Search NASA⌕ Search

SEARCH · Search NASA

Results for “traversing”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Learning to predict slip for ground robots

In this paper we predict the amount of slip an exploration rover would experience using stereo imagery by learning from previous examples of traversing similar terrain. To do that, the information of terrain appearance and geometry regarding some location is correlated to the slip measured by the rover while this location is being traversed. This relationship is learned from previous experience, so slip can be predicted later at a distance from visual information only.

robots↗
NASA NTRS2005

Learning for autonomous navigation : extrapolating from underfoot to the far field

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter. Enabling robots to learn from experience may alleviate both of these problems. We define two paradigms for this, learning from 3-D geometry and learning from proprioception, and describe initial instantiations of them we have developed under DARPA and NASA programs. Field test results show promise for learning traversability of vegetated terrain, learning to extend the lookahead range of the vision system, and learning how slip varies with slope.

autonomous robots↗
NASA NTRS2005

Vision Based Localization in Urban Environments

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

unmanned-ground vehicles↗
NASA NTRS1999

Auto-adjustable pin tool for friction stir welding

An auto-adjusting pin tool for friction stir welding is presented wherein the pin tool automatically adjusts for welding materials of varying thicknesses, and the pin can be incrementally withdrawn from the workpieces thus eliminating any crater or keyhole in the weld. The inventive apparatus is comprised of a welding head housing a motor connected to a controller instrument package and an arbor supported by bearings. The arbor forms an interior cylinder and is encircled by a stationary slip ring though which are ported hydraulic passageways into the interior cylinder of the arbor such that a piston housed therein may be moved axially. Coupled to the piston is a pin tool which is treaded on its lower end and which is moveably seated in, and extending through, a shoulder housing having concave lower face. When welding, the rotating treaded end of the pin enters and stirs the workpieces while the lower face of the shoulder housing compacts the workpieces. As the welding head traverses the shoulder housing the controller senses any rising pressure on the lower face of the shoulder housing and withdraws the arbor to keep the pressure constant. At the same time, the piston moves towards the workpieces thus extending the pin further from the shoulder. This keeps the pin at a proper depth in the workpieces regardless of their thicknesses. As the weld terminates this same operation can be used to incrementally withdraw the pin during the final part of the traverse, thus eliminating any keyhole or crater that would otherwise be created.

Ding, R. Jeffrey↗
NASA NTRS2005

In Vitro Experimental Model to Investigate the Biological Effects across the Bragg Curve of High-LET Radiation

The space environment consists of a varying field of radiation particles including high energy ions, with a spacecrafts shielding material providing the only major protection to astronauts from harmful exposure. Unlike lowLET gamma or Xrays, the presence of shielding does not always reduce the radiation risks for energetic charged particle exposure since the dose delivered by the charged particle increases sharply as the particle approaches the end of its range, a position known as the Bragg peak and the correlating spatial dose distribution identified as the Bragg curve. The Bragg curve does not necessarily represent the biological damage along the particle traversal since biological effects are influenced by the track structure of both primary and secondary particles. Therefore, the biological Bragg curve is dependent of the energy and the type of the primary particle, and may vary for different biological endpoints. Here we describe a unique irradiation geometry and experimental system to measure the biological response across the Bragg curve in one consistent biological sample. Polyethylene shielding was used to achieve a Bragg curve distribution with the beam geometry parallel to a monolayer of fibroblast cells. We present data that highlights the differential formation of DNA double strand breaks (DSBs) and chromosomal deletions across the Bragg curve in human fibroblasts irradiated with 600 MeV/nucleon iron ion beams. Qualitative analyses of gammaH2AX fluorescence, a known marker of DSBs, indicated potentially increased clustering of DNA damage before the Bragg peak, enhanced homogenous distribution at the peak, and provided visual evidence of high linear energy transfer (LET) particle traversal of cells beyond the Bragg peak in agreement with one-dimensional transport approximations. A biological response curve generated for micronuclei induction across the Bragg curve for 600 MeV/n Fe ions did not reveal an increase in the yield of micronuclei at the Bragg peak location. Assessment of such biological parameters employing the described in vitro experimental system may provide improved platforms to measure a number of biological consequences of shielding materials across the Bragg curve for high charge and energy (HZE) ions.

Desai, N.↗
NASA NTRS2006

Bragg Curve, Biological Bragg Curve and Biological Issues in Space Radiation Protection with Shielding

The space environment consists of a varying field of radiation particles including high-energy ions, with spacecraft shielding material providing the major protection to astronauts from harmful exposure. Unlike low-LET gamma or X-rays, the presence of shielding does not always reduce the radiation risks for energetic charged particle exposure. Since the dose delivered by the charged particle increases sharply as the particle approaches the end of its range, a position known as the Bragg peak, the Bragg curve does not necessarily represent the biological damage along the particle traversal since biological effects are influenced by the track structure of both primary and secondary particles. Therefore, the biological Bragg curve is dependent on the energy and the type of the primary particle, and may vary for different biological endpoints. To achieve a Bragg curve distribution, we exposed cells to energetic heavy ions with the beam geometry parallel to a monolayer of fibroblasts. Qualitative analyses of gamma-H2AX fluorescence, a known marker of DSBs, indicated increased clustering of DNA damage before the Bragg peak, enhanced homogenous distribution at the peak, and provided visual evidence of high linear energy transfer (LET) particle traversal of cells beyond the Bragg peak. A quantitative biological response curve generated for micronuclei (MN) induction across the Bragg curve did not reveal an increased yield of MN at the location of the Bragg peak. However, the ratio of mono-to bi-nucleated cells, which indicates inhibition in cell progression, increased at the Bragg peak location. These results, along with other biological concerns, show that space radiation protection with shielding can be a complicated issue.

Honglu, Wu↗
NASA NTRS2007

A Wheel-On-Limb Rover for Lunar Operations

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a new mobility platform developed for potential lunar operations. This six limbed rover is designed to traverse quickly over benign terrain by rolling, traverse rough and steep terrain by walking, as well as perform general manipulation of tools and payloads. This flexible robotic platform will provide a mobile base for pressurized lunar habitats allowing for long range surface exploration and crew transport. It will also enable in-situ construction of lunar assets providing astronauts with the ability to assemble, maintain, and service a wide range of cargo. This paper presents the design details and capabilities of this wheel-on-limb platform.

ATHLETE↗
NASA NTRS2009

Characterization of Rock Types at Meridiani Planum, Mars using MER 13-Filter Pancam Spectra

The Mars Exploration Rover Opportunity has traversed more than 13 km across Meridiani Planum, finding evidence of ancient aqueous environments that, in the past, may have been suitable for life. Meridiani bedrock along the rover traverse is a mixture in composition and bulk mineralogy between a sulfate-rich sedimentary rock and hematite spherules ("blueberries"). On top of the bedrock, numerous loose rocks exist. These rocks consist of both local bedrock and "cobbles" of foreign origin. The cobbles provide a window into lithologic diversity and a chance to understand other types of martian rocks and meteorites. This study was also an attempt to establish a method to expand upon those of Mini-TES to remotely identify rocks of interest to make efficient use of the rover s current resources.

Nuding, D. L.↗
NASA NTRS2009

MSLICE Science Activity Planner for the Mars Science Laboratory Mission

MSLICE (Mars Science Laboratory InterfaCE) is the tool used by scientists and engineers on the Mars Science Laboratory rover mission to visualize the data returned by the rover and collaboratively plan its activities. It enables users to efficiently and effectively search all mission data to find applicable products (e.g., images, targets, activity plans, sequences, etc.), view and plan the traverse of the rover in HiRISE (High Resolution Imaging Science Experiment) images, visualize data acquired by the rover, and develop, model, and validate the activities the rover will perform. MSLICE enables users to securely contribute to the mission s activity planning process from their home institutions using off-the-shelf laptop computers. This software has made use of several plug-ins (software components) developed for previous missions [e.g., Mars Exploration Rover (MER), Phoenix Mars Lander (PHX)] and other technology tasks. It has a simple, intuitive, and powerful search capability. For any given mission, there is a huge amount of data and associated metadata that is generated. To help users sort through this information, MSLICE s search interface is provided in a similar fashion as major Internet search engines. With regard to the HiRISE visualization of the rover s traverse, this view is a map of the mission that allows scientists to easily gauge where the rover has been and where it is likely to go. The map also provides the ability to correct or adjust the known position of the rover through the overlaying of images acquired from the rover on top of the HiRISE image. A user can then correct the rover s position by collocating the visible features in the overlays with the same features in the underlying HiRISE image. MSLICE users can also rapidly search all mission data for images that contain a point specified by the user in another image or panoramic mosaic. MSLICE allows the creation of targets, which provides a way for scientists to collaboratively name features on the surface of Mars. These targets can also be used to convey instrument-pointing information to the activity plan. The software allows users to develop a plan of what they would like the rover to accomplish for a given time period. When developing the plan, the user can input constraints between activities or groups of activities. MSLICE will enforce said constraints and ensure that all mission flight rules are satisfied.

Powell, Mark W.↗
NASA NTRS2009

Geolab 2010: Desert Rats Field Demonstration

In 2010, Desert Research and Technology Studies (Desert RATS), NASA's annual field exercise designed to test spacesuit and rover technologies, will include a first generation lunar habitat facility, the Habitat Demonstration Unit (HDU). The habitat will participate in joint operations in northern Arizona with the Lunar Electric Rover (LER) and will be used as a multi-use laboratory and working space. A Geology Laboratory or GeoLab is included in the HDU design. Historically, science participation in Desert RATS exercises has supported the technology demonstrations with geological traverse activities that are consistent with preliminary concepts for lunar surface science Extravehicular Activities (EVAs). Next year s HDU demonstration is a starting point to guide the development of requirements for the Lunar Surface Systems Program and test initial operational concepts for an early lunar excursion habitat that would follow geological traverses along with the LER. For the GeoLab, these objectives are specifically applied to support future geological surface science activities. The goal of our GeoLab is to enhance geological science returns with the infrastructure that supports preliminary examination, early analytical characterization of key samples, and high-grading lunar samples for return to Earth [1, 2] . Figure 1: Inside view schematic of the GeoLab a 1/8 section of the HDU, including a glovebox for handling and examining geological samples. Other outfitting facilities are not depicted in this figure. GeoLab Description: The centerpiece of the GeoLab is a glovebox, allowing for samples to be brought into the habitat in a protected environment for preliminary examination (see Fig. 1). The glovebox will be attached to the habitat bulkhead and contain three sample pass-through antechambers that would allow direct transfer of samples from outside the HDU to inside the glovebox. We will evaluate the need for redundant chambers, and other uses for the glovebox antechambers, such as a staging area for additional tools or samples. The sides of the glovebox are designed with instrument ports and additional smaller ports for cable pass-through, imagery feeds and environmental monitoring. This first glovebox version will be equipped with basic tools for manipulating, viewing, and early analysis of samples. The GeoLab was also designed for testing additional analytical instruments in a field setting.

Evans, Cindy A.↗
NASA NTRS2009

Observations of a Unique Type of ULF Waves by Low-altitude ST5 Satellites

We report a unique type of ULF waves observed by low-altitude Space Technology 5 (ST5) constellation mission. ST5 is a three micro-satellite constellation deployed into a 300 x 4500 lan, dawn-dusk, and sun synchronous polar orbit with 105.6 inclination angle. Even though the spacecraft are in a high-inclination orbit, the combined effects of the Earth's rotation and dipole tilt allow the spacecraft's dawn-dusk orbit track to reach subauroral latitudes on the day side. Whenever the spacecraft traverse across the dayside closed field line region at sub auroral latitudes they frequently observe strong transverse oscillations at 30-200 mHz, or in the Pc 2-3 frequency range. These Pc 2-3 waves appear as wave packets with durations of the order of 5-10 minutes. As the maximum separations of the ST5 spacecraft are around 10 minutes, the three ST5 satellites often observe very similar wave packets, implying these wave oscillations occur in a localized region. Coordinated ground-based magnetic observations at the spacecraft footprints, however, do not see waves in the Pc 2-3 band; instead, the waves appear to be the common Pc 4-5 waves associated with field line resonances. We suggest that this unique Pc 2-3 waves seen by ST5 are in fact high azimuthal wave number Pc 4-5 waves Doppler-shifted to higher frequencies by the rapid traverse of the spacecraft across the resonant field lines azimuthally at low altitudes. These unique low altitude observations, where the spacecraft motion is mainly azimuthal at subauroral latitudes, reveal the azimuthal wave-number characteristics of the field-aligned resonance signals.

Le, G.↗
NASA NTRS2010

Geolab in NASA's First Generation Pressurized Excursion Module: Operational Concepts

We are building a prototype laboratory for preliminary examination of geological samples to be integrated into a first generation Habitat Demonstration Unit-1/Pressurized Excursion Module (HDU1-PEM) in 2010. The laboratory GeoLab will be equipped with a glovebox for handling samples, and a suite of instruments for collecting preliminary data to help characterize those samples. The GeoLab and the HDU1-PEM will be tested for the first time as part of the 2010 Desert Research and Technology Studies (DRATS), NASAs annual field exercise designed to test analog mission technologies. The HDU1-PEM and GeoLab will participate in joint operations in northern Arizona with two Lunar Electric Rovers (LER) and the DRATS science team. Historically, science participation in DRATS exercises has supported the technology demonstrations with geological traverse activities that are consistent with preliminary concepts for lunar surface science Extravehicular Activities (EVAs). Next years HDU1-PEM demonstration is a starting point to guide the development of requirements for the Lunar Surface Systems Program and test initial operational concepts for an early lunar excursion habitat that would follow geological traverses along with the LER. For the GeoLab, these objectives are specifically applied to enable future geological surface science activities. The goal of our GeoLab is to enhance geological science returns with the infrastructure that supports preliminary examination, early analytical characterization of key samples, insight into special considerations for curation, and data for prioritization of lunar samples for return to Earth.

Evans, C. A.↗
NASA NTRS2007

Robust, Flexible Motion Control for the Mars Explorer Rovers

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

Maimone, Mark↗
NASA NTRS2007

Improved Path Planning Onboard the Mars Exploration Rovers

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven. GESTALT works well in navigating around small isolated obstacles, but tends to fail when the goal is on the other side of a large obstacle or multiple closely spaced small obstacles. When that occurs, the goal seeking votes and hazard avoidance votes conflict severely. The hazard avoidance votes will not allow the rover to drive through the unsafe area, and the waypoint votes will not allow enough deviation from the straight-line path for the rover to get around the hazard. The rover becomes stuck and is unable to reach the goal. The revised version of AutoNav utilizes a global path-planning program, Field D*, to evaluate the cost of traveling from the end of each GESTALT arc to the goal. In the voting process, Field D* arc votes supplant GESTALT goal-seeking arc votes. Hazard avoidance, steering bias, and Field D* votes are merged and the rover is driven a preset distance along the arc with the highest vote. Then new images are acquired and the process as described is repeated until the goal is reached. This new technology allows the rovers to autonomously navigate around much more complex obstacle arrangements than was previously possible. In addition, this improved autonomy enables longer traverses per Sol (a day on Mars), and can make planning drives easier for operators on Earth.

Stentz, Anthony↗
NASA NTRS2006

Integrating Terrain Maps Into a Reactive Navigation Strategy

An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.

Howard, Ayanna↗
NASA NTRS2010

Observations of Field Line Resonances by Low-Altitude ST-5 Satellites

Space Technology 5 (ST-5) mission is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, and sun synchronous polar orbit with 105.6deg inclination angle. Due to the Earth's rotation and the dipole tilt effect, the spacecraft's dawn-dusk orbit track can reach as low as subauroral latitudes during the course of a day. Whenever the spacecraft traverse across the dayside closed field line region at subauroral latitudes, they frequently observe strong transverse oscillations at 30-200 mHz, or in the Pe 2-3 frequency range. These Pc 2-3 waves appear as wave packets with durations in the order of 5-10 minutes. As the maximum separations of the ST-5 spacecraft are in the order of 10 minutes, the three ST-5 satellites often observe very similar wave packets, implying these wave oscillations occur in a localized region. The coordinated ground-based magnetic observations at the spacecraft footprints, however, do not see waves in the Pc 2- 3 band; instead, the waves appear to be the common Pc 4-5 waves associated with field line resonances. We suggest that this unique Pc 2-3 waves seen by ST-5 are in fact the Doppler-shifted Pc 4-5 waves as a result of rapid traverse of the spacecraft across the resonant field lines azimuthally at low altitudes. The observations with the unique spacecraft dawn-disk orbits at proper altitudes and magnetic latitudes reveal the azimuthal characteristics of field-aligned resonances.

Le, G.↗
NASA NTRS2011

Observations of a Unique Type of ULF Waves by Low-Latitude Space Technology 5 Satellites

We report a unique type of ULF waves observed by low-altitude Space Technology 5 (ST-5) constellation mission. ST-5 is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, and sun synchronous polar orbit with 105.6deg inclination angle. Due to the Earth s rotation and the dipole tilt effect, the spacecraft s dawn-dusk orbit track can reach as low as subauroral latitudes during the course of a day. Whenever the spacecraft traverse across the dayside closed field line region at subauroral latitudes, they frequently observe strong transverse oscillations at 30-200 mHz, or in the Pc 2-3 frequency range. These Pc 2-3 waves appear as wave packets with durations in the order of 5-10 minutes. As the maximum separations of the ST-5 spacecraft are in the order of 10 minutes, the three ST-5 satellites often observe very similar wave packets, implying these wave oscillations occur in a localized region. The coordinated ground-based magnetic observations at the spacecraft footprints, however, do not see waves in the Pc 2-3 band; instead, the waves appear to be the common Pc 4-5 waves associated with field line resonances. We suggest that this unique Pc 2-3 waves seen by ST-5 are in fact the Doppler-shifted Pc 4-5 waves as a result of rapid traverse of the spacecraft across the resonant field lines azimuthally at low altitudes. The observations with the unique spacecraft dawn-disk orbits at proper altitudes and magnetic latitudes reveal the azimuthal characteristics of field-aligned resonances.

Le, G.↗
NASA NTRS2011

Observations of a Unique Type of ULF Waves by Low-Latitude Space Technology 5 Mission

We report a unique type of ULF waves observed by low-altitude Space Technology 5 (ST-5) constellation mission. ST-5 is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, and sun synchronous polar orbit with 105.6 inclination angle. Due to the Earth's rotation and the dipole tilt effect, the spacecraft's dawn-dusk orbit track can reach as low as sub auroral latitudes during the course of a day. Whenever the spacecraft traverse across the dayside closed field line region at sub auroral latitudes, they frequently observe strong transverse oscillations at 30-200 mHz, or in the Pc 2-3 frequency range. These Pc 2-3 waves appear as wave packets with durations in the order of 5-10 minutes. As the maximum separations of the ST-5 spacecraft are in the order of 10 minutes, the three ST -5 satellites often observe very similar wave packets, implying these wave oscillations occur in a localized region. The coordinated ground-based magnetic observations at the spacecraft footprints, however, do not see waves in the Pc 2-3 band; instead, the waves appear to be the common Pc 4-5 waves associated with field line resonances. We suggest that these unique Pc 2-3 waves seen by ST-5 are in fact the Doppler-shifted Pc 4-5 waves as a result of rapid traverse of the spacecraft across the resonant field lines azimuthally at low altitudes. The observations with the unique spacecraft dawn-disk orbits at proper altitudes and magnetic latitudes reveal the azimuthal characteristics of field-aligned resonances.

Le, Guan↗