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NASA NTRSDate not supplied

Overview of NASA's Ocean Color Instrument Solar Calibration Architecture, Pre-Launch Tests and Preliminary On-Orbit Results

Launched in February 2024, the PACE mission represents NASA’s next investment in ocean biology, clouds, and aerosol data records. A key feature of PACE is the inclusion of an advanced satellite radiometer known as the Ocean Color Instrument (OCI), a global mapping radiometer that combines multispectral and hyperspectral remote sensing. Like its predecessors, OCI will provide two day global coverage of TOA radiances. Unlike its predecessors, OCI will cover a spectral range from 340nm to 2260nm. Below 900nm, OCI will include two spectrometers that continuously span the ultraviolet to 600nm and 600nm to near-infrared spectral regions to provide hyperspectral radiances sampled every 2.5 nm, with a bandwidth of 5 nm for each channel. Wavelengths above 900nm are measured in seven discrete multispectral bands of varying bandwidths, six of which are at similar wavelengths to those on heritage missions to support both atmospheric and ocean color applications. Nominal spatial resolution is similar to the SeaWiFS instrument with 1050 m at nadir. As for SeaWiFS, the pixel size increases due to a ~20 degree tilt and as a function of scan angle. Variations in the radiometric sensitivity of each OCI channel over time will be monitored by solar diffuser measurements for short term instrument gain adjustments and independent lunar measurements for trend adjustments of long time periods, similar to the approach employed for the VIIRS instrument [4]. The OCI flight-unit was built at NASA’s Goddard Space Flight Center. At the time of this writing, OCI has completed on-orbit commissioning activities and normal science operations have begun. A key aspect of the OCI architecture is the capability to trend absolute and relative calibration changes over the course of mission life with solar calibration. Every 24 hours, the PACE spacecraft performs an inertial hold as the ground track nears the North Pole which orients a Quasi-Volume Diffuser (QVD) mounted on OCI towards the sun. By knowing the irradiance of the sun and the reflectivity of the target, the absolute radiance at the input to the OCI aperture can be computed as OCI scans the target. The allowable absolute uncertainty budget for each solar calibration measurement is 1.6% 1-sigma below 900nm at beginning of life (BOL) and the allowable relative uncertainty budget is ~0.26% 1-sigma. The Solar Calibration Assembly (SCA) consists of three targets selectable via a single mechanism which also opens a door. The targets consist of a Daily Bright Target (DBT), Monthly Bright Target (MBT), and Daily Dim Target (DDT). The bright targets are quartz QVDs with the monthly target being used to track the degradation of the daily target. The dim target is used to track CCD linearity using Progressive Time-Delay Integration (PTDI). A composite baffle is attached to the SCA housing aperture to block Earth shine and stray light from the spacecraft. The SCA assembly is mounted to a view port ~90° from OCI nadir. This paper provides an overview of driving solar calibration requirements, error-budgets and early trade studies which drove the solar calibration assembly (SCA) architecture and on-orbit maneuver. Measurements of the diffuser Bidirectional Reflectance Distribution Function (BRDF) at TNO, Netherlands and GSFC are briefly described. Optical modelling and test results at the sub-system and instrument level are included. Finally, preliminary measurements on-orbit are compared to pre-launch predictions.

Joseph J Knuble↗

NASA NTRSDate not supplied

Overview of NASA's Ocean Color Instrument Solar Calibration Architecture, Pre-Launch Tests and Preliminary On-Orbit Results

ocean color↗

NASA NTRS1993

The attitude accuracy consequences of on-orbit calibration of the Extreme Ultraviolet Explorer attitude sensors by the Flight Dynamics Facility at Goddard Space Flight Center

The science mission of the Extreme Ultraviolet Explorer (EUVE) requires attitude solutions with uncertainties of 27, 16.7, 16.7 arcseconds (3 sigma) around the roll, pitch, and yaw axes, respectively. The primary input to the attitude determination process is provided by two NASA standard fixed-head star trackers (FHSTs) and a Teledyne dry rotor inertial reference unit (DRIRU) 2. The attitude determination requirements approach the limits attainable with the FHSTs and DRIRU. The Flight Dynamics Facility (FDF) at Goddard Space Flight Center (GSFC) designed and executed calibration procedures that far exceeded the extent and the data volume of any other FDF-supported mission. The techniques and results of this attempt to obtain attitude accuracies at the limit of sensor capability and the results of analysis of the factors that limit the attitude accuracy are the primary subjects of this paper. The success of the calibration effort is judged by the resulting measurement residuals and comparisons between ground- and onboard-determined attitudes. The FHST star position residuals have been reduced to less tha 4 arcsec per axis -- a value that appears to be limited by the sensor capabilities. The FDF ground system uses a batch least-squares estimator to determine attitude. The EUVE onboard computer (OBC) uses an extended Kalman filter. Currently, there are systematic differences between the two attitude solutions that occasionally exceed the mission requirements for 3 sigma attitude uncertainty. Attempts to understand and reduce these differences are continuing.

Hashmall, J.↗

NASA NTRS2017

Evaluation of HZETRN on the Martian Surface: Sensitivity Tests and Model Results

The Mars Science Laboratory Radiation Assessment Detector (MSLRAD) is providing continuous measurements of dose, dose equivalent, and particle flux on the surface of Mars. These measurements have been highly useful in validating environmental and radiation transport models that will be heavily relied upon for future deep space missions. In this work, the HZETRN code is utilized to estimate radiation quantities of interest on the Martian surface. A description of the modeling approach used with HZETRN is given along with the various input models and parameters used to define the galactic cosmic ray (GCR) environment and Martian geometry. Sensitivity tests are performed to gauge the impact of varying several input factors on quantities being compared to MSLRAD data. Results from these tests provide context for inter-code comparisons presented in a companion paper within this issue. It is found that details of the regolith and atmospheric composition have a minimal impact on surface flux, dose, and dose equivalent. Details of the density variation within the atmosphere and uncertainties associated with specifying the vertical atmospheric thickness are also found to have minimal impact. Two widely used GCR models are used as input into HZETRN and it is found that the associated surface quantities are within several percent of each other.

Tony C Slaba↗

NASA NTRS2017

Unmanned Aircraft Systems Minimum Operations Performance Standards End-to-End Verification and Validation (E2-V2) Simulation

As Unmanned Aircraft Systems (UAS) make their way to mainstream aviation operations within the National Airspace System (NAS), research efforts are underway to develop a safe and effective environment for their integration into the NAS. Detect and Avoid (DAA) systems are required to account for the lack of "eyes in the sky" due to having no human on-board the aircraft. The current NAS relies on pilot's vigilance and judgement to remain Well Clear (CFR 14 91.113) of other aircraft. RTCA SC-228 has defined DAA Well Clear (DAAWC) to provide a quantified Well Clear volume to allow systems to be designed and measured against. Extended research efforts have been conducted to understand and quantify system requirements needed to support a UAS pilot's ability to remain well clear of other aircraft. The efforts have included developing and testing sensor, algorithm, alerting, and display requirements. More recently, sensor uncertainty and uncertainty mitigation strategies have been evaluated. This paper discusses results and lessons learned from an End-to-End Verification and Validation (E2-V2) simulation study of a DAA system representative of RTCA SC-228's proposed Phase I DAA Minimum Operational Performance Standards (MOPS). NASA Langley Research Center (LaRC) was called upon to develop a system that evaluates a specific set of encounters, in a variety of geometries, with end-to-end DAA functionality including the use of sensor and tracker models, a sensor uncertainty mitigation model, DAA algorithmic guidance in both vertical and horizontal maneuvering, and a pilot model which maneuvers the ownship aircraft to remain well clear from intruder aircraft, having received collective input from the previous modules of the system. LaRC developed a functioning batch simulation and added a sensor/tracker model from the Federal Aviation Administration (FAA) William J. Hughes Technical Center, an in-house developed sensor uncertainty mitigation strategy, and implemented a pilot model similar to one from the Massachusetts Institute of Technology's Lincoln Laboratory (MIT/LL). The resulting simulation provides the following key parameters, among others, to evaluate the effectiveness of the MOPS DAA system: severity of loss of well clear (SLoWC), alert scoring, and number of increasing alerts (alert jitter). The technique, results, and lessons learned from a detailed examination of DAA system performance over specific test vectors and encounter cases during the simulation experiment will be presented in this paper.

Ghatas, Rania W.↗

NASA NTRS2016

Role of Updraft Velocity in Temporal Variability of Global Cloud Hydrometeor Number

Understanding how dynamical and aerosol inputs affect the temporal variability of hydrometeor formation in climate models will help to explain sources of model diversity in cloud forcing, to provide robust comparisons with data, and, ultimately, to reduce the uncertainty in estimates of the aerosol indirect effect. This variability attribution can be done at various spatial and temporal resolutions with metrics derived from online adjoint sensitivities of droplet and crystal number to relevant inputs. Such metrics are defined and calculated from simulations using the NASA Goddard Earth Observing System Model, Version 5 (GEOS-5) and the National Center for Atmospheric Research Community Atmosphere Model Version 5.1 (CAM5.1). Input updraft velocity fluctuations can explain as much as 48% of temporal variability in output ice crystal number and 61% in droplet number in GEOS-5 and up to 89% of temporal variability in output ice crystal number in CAM5.1. In both models, this vertical velocity attribution depends strongly on altitude. Despite its importance for hydrometeor formation, simulated vertical velocity distributions are rarely evaluated against observations due to the sparsity of relevant data. Coordinated effort by the atmospheric community to develop more consistent, observationally based updraft treatments will help to close this knowledge gap.

cloud condensation nuclei↗

NASA NTRS2022

Remote sensing-based vegetation and soil moisture constraints reduce irrigation estimation uncertainty

Understanding the human water footprint and its impact on the hydrological cycle is essential to inform water management under climate change. Despite efforts in estimating irrigation water withdrawals in earth system models, uncertainties and discrepancies exist within and across modeling systems conditioned by model structure, irrigation parameterization, and the choice of input datasets. Achieving model reliability could be much more challenging for data-sparse regions, given limited access to ground truth for parameterization and validation. Here, we demonstrate the potential of utilizing remotely sensed vegetation and soil moisture observations in constraining irrigation estimation in the Noah-MP land surface model. Results indicate that the two constraints together can effectively reduce model sensitivity to the choice of irrigation parameterization by 7%–43%. It also improves the characterization of the spatial patterns of irrigation and its impact on evapotranspiration and surface soil moisture by correcting for vegetation conditions and irrigation timing. This study highlights the importance of utilizing remotely sensed soil moisture and vegetation measurements in detecting irrigation signals and correcting for vegetation growth. Integrating the two remote sensing datasets into the model provides an effective and less feature engineered approach to constraining the uncertainty of irrigation modeling. Such strategies can be potentially transferred to other modeling systems and applied to regions across the globe.

Wanshu Nie↗

NASA NTRS1972

Parameter uncertainties in control system design.

Development of a design method for including the effects of parameter uncertainties in the design of linear control systems. The approach taken to this problem may be classified as a special case of the stochastic control problem. Thus the formulation is based on the minimization of the expected value of a quadratic performance index defined in terms of the system state vector. The uncertainty in the value of the performance index is the result of the statistical nature of the system parameters rather than a random input signal. It is shown that the expected value of the performance index may be written as a sum of two terms under the assumption of first-order variations of the system state. The first of these terms expresses the nominal performance of the system when the system parameters assume their mean values. The second term represents the effect of the uncertainties on the expected value of the performance index, and is interpreted as an index of system sensitivity.

Palsson, T.↗

NASA NTRS1994

Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory

Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.

Hess, R. A.↗

NASA NTRS2006

Overview Of Recent Enhancements To The Bumper-II Meteoroid and Orbital Debris Risk Assessment Tool

Discussion includes recent enhancements to the BUMPER-II program and input files in support of Shuttle Return to Flight. Improvements to the mesh definitions of the finite element input model will be presented. A BUMPER-II analysis process that was used to estimate statistical uncertainty is introduced.

Hyde, James L.↗

NASA NTRS2011

Incorporating JULES into NASA's Land Information System (LIS) and Investigations of Land-Atmosphere Coupling

NASA's Land Information System (LIS; lis.gsfc.nasa.gov) is a flexible land surface modeling and data assimilation framework developed over the past decade with the goal of integrating satellite- and ground-based observational data products and advanced land surface modeling techniques to produce optimal fields of land surface states and fluxes. LIS features a high performance and flexible design, and operates on an ensemble of land surface models for extension over user-specified regional or global domains. The extensible interfaces of LIS allow the incorporation of new domains, land surface models (LSMs), land surface parameters, meteorological inputs, data assimilation and optimization algorithms. In addition, LIS has also been demonstrated for parameter estimation and uncertainty estimation, and has been coupled to the Weather Research and Forecasting (WRF) mesoscale model. A visiting fellowship is currently underway to implement JULES into LIS and to undertake some fundamental science on the feedbacks between the land surface and the atmosphere. An overview of the LIS system, features, and sample results will be presented in an effort to engage the community in the potential advantages of LIS-JULES for a range of applications. Ongoing efforts to develop a framework for diagnosing land-atmosphere coupling will also be presented using the suite of LSM and PBL schemes available in LIS and WRF along with observations from the U. S .. Southern Great Plains. This methodology provides a potential pathway to study factors controlling local land-atmosphere coupling (LoCo) using the LIS-WRF system, which will serve as a testbed for future experiments to evaluate coupling diagnostics within the community.

Santanello, Joseph↗

NASA NTRS2011

NASA System Safety Handbook: System Safety Framework and Concepts for Implementation - Volume 1

System safety assessment is defined in NPR 8715.3C, NASA General Safety Program Requirements as a disciplined, systematic approach to the analysis of risks resulting from hazards that can affect humans, the environment, and mission assets. Achievement of the highest practicable degree of system safety is one of NASA's highest priorities. Traditionally, system safety assessment at NASA and elsewhere has focused on the application of a set of safety analysis tools to identify safety risks and formulate effective controls.1 Familiar tools used for this purpose include various forms of hazard analyses, failure modes and effects analyses, and probabilistic safety assessment (commonly also referred to as probabilistic risk assessment (PRA)). In the past, it has been assumed that to show that a system is safe, it is sufficient to provide assurance that the process for identifying the hazards has been as comprehensive as possible and that each identified hazard has one or more associated controls. The NASA Aerospace Safety Advisory Panel (ASAP) has made several statements in its annual reports supporting a more holistic approach. In 2006, it recommended that "... a comprehensive risk assessment, communication and acceptance process be implemented to ensure that overall launch risk is considered in an integrated and consistent manner." In 2009, it advocated for "... a process for using a risk-informed design approach to produce a design that is optimally and sufficiently safe." As a rationale for the latter advocacy, it stated that "... the ASAP applauds switching to a performance-based approach because it emphasizes early risk identification to guide designs, thus enabling creative design approaches that might be more efficient, safer, or both." For purposes of this preface, it is worth mentioning three areas where the handbook emphasizes a more holistic type of thinking. First, the handbook takes the position that it is important to not just focus on risk on an individual basis but to consider measures of aggregate safety risk and to ensure wherever possible that there be quantitative measures for evaluating how effective the controls are in reducing these aggregate risks. The term aggregate risk, when used in this handbook, refers to the accumulation of risks from individual scenarios that lead to a shortfall in safety performance at a high level: e.g., an excessively high probability of loss of crew, loss of mission, planetary contamination, etc. Without aggregated quantitative measures such as these, it is not reasonable to expect that safety has been optimized with respect to other technical and programmatic objectives. At the same time, it is fully recognized that not all sources of risk are amenable to precise quantitative analysis and that the use of qualitative approaches and bounding estimates may be appropriate for those risk sources. Second, the handbook stresses the necessity of developing confidence that the controls derived for the purpose of achieving system safety not only handle risks that have been identified and properly characterized but also provide a general, more holistic means for protecting against unidentified or uncharacterized risks. For example, while it is not possible to be assured that all credible causes of risk have been identified, there are defenses that can provide protection against broad categories of risks and thereby increase the chances that individual causes are contained. Third, the handbook strives at all times to treat uncertainties as an integral aspect of risk and as a part of making decisions. The term "uncertainty" here does not refer to an actuarial type of data analysis, but rather to a characterization of our state of knowledge regarding results from logical and physical models that approximate reality. Uncertainty analysis finds how the output parameters of the models are related to plausible variations in the input parameters and in the modeling assumptions. The evaluation of unrtainties represents a method of probabilistic thinking wherein the analyst and decision makers recognize possible outcomes other than the outcome perceived to be "most likely." Without this type of analysis, it is not possible to determine the worth of an analysis product as a basis for making decisions related to safety and mission success. In line with these considerations the handbook does not take a hazard-analysis-centric approach to system safety. Hazard analysis remains a useful tool to facilitate brainstorming but does not substitute for a more holistic approach geared to a comprehensive identification and understanding of individual risk issues and their contributions to aggregate safety risks. The handbook strives to emphasize the importance of identifying the most critical scenarios that contribute to the risk of not meeting the agreed-upon safety objectives and requirements using all appropriate tools (including but not limited to hazard analysis). Thereafter, emphasis shifts to identifying the risk drivers that cause these scenarios to be critical and ensuring that there are controls directed toward preventing or mitigating the risk drivers. To address these and other areas, the handbook advocates a proactive, analytic-deliberative, risk-informed approach to system safety, enabling the integration of system safety activities with systems engineering and risk management processes. It emphasizes how one can systematically provide the necessary evidence to substantiate the claim that a system is safe to within an acceptable risk tolerance, and that safety has been achieved in a cost-effective manner. The methodology discussed in this handbook is part of a systems engineering process and is intended to be integral to the system safety practices being conducted by the NASA safety and mission assurance and systems engineering organizations. The handbook posits that to conclude that a system is adequately safe, it is necessary to consider a set of safety claims that derive from the safety objectives of the organization. The safety claims are developed from a hierarchy of safety objectives and are therefore hierarchical themselves. Assurance that all the claims are true within acceptable risk tolerance limits implies that all of the safety objectives have been satisfied, and therefore that the system is safe. The acceptable risk tolerance limits are provided by the authority who must make the decision whether or not to proceed to the next step in the life cycle. These tolerances are therefore referred to as the decision maker's risk tolerances. In general, the safety claims address two fundamental facets of safety: 1) whether required safety thresholds or goals have been achieved, and 2) whether the safety risk is as low as possible within reasonable impacts on cost, schedule, and performance. The latter facet includes consideration of controls that are collective in nature (i.e., apply generically to broad categories of risks) and thereby provide protection against unidentified or uncharacterized risks.

Dezfuli, Homayoon↗

NASA NTRS2016

Accuracy of RT Code SORD for Realistic Atmospheric Profiles

We discuss accuracy of our recently developed RT code SORD using 2 benchmark scenarios published by the IPRT group in 2015. These scenarios define atmospheres with a complicate dependence of scattering and absorption properties over height (profile). Equal step, dh=1km, is assumed in the profiles. We developed subroutines that split such atmospheres into layers of the same optical thickness, d tau. We provide full text of the subroutines with comments in Appendix. The d tau is a step for vertical integration in the method of successive orders. Modification of the input profiles from "equal step over h" to "equal step over tau" changes input for RT simulations. This may cause errors at or above the acceptable level of the measurement uncertainty. We show errors of the RT code SORD for both intensity and polarization. In addition to that, using our discrete ordinates RT code IPOL, we discuss one more IPRT scenario, in which changes in height profile indeed cause unacceptable errors. Clear understanding of source and magnitude of these errors is important, e.g. for the AERONET retrieval algorithm. SORD is available from ftp://maiac.gsfc.nasa.gov/pub/skorkin/SORD_IP_16B/ or by email request from the first author.

polarization↗

NASA NTRS1999

Flight-Determined, Subsonic, Lateral-Directional Stability and Control Derivatives of the Thrust-Vectoring F-18 High Angle of Attack Research Vehicle (HARV), and Comparisons to the Basic F-18 and Predicted Derivatives

The subsonic, lateral-directional, stability and control derivatives of the thrust-vectoring F-1 8 High Angle of Attack Research Vehicle (HARV) are extracted from flight data using a maximum likelihood parameter identification technique. State noise is accounted for in the identification formulation and is used to model the uncommanded forcing functions caused by unsteady aerodynamics. Preprogrammed maneuvers provided independent control surface inputs, eliminating problems of identifiability related to correlations between the aircraft controls and states. The HARV derivatives are plotted as functions of angles of attack between 10deg and 70deg and compared to flight estimates from the basic F-18 aircraft and to predictions from ground and wind tunnel tests. Unlike maneuvers of the basic F-18 aircraft, the HARV maneuvers were very precise and repeatable, resulting in tightly clustered estimates with small uncertainty levels. Significant differences were found between flight and prediction; however, some of these differences may be attributed to differences in the range of sideslip or input amplitude over which a given derivative was evaluated, and to differences between the HARV external configuration and that of the basic F-18 aircraft, upon which most of the prediction was based. Some HARV derivative fairings have been adjusted using basic F-18 derivatives (with low uncertainties) to help account for differences in variable ranges and the lack of HARV maneuvers at certain angles of attack.

Iliff, Kenneth W.↗

NASA NTRSDate not supplied

Quantifying Uncertainty in Particle Size Distribution Parameters Inferred from SAGE III/ISS Extinction Spectra

Stratospheric aerosols play key roles in the chemistry and radiation balance of the atmosphere and are a key input parameter for global chemistry and climate models. The degree to which aerosols impact chemistry and radiation balance depends primarily on their microphysical properties such as particle size distribution (PSD). The PSD is a mathematical description of the relative abundance of different sized particles within a sampling volume. If the PSD is accurately known then other key modeling parameters (e.g., surface area density) can be derived. Occultation observations from orbital instruments such as SAGE III/ISS have been used to infer these PSD parameters by inverting the extinction coefficient spectra. However, past efforts failed to address two key issues with this methodology: 1. The measurement uncertainty was not accounted for; 2. They assumed the PSDs to be single-mode only, while “real-world” PSDs are predominantly bi-modal. Accounting for both issues in the retrieval will yield an expanded solution space to the inferred PSD parameters; the question is “by how much?” To address this knowledge gap, we propose to carry out a series of simulations and, for every valid SAGE III/ISS data point, determine the range of PSD parameters that yield extinction spectra that are indistinguishable from the SAGE III/ISS data, within the limits of the reported uncertainty. Further, we will expand the solution space, for the first time, to include bimodal distributions. The results of this work will advance Earth system modeling/prediction capability through identifying the uncertainty of PSD parameter estimates using SAGE III/ISS data. The key benefits of this study over previous studies are twofold: 1. we will provide PSD estimates that include bimodal distributions in the solution space, 2. we will provide an uncertainty estimate for these parameters. The results of this study may be used directly in current and future climate and chemistry models.

SAGE III/ISS↗

NASA NTRS1982

Copernicus measurement of the Jovian Lyman-alpha emission and its aeronomical significance

It is pointed out that the intensity of the Lyman-alpha emission is a good indicator of the principal aeronomical processes on the major planets. The high-resolution ultraviolet spectrometer aboard the Orbiting Astronomical Observatory Copernicus was used in 1980 April and May to detect the Jovian Lyman-alpha emission by spectroscopically discriminating it from other Doppler shifted Lyman-alpha emissions such as those of the geocorona, and the interplanetary medium. Taking into consideration the reported emission data, it appears that an unusually large energy input due to the particle precipitation in the auroral region must have been responsible for the large observed Lyman-alpha intensity during the Voyager encounter. At most other times, the observed Jovian Lyman-alpha intensity can be explained, within the range of statistical uncertainty, by a model that takes into consideration the solar EUV flux, the solar Lyman-alpha flux, the high exospheric temperature, and the eddy diffusion coefficient without energy input from the auroral sources.

Atreya, S. K.↗

NASA NTRS1981

Design model for the baffle aperture region of a hollow cathode thruster

A current balance on the main discharge chamber of an electron bombardment thruster is carried out. It is shown that the discharge current is the sum of the net cathode emission current, the beam current, and the ion current to cathode potential surfaces. Measurements of ion currents outside the virtual anode surface in a SERT II divergent magnetic field thruster show that relatively few ions cross this surface. This implies that ions are directed preferentially toward the anode and cathode pole pieces. A simple theoretical model useful as an aid in the design of the baffle aperture region of a hollow cathode equipped thruster is developed. The electron diffusion process through the aperture is modeled in accordance with the Bohm diffusion theory. The model is shown to yield consistent results for a given thruster geometry over substantial changes in operating conditions. The model's design usefulness is limited by a factor of two uncertainty observed over different thruster/cathode region geometries and by the accuracy to which the plasma parameters required as inputs to the model can be specified.

Brophy, J. R.↗

NASA NTRS1989

Building an environment model using depth information

Modeling the environment is one of the most crucial issues for the development and research of autonomous robot and tele-perception. Though the physical robot operates (navigates and performs various tasks) in the real world, any type of reasoning, such as situation assessment, planning or reasoning about action, is performed based on information in its internal world. Hence, the robot's intentional actions are inherently constrained by the models it has. These models may serve as interfaces between sensing modules and reasoning modules, or in the case of telerobots serve as interface between the human operator and the distant robot. A robot operating in a known restricted environment may have a priori knowledge of its whole possible work domain, which will be assimilated in its World Model. As the information in the World Model is relatively fixed, an Environment Model must be introduced to cope with the changes in the environment and to allow exploring entirely new domains. Introduced here is an algorithm that uses dense range data collected at various positions in the environment to refine and update or generate a 3-D volumetric model of an environment. The model, which is intended for autonomous robot navigation and tele-perception, consists of cubic voxels with the possible attributes: Void, Full, and Unknown. Experimental results from simulations of range data in synthetic environments are given. The quality of the results show great promise for dealing with noisy input data. The performance measures for the algorithm are defined, and quantitative results for noisy data and positional uncertainty are presented.

Roth-Tabak, Y.↗