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NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗
NASA NTRS2001

Sedimentation along the Eastern Chenier Plain Coast: Down Drift Impact of a Delta Complex Shift

The Mississippi River Chenier Plain is a shore parallel landform (down-drift from the Atchafalaya distributary of the Mississippi River) consisting of an alternating series of transgressive sand-shell ridges and regressive, progradational mudflats. The late 1940s shift of 1/3 of the flow of the Mississippi to the newly developing Atchafalaya delta complex to the west has resulted in injection of the river waters and suspended sediment into the westward flowing currents of the coastal current system. This has reactivated the dormant processes of mud accumulation along this coast. These environmental circumstances have provided the opportunity to: (1) investigate the depositional processes of the prograding, fine grained, mud flat facies of the open Chenier main coast and (2) to test the hypothesis that the impacts of the frequent cold front passages of fall, winter and spring exceed those of the occasional and more localized hurricane in shaping the coast and powering the dominant sedimentary processes. We conducted field investigations with the benefit of multi - scale, time series environmental surveillance by remote sensing systems, including airborne and satellite sensors. These systems provided invaluable new information on areal geomorphic patterns and the behavior of the coastal waters. This is a classic case of weather impacting inner shelf waters and sediments and causing the development of a new landform. It is clear that mud flats of the eastern chenier plain are prograding seaward, as well as progressively growing in a westerly direction.

Huh, Oscar K.↗
NASA NTRS2000

Forward Monte Carlo Computations of Polarized Microwave Radiation

Microwave radiative transfer computations continue to acquire greater importance as the emphasis in remote sensing shifts towards the understanding of microphysical properties of clouds and with these to better understand the non linear relation between rainfall rates and satellite-observed radiance. A first step toward realistic radiative simulations has been the introduction of techniques capable of treating 3-dimensional geometry being generated by ever more sophisticated cloud resolving models. To date, a series of numerical codes have been developed to treat spherical and randomly oriented axisymmetric particles. Backward and backward-forward Monte Carlo methods are, indeed, efficient in this field. These methods, however, cannot deal properly with oriented particles, which seem to play an important role in polarization signatures over stratiform precipitation. Moreover, beyond the polarization channel, the next generation of fully polarimetric radiometers challenges us to better understand the behavior of the last two Stokes parameters as well. In order to solve the vector radiative transfer equation, one-dimensional numerical models have been developed, These codes, unfortunately, consider the atmosphere as horizontally homogeneous with horizontally infinite plane parallel layers. The next development step for microwave radiative transfer codes must be fully polarized 3-D methods. Recently a 3-D polarized radiative transfer model based on the discrete ordinate method was presented. A forward MC code was developed that treats oriented nonspherical hydrometeors, but only for plane-parallel situations.

Battaglia, A.↗
NASA NTRS2003

Unified Models of Turbulence and Nonlinear Wave Evolution in the Extended Solar Corona and Solar Wind

The PI (Cranmer) and Co-I (A. van Ballegooijen) made significant progress toward the goal of building a "unified model" of the dominant physical processes responsible for the acceleration of the solar wind. The approach outlined in the original proposal comprised two complementary pieces: (1) to further investigate individual physical processes under realistic coronal and solar wind conditions, and (2) to extract the dominant physical effects from simulations and apply them to a one-dimensional and time-independent model of plasma heating and acceleration. The accomplishments in the report period are thus divided into these two categories: 1a. Focused Study of Kinetic MHD Turbulence. We have developed a model of magnetohydrodynamic (MHD) turbulence in the extended solar corona that contains the effects of collisionless dissipation and anisotropic particle heating. A turbulent cascade is one possible way of generating small-scale fluctuations (easy to dissipate/heat) from a pre-existing population of low-frequency Alfven waves (difficult to dissipate/heat). We modeled the cascade as a combination of advection and diffusion in wavenumber space. The dominant spectral transfer occurs in the direction perpendicular to the background magnetic field. As expected from earlier models, this leads to a highly anisotropic fluctuation spectrum with a rapidly decaying tail in the parallel wavenumber direction. The wave power that decays to high enough frequencies to become ion cyclotron resonant depends on the relative strengths of advection and diffusion in the cascade. For the most realistic values of these parameters, though, there is insufficient power to heat protons and heavy ions. The dominant oblique waves undergo Landau damping, which implies strong parallel electron heating. We thus investigated the nonlinear evolution of the electron velocity distributions (VDFs) into parallel beams and discrete phase-space holes (similar to those seen in the terrestrial magnetosphere) which are an alternate means of heating protons via stochastic interactions similar to particle-particle collisions. 1b. Focused Study of the Multi-Mode Detailed Balance Formalism. The PI began to explore the feasibility of using the "weak turbulence," or detailed-balance theory of Tsytovich, Melrose, and others to encompass the relevant physics of the solar wind. This study did not go far, however, because if the "strong" MHD turbulence discussed above is a dominant player in the wind's acceleration region, this formalism is inherently not applicable to the corona. We will continue to study the various published approaches to the weak turbulence formalism, especially with an eye on ways to parameterize nonlinear wave reflection rates. 2. Building the Unified Model Code Architecture. We have begun developing the computational model of a time-steady open flux tube in the extended corona. The model will be "unified" in the sense that it will include (simultaneously for the first time) as many of the various proposed physical processes as possible, all on equal footing. To retain this generality, we have formulated the problem in two interconnected parts: a completely kinetic model for the particles, using the Monte Carlo approach, and a finite-difference approach for the self-consistent fluctuation spectra. The two codes are run sequentially and iteratively until complete consistency is achieved. The current version of the Monte Carlo code incorporates gravity, the zero-current electric field, magnetic mirroring, and collisions. The fluctuation code incorporates WKJ3 wave action conservation and the cascade/dissipation processes discussed above. The codes are being run for various test problems with known solutions. Planned additions to the codes include prescriptions for nonlinear wave steepening, kinetic velocity-space diffusion, and multi-mode coupling (including reflection and refraction).

Cranmer, Steven R.↗
NASA NTRSDate not supplied

Life After Launch: A Snapshot of the First 6 Months of NASA’s Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) Mission

The NASA Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) mission launched from Kennedy Space Center in the early morning of February 8, 2024. Just 63 days later, data from NASA’s newest Earth-observing satellite became available to the public. These data will extend and improve upon NASA’s 20+ years of global satellite observation of our living oceans, atmospheric aerosols, and cloud and initiate an advanced set of climate-relevant data records. Ultimately, PACE is the first mission to provide daily, global measurements that will enable prediction of the “boom-bust” cycle of fisheries, the appearance of harmful algae, and other factors that affect commercial and recreational industries. PACE also observes clouds and tiny airborne particles known as aerosols that influence air quality and absorb and reflect sunlight, thus warming and cooling the atmosphere. In the months since launch and initial data release, the PACE Project pursued instrument temporal and system vicarious calibrations, executed cross-instrument comparisons, conducted performance assessments, explored synergies with other missions, and released advanced science data products. In parallel, the PACE Validation Science Team left for the field and the Post-launch Airborne eXperiment (PACE-PAX) prepared for its mission. And, most importantly, preliminary science results were realized. Here, we present a snapshot of these activities and their impacts and outcomes, encompassing the first half year of the PACE mission.

PACE↗
NASA NTRS2003

The NASA Airborne Earth Science Microwave Imaging Radiometer (AESMIR): A New Sensor for Earth Remote Sensing

The Airborne Earth Science Microwave Imaging Radiometer (AESMIR) is a versatile new airborne imaging radiometer recently developed by NASA. The AESMIR design is unique in that it performs dual-polarized imaging at all standard passive microwave frequency bands (6-89 GHz) using only one sensor headscanner package, providing an efficient solution for Earth remote sensing applications (snow, soil moisture/land parameters, precipitation, ocean winds, sea surface temperature, water vapor, sea ice, etc.). The microwave radiometers themselves will incorporate state-of-the-art receivers, with particular attention given to instrument calibration for the best possible accuracy and sensitivity. The single-package design of AESMIR makes it compatible with high-altitude aircraft platforms such as the NASA ER-2s. The arbitrary 2-axis gimbal can perform conical and cross-track scanning, as well as fixed-beam staring. This compatibility with high-altitude platforms coupled with the flexible scanning configuration, opens up previously unavailable science opportunities for convection/precip/cloud science and co-flying with complementary instruments, as well as providing wider swath coverage for all science applications. By designing AESMIR to be compatible with these high-altitude platforms, we are also compatible with the NASA P-3, the NASA DC-8, C-130s and ground-based deployments. Thus AESMIR can provide low-, mid-, and high- altitude microwave imaging. Parallel filter banks allow AESMIR to simultaneously simulate the exact passbands of multiple satellite radiometers: SSM/I, TMI, AMSR, Windsat, SSMI/S, and the upcoming GPM/GMI and NPOESS/CMIS instruments --a unique capability among aircraft radiometers. An L-band option is also under development, again using the same scanner. With this option, simultaneous imaging from 1.4 to 89 GHz will be feasible. And, all receivers except the sounding channels will be configured for 4-Stokes polarimetric operation using high-speed digital correlators in the near future. The capabilities and unique design features of this new sensor will be described, and example imagery will be presented.

Kim, Edward↗
NASA NTRS1999

Interplanetary Fast Shocks and Associated Drivers Observed through the Twenty-Third Solar Minimum by WIND Over its First 2.5 Years

A list of the interplanetary (IP) shocks observed by WIND from its launch (in November 1994) to May 1997 is presented. Forty two shocks were identified. The magnetohydrodynamic nature of the shocks is investigated, and the associated shock parameters and their uncertainties are accurately computed using a practical scheme which combines two techniques. These techniques are a combination of the "pre-averaged" magnetic-coplanarity, velocity-coplanarity, and the Abraham-Schrauner-mixed methods, on the one hand, and the Vinas and Scudder [1986] technique for solving the non-linear least-squares Rankine-Hugoniot shock equations, on the other. Within acceptable limits these two techniques generally gave the same results, with some exceptions. The reasons for the exceptions are discussed. It is found that the mean strength and rate of occurrence of the shocks appears to correlated with the solar cycle. Both showed a decrease in 1996 coincident with the time of the lowest ultraviolet solar radiance, indicative of solar minimum and start of solar cycle 23, which began around June 1996. Eighteen shocks appeared to be associated with corotating interaction regions (CIRs). The distribution of their shock normals showed a mean direction peaking in the ecliptic plane and with a longitude (phi(sub n)) in that plane between perpendicular to the Parker spiral and radial from the Sun. When grouped according to the sense of the direction of propagation of the shocks the mean azimuthal (longitude) angle in GSE coordinates was approximately 194 deg for the fast-forward and approximately 20 deg for the fast-reverse shocks. Another 16 shocks were determined to be driven by solar transients, including magnetic clouds. These shocks had a broader distribution of normal directions than those of the CIR cases with a mean direction close to the Sun-Earth line. Eight shocks of unknown origin had normal orientation well off the ecliptic plane. No shock propagated with longitude phi(sub n) >= 220 +/- 10 deg, this would suggest strong hindrance to the propagation of shocks contra a rather tightly winding Parker spiral. Examination of the obliquity angle theta(sub Bn) (that between the shock normal and the upstream interplanetary magnetic field) for the full set of shocks revealed that about 58% was quasi-perpendicular, and some were very nearly perpendicular. About 32% of the shocks were oblique, and the rest (only 10%) were quasi-parallel, with one on Dec. 9, 1996 that showed field pulsations. Small uncertainty in the estimated angle theta(sub Bn) was obtained for about 10 shocks with magnetosonic Mach numbers between 1 and 2, hopefully significantly contributing to studies researching particle acceleration mechanisms at IP shocks, and to investigations where accurate values of theta(sub Bn) are crucial.

Mariani, F.↗
NASA NTRS2010

Analysis of Snow Bidirectional Reflectance from ARCTAS Spring-2008 Campaign

The spring 2008 Arctic Research of the Composition of the Troposphere from Aircraft and Satellites (ARCTAS) experiment was one of major intensive field campaigns of the International Polar Year aimed at detailed characterization of atmospheric physical and chemical processes in the Arctic region. A part of this campaign was a unique snow bidirectional reflectance experiment on the NASA P-3B aircraft conducted on 7 and 15 April by the Cloud Absorption Radiometer (CAR) jointly with airborne Ames Airborne Tracking Sunphotometer (AATS) and ground-based Aerosol Robotic Network (AERONET) sunphotometers. The CAR data were atmospherically corrected to derive snow bidirectional reflectance at high 1 degree angular resolution in view zenith and azimuthal angles along with surface albedo. The derived albedo was generally in good agreement with ground albedo measurements collected on 15 April. The CAR snow bidirectional reflectance factor (BRF) was used to study the accuracy of analytical Ross-Thick Li-Sparse (RTLS), Modified Rahman-Pinty-Verstraete (MRPV) and Asymptotic Analytical Radiative Transfer (AART) BRF models. Except for the glint region (azimuthal angles phi less than 40 degrees), the best fit MRPV and RTLS models fit snow BRF to within 0.05. The plane-parallel radiative transfer (PPRT) solution was also analyzed with the models of spheres, spheroids, randomly oriented fractal crystals, and with a synthetic phase function. The latter merged the model of spheroids for the forward scattering angles with the fractal model in the backscattering direction. The PPRT solution with synthetic phase function provided the best fit to measured BRF in the full range of angles. Regardless of the snow grain shape, the PPRT model significantly over-/underestimated snow BRF in the glint/backscattering regions, respectively, which agrees with other studies. To improve agreement with experiment, we introduced a model of macroscopic snow surface roughness by averaging the PPRT solution over the slope distribution function and by adding a simple model of shadows. With macroscopic roughness described by two parameters, the AART model achieved an accuracy of about plus or minus 0.05 with a possible bias of plus or minus 0.03 in the spectral range 0.4-2.2 micrometers. This high accuracy holds at view zenith angles below 55-60 degrees covering the practically important range for remote sensing applications, and includes both glint and backscattering directions.

Lyapustin, A.↗
DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗
NASA NTRS2009

NASA Tech Briefs, September 2009

opics covered include: Filtering Water by Use of Ultrasonically Vibrated Nanotubes; Computer Code for Nanostructure Simulation; Functionalizing CNTs for Making Epoxy/CNT Composites; Improvements in Production of Single-Walled Carbon Nanotubes; Progress Toward Sequestering Carbon Nanotubes in PmPV; Two-Stage Variable Sample-Rate Conversion System; Estimating Transmitted-Signal Phase Variations for Uplink Array Antennas; Board Saver for Use with Developmental FPGAs; Circuit for Driving Piezoelectric Transducers; Digital Synchronizer without Metastability; Compact, Low-Overhead, MIL-STD-1553B Controller; Parallel-Processing CMOS Circuitry for M-QAM and 8PSK TCM; Differential InP HEMT MMIC Amplifiers Embedded in Waveguides; Improved Aerogel Vacuum Thermal Insulation; Fluoroester Co-Solvents for Low-Temperature Li+ Cells; Using Volcanic Ash to Remove Dissolved Uranium and Lead; High-Efficiency Artificial Photosynthesis Using a Novel Alkaline Membrane Cell; Silicon Wafer-Scale Substrate for Microshutters and Detector Arrays; Micro-Horn Arrays for Ultrasonic Impedance Matching; Improved Controller for a Three-Axis Piezoelectric Stage; Nano-Pervaporation Membrane with Heat Exchanger Generates Medical-Grade Water; Micro-Organ Devices; Nonlinear Thermal Compensators for WGM Resonators; Dynamic Self-Locking of an OEO Containing a VCSEL; Internal Water Vapor Photoacoustic Calibration; Mid-Infrared Reflectance Imaging of Thermal-Barrier Coatings; Improving the Visible and Infrared Contrast Ratio of Microshutter Arrays; Improved Scanners for Microscopic Hyperspectral Imaging; Rate-Compatible LDPC Codes with Linear Minimum Distance; PrimeSupplier Cross-Program Impact Analysis and Supplier Stability Indicator Simulation Model; Integrated Planning for Telepresence With Time Delays; Minimizing Input-to-Output Latency in Virtual Environment; Battery Cell Voltage Sensing and Balancing Using Addressable Transformers; Gaussian and Lognormal Models of Hurricane Gust Factors; Simulation of Attitude and Trajectory Dynamics and Control of Multiple Spacecraft; Integrated Modeling of Spacecraft Touch-and-Go Sampling; Spacecraft Station-Keeping Trajectory and Mission Design Tools; Efficient Model-Based Diagnosis Engine; and DSN Simulator.

Source record↗
NASA NTRSDate not supplied

NASA Earth Systems Digital Twins (ESDT)

"Similarly to artificial intelligence, which is now revolutionizing many aspects of our daily lives, Earth system digital twin technologies have the potential to revolutionize the way Earth Science research will be conducted in the future, and how results and knowledge from this research will provide information to support decision making and yield impactful societal benefits. An Earth System Digital Twin or ESDT is a dynamic and interactive information system that first provides a digital replica of the past and current states of the Earth or Earth system as accurately and timely as possible; second, allows for computing forecasts of future states under nominal assumptions and based on the current replica; and third, offers the capability to investigate many hypothetical scenarios under varying impact assumptions. In other words, an ESDT provides the integrated What-Now, What-Next, and What-If pictures of the Earth or Earth system, by continuously ingesting newly observed data and by leveraging multiple interconnected models, machine learning as well advanced computing and visualization capabilities. Digital twins have been developed in engineering since 2002, but the interest in digital twins for the Earth domain is more recent and stems from the convergence of several developments: - The huge amount of diverse data that has now been collected continuously for more than 50 years, and that is becoming more and more difficult to access, understand, and utilize. - At the same time, because of climate change and its impacts the information produced by all of this data is becoming of interest to many new non-traditional users for analyzing and predicting various phenomena. - Because of advances in computational and visualization capabilities and the parallel unprecedented development of machine learning (ML), extracting relevant information from these large amounts of data and running complex models faster has become possible. As a result, it is becoming necessary and possible to build intuitive and interactive frameworks that will enable users with various skill levels and/or organizational hierarchy levels to easily access large amounts of targeted information along with the relevant tools and models (Earth system and human activity models), to support them in analyzing and visualizing this information, to help them understand interactions among models, to visualize the potential outcomes of various impacts, and to support decision or policy making. The full power of digital twins is that, through an integrated representation and standardized tools and software technologies, the same digital replica can address the needs of multiple users at various resolutions (spatial and temporal) and for various applications (science, economic, policy, etc.) – “from farmer to scientist”. With all these interests at stake, the challenges of building optimal digital twins are many and complex. The first challenge is to determine if a Digital Twin should be global or local, and multi-domain or thematic. For example, some domains such as Climate or Weather will require a global Digital Twin or Digital Twin capabilities while science areas such as Biodiversity might be more local. We can also envision that multiple thematic ESDTs, e.g., Air Quality, Wildfires, Hydrology could be federated or provide input to other ESDTs, either on a regional level or to a more global ESDT. Overall, we can imagine a future “web” of Digital Twins co-existing in a hierarchy or in a network, and capable of being connected or federated depending on the needs. This last point brings up the very important challenge of interoperability, including standards and protocols that will need to be built into these systems from the beginning. Each individual digital twin would have full flexibility in internal construction but would need standards-based interfaces (input and output) or hooks to make it compatible with others. Another challenge when building digital twins will be to decide how to organize each digital replica. Based on the applications targeted by the DT under implementation, various amounts and types of raw data, Analysis Ready Data (ARD) and information will need to be incorporated. Depending on the required latencies and needs of the users, various solutions can be considered, including Data Cubes, Data Lakes, pointers, or computing information on demand. We envision that each ESDT will choose a solution adapted to its specific objectives. Another important challenge is the type(s) of visualization that will be used, as well as the level of interactivity and refresh rate that will be required. Again, this will depend on the objectives of the ESDT, but also on the various users’ needs. In most cases, several types of visualizations and human interfaces will need to be offered depending on the projected users of that system. In parallel to the challenges highlighted above, there are also many tools and technologies that will need to be developed or improved for all types of digital twins. Among those are improved machine learning technologies, for example providing explainability, but also ML techniques for causality and providing a better integration of physics models. Additionally, reliable uncertainty quantification methods will be needed for all ESDT components, from validating data fusion and assimilation to assessing the accuracy of ML models and weighing the values of decisions supported by those systems. This presentation introduces the ESDT concept, presents several ESDT use cases, and a proposed ESDT architecture framework, as well as various technologies being developed by the Advanced Information Systems Technology (AIST) Program."

Earth Science Remote Sensing; Information Systems↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2008

Adsorption of Water on JSC-1A Lunar Simulant Samples

Remote sensing probes sent to the moon in the 1990s indicated that water may exist in areas such as the bottoms of deep, permanently shadowed craters at the lunar poles, buried under regolith. Water is of paramount importance for any lunar exploration and colonization project which would require self-sustainable systems. Therefore, investigating the interaction of water with lunar regolith is pertinent to future exploration. The lunar environment can be approximated in ultra-high vacuum systems such as those used in thermal desorption spectroscopy (TDS). Questions about water dissociation, surface wetting, degree of crystallization, details of water-ice transitions, and cluster formation kinetics can be addressed by TDS. Lunar regolith specimens collected during the Apollo missions are still available though precious, so testing with simulant is required before applying to use lunar regolith samples. Hence, we used for these studies JSC-1a, mostly an aluminosilicate glass and basaltic material containing substantial amounts of plagioclase, some olivine and traces of other minerals. Objectives of this project include: 1) Manufacturing samples using as little raw material as possible, allowing the use of surface chemistry and kinetics tools to determine the feasibility of parallel studies on regolith, and 2) Characterizing the adsorption kinetics of water on the regolith simulant. This has implications for the probability of finding water on the moon and, if present, for recovery techniques. For condensed water films, complex TDS data were obtained containing multiple features, which are related to subtle rearrangements of the water adlayer. Results from JSC-1a TDS studies indicate: 1) Water dissociation on JSC-1a at low exposures, with features detected at temperatures as high as 450 K and 2) The formation of 3D water clusters and a rather porous condensed water film. It appears plausible that the sub- m sized particles act as nucleation centers.

Goering, John↗
NASA NTRS2011

NASA Tech Briefs, June 2011

Topics covered include: Wind and Temperature Spectrometry of the Upper Atmosphere in Low-Earth Orbit; Health Monitor for Multitasking, Safety-Critical, Real-Time Software; Stereo Imaging Miniature Endoscope; Early Oscillation Detection Technique for Hybrid DC/DC Converters; Parallel Wavefront Analysis for a 4D Interferometer; Schottky Heterodyne Receivers With Full Waveguide Bandwidth; Carbon Nanofiber-Based, High-Frequency, High-Q, Miniaturized Mechanical Resonators; Ultracapacitor-Based Uninterrupted Power Supply System; Coaxial Cables for Martian Extreme Temperature Environments; Using Spare Logic Resources To Create Dynamic Test Points; Autonomous Coordination of Science Observations Using Multiple Spacecraft; Autonomous Phase Retrieval Calibration; EOS MLS Level 1B Data Processing Software, Version 3; Cassini Tour Atlas Automated Generation; Software Development Standard Processes (SDSP); Graphite Composite Panel Polishing Fixture; Material Gradients in Oxygen System Components Improve Safety; Ridge Waveguide Structures in Magnesium-Doped Lithium Niobate; Modifying Matrix Materials to Increase Wetting and Adhesion; Lightweight Magnetic Cooler With a Reversible Circulator; The Invasive Species Forecasting System; Method for Cleanly and Precisely Breaking Off a Rock Core Using a Radial Compressive Force; Praying Mantis Bending Core Breakoff and Retention Mechanism; Scoring Dawg Core Breakoff and Retention Mechanism; Rolling-Tooth Core Breakoff and Retention Mechanism; Vibration Isolation and Stabilization System for Spacecraft Exercise Treadmill Devices; Microgravity-Enhanced Stem Cell Selection; Diagnosis and Treatment of Neurological Disorders by Millimeter-Wave Stimulation; Passive Vaporizing Heat Sink; Remote Sensing and Quantization of Analog Sensors; Phase Retrieval for Radio Telescope and Antenna Control; Helium-Cooled Black Shroud for Subscale Cryogenic Testing; Receive Mode Analysis and Design of Microstrip Reflectarrays; and Chance-Constrained Guidance With Non-Convex Constraints.

Source record↗
NASA NTRS1994

Observation of anomalous slow-mode shock and reconnection layer in the dayside magnetospause

Plasma and magnetic field data from the International Sun-Earth Explorer ISEE 2 spacecraft recorded during an outbound crossing of the dayside, northern hemisphere magnetopause in October 29, 1979, provide evidence for a slow shock (SS) in the observed reconnection layer. This layer is found to be bounded on the magnetosheath side by the SS; near the magnetospheric side of the layer, a second current sheet is found that may have been rotational discontinuity (RD). The direction of the accelerated plasma flow, the earthward sense of the normal magnetic filed across the SS and RD, and the relative orientation of the SS and the RD all indicate that the reconection site was located south of the spacecraft. Quantitative tests show that, allowing for experiemental uncertanties, data taken upstream and downstream of the SS are consistent with coplanarity and other Rankine-Hugoniot (RH) conditions. Examiniations of the flow parameters indicates two anomalous properties of the SS: the upstream flow, viewed in the deHoffmann-Teller frame, is superalfvenic and the downstream plasma is firehose unstable. In comparison to the long-wavelength slow-mode phase speed, however, the flow in the upstream region is super slow, while in the downstream region it is subslow, as requeired for a slow-mode shock. Further properties of the shock include a large decrease in total enthalpy across it, indicating the escape of a sizable heat flux from the shock structure, and the occurrence of a polarization reversal of the tangential magnetic field within the shock layer, a feature that is predicted by linear double-polytropic Hall-MHD and results from a large increase in pressure anistropy from the upstream region, where p(sub parallel) approximately equal to p(sub perp), to the downstream region, where p(sub parrallel) greater than p(sub perp). Quantitative tests of the RD-like discontinuity show that it satisfies the necessary RH conditions within experimental uncertainties and indicate that the flow across it is earthward, that is, it is the same as for the SS. Thus the RD is propagating behind the SS in the direction away from the Earth. The reversal in the order of the discontinuities is attributed to the reversal of the slow and intermediate phase speeds produced by the pressure anistropy in the region between the RD and the SS. The linear dispersion relation and polarization properties of dispersive MHD waves in an anisotropic plasma are examined in the appendix.

Walthour, D. W↗
NASA NTRS2014

NASA Tech Briefs, January 2014

Topics include: Multi-Source Autonomous Response for Targeting and Monitoring of Volcanic Activity; Software Suite to Support In-Flight Characterization of Remote Sensing Systems; Visual Image Sensor Organ Replacement; Ultra-Wideband, Dual-Polarized, Beam-Steering P-Band Array Antenna; Centering a DDR Strobe in the Middle of a Data Packet; Using a Commercial Ethernet PHY Device in a Radiation Environment; Submerged AUV Charging Station; Habitat Demonstration Unit (HDU) Vertical Cylinder Habitat; Origami-Inspired Folding of Thick, Rigid Panels; A Novel Protocol for Decoating and Permeabilizing Bacterial Spores for Epifluorescent Microscopy; Method and Apparatus for Automated Isolation of Nucleic Acids from Small Cell Samples; Enabling Microliquid Chromatography by Microbead Packing of Microchannels; On-Command Force and Torque Impeding Devices (OC-FTID) Using ERF; Deployable Fresnel Rings; Transition-Edge Hot-Electron Microbolometers for Millimeter and Submillimeter Astrophysics; Spacecraft Trajectory Analysis and Mission Planning Simulation (STAMPS) Software; Cross Support Transfer Service (CSTS) Framework Library; Arbitrary Shape Deformation in CFD Design; Range Safety Flight Elevation Limit Calculation Software; Frequency-Modulated, Continuous-Wave Laser Ranging Using Photon-Counting Detectors; Calculation of Operations Efficiency Factors for Mars Surface Missions; GPU Lossless Hyperspectral Data Compression System; Robust, Optimal Subsonic Airfoil Shapes; Protograph-Based Raptor-Like Codes; Fuzzy Neuron: Method and Hardware Realization; Kalman Filter Input Processor for Boresight Calibration; Organizing Compression of Hyperspectral Imagery to Allow Efficient Parallel Decompression; and Temperature Dependences of Mechanisms Responsible for the Water-Vapor Continuum Absorption.

Source record↗
DOE OSTI2024

A Cryogenic readout integrated circuit with analog pile-up and in-Pixel ADC for high frame rate Skipper CCD-in-CMOS Sensors

The Skipper CCD-in-CMOS Parallel Read-Out Circuit V2 (SPROCKET2) is designed to enable high frame rate readout of Skipper CCD-in-CMOS image sensors. The SPROCKET2 pixel is fabricated in a 65 nm CMOS process and occupies a 60$\mu$m $\times$ 60$\mu$m footprint. SPROCKET2 is intended to be heterogeneously integrated with a pixelated Skipper CCD-in-CMOS sensor, such that one readout pixel is connected to a multiplexed array of 16 active image sensor pixels, to match their spatial geometry. Our design benefits from the Skipper CCD-in-CMOS sensor's non-destructive readout capability to achieve exceptionally low noise through multi-sampling and averaging while optimizing for total power consumption. The pixel readout utilizes correlated double sampling to minimize 1/f noise and includes "pile-up" of ten successive samples in the analog domain before digitizing at a rate of 66.7 ksps. Measurement results of in-pixel serial SAR ADC show DNL and INL of ~0. 44 LSB and 0.58 LBS respectively. A large area array of 20,000 SPROCKET2 ADC pixels (multiplexed 1:16 to 320,000 sensor pixels) is currently under test. By reading out data over a 10 Gbps optical link, this pixel design enables a frame rate of $\sim$ 4 kfps for large sensing areas with minimal sensing deadtime. In the highest gain mode, the pixelated ADC has an input-referred resolution of 10$\mu$V with a simulated power consumption of 50$\mu$W. The pixel operates with constant current draw to minimize power-rail crosstalk.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1989

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗