacon could be designed to radiate in a unique pattern that could be identified by the navigation system. Also, alternatively or in addition, sets of identical beacons could be deployed in unique configurations such that the navigation system could identify their unique combinations of radio-frequency reflections as an alternative to leveraging the uniqueness of the RFID tags. The degree of dimensional accuracy would depend not only on the locations of the beacons but also on the number of beacon signals received, the number of samples of each signal, the motion of the robot, and the time intervals between samples. At one extreme, a single sample of the return signal from a single beacon could be used to determine the distance from that beacon and hence to determine that the robot is located somewhere on a sphere, the radius of which equals that distance and the center of which lies at the beacon. In a less extreme example, the three-dimensional position of the robot could be determined with fair precision from a single sample of the signal from each of three beacons. In intermediate cases, position estimates could be refined and/or position ambiguities could be resolved by use of supplementary readings of an altimeter and other instruments aboard the robot.

Okino, Clayton↗