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NASA NTRS2010

Measurement of the Length of an Optical Trap

NASA Glenn has been involved in developing optical trapping and optical micromanipulation techniques in order to develop a tool that can be used to probe, characterize, and assemble nano and microscale materials to create microscale sensors for harsh flight environments. In order to be able to assemble a sensor or probe candidate sensor material, it is useful to know how far an optical trap can reach; that is, the distance beyond/below the stable trapping point through which an object will be drawn into the optical trap. Typically, to measure the distance over which an optical trap would influence matter in a horizontal (perpendicular to beam propagation) direction, it was common to hold an object in one optical trap, place a second optical trap a known distance away, turn off the first optical trap, and note if the object was moved into the second trap when it was turned on. The disadvantage of this technique is that it only gives information of trap influence distance in horizontal (x y) directions. No information about the distance of the influence of the trap is gained in the direction of propagation of the beam (the z direction). A method was developed to use a time-of-flight technique to determine the length along the propagation direction of an optical trap beam over which an object may be drawn into the optical trap. Test objects (polystyrene microspheres) were held in an optical trap in a water-filled sample chamber and raised to a pre-determined position near the top of the sample chamber. Next, the test objects were released by blocking the optical trap beam. The test objects were allowed to fall through the water for predetermined periods of time, at the end of which the trapping beam was unblocked. It was noted whether or not the test object returned to the optical trap or continued to fall. This determination of the length of an optical trap's influence by this manner assumes that the test object falls through the water in the sample chamber at terminal velocity for the duration of its fall, so that the distance of trap influence can be computed simply by: d = VTt, where d is the trap length (or distance of trap reach), VT is the terminal velocity of the test object, and t is the time interval over which the object is allowed to fall.

Wrbanek, Susan Y.↗

NASA NTRS2010

Variations of Cloud and Radiative Properties of Boundary-layer and Deep Convective Systems with Sea Surface Temperature Anomalies

Gridded monthly-mean satellite data contain compositing information from different cloud system types and clear-sky environments. To isolate the variations of cloud physical properties of an individual cloud system type with its environment, orbital data are needed. In this study, we will analyze the variations of cloud and radiative properties of boundary-layer clouds and deep convective cloud systems with sea surface temperature (SST) anomalies. We use Terra-CERES (Clouds and the Earth s Radiant Energy System) Level 2 data to classify distinct cloud objects defined by cloud-system types (deep convection, boundary-layer cumulus, stratocumulus and overcast clouds), sizes, geographic locations, and matched large-scale environments. This analysis method identifies a cloud object as a contiguous region of the Earth with a single dominant cloud-system type. It determines the shape and size of the cloud object from the satellite data and the cloud-system selection criteria. The statistical properties of the identified cloud objects are analyzed in terms of probability density functions (PDFs) of a single property or joint PDFs between two properties. The SST anomalies are defined as the differences from five-year annual-cycle means. Individual cloud objects are sorted into one of five equal size subsets, with the matched SST anomalies ranging from the most negative to the most positive values, for a given size category of deep convective cloud objects, boundary-layer cumulus, stratocumulus and overcast cloud objects. The PDFs of cloud and radiative properties for deep convective cloud objects (between 30 S and 30 N) are found to largely similar among the five SST anomaly subsets except for the lowest SST anomaly subset. The different characteristics from this SST anomaly subset may be related to some cloud objects resulting from equatorward movement of extratropical cloud systems. This result holds true for all three different size categories (measured by equivalent diameters of 100-150, 150-300 and > 300 km). The PDFs of cloud and radiative properties for boundary-layer cloud types are more variable for macrophysical properties than for microphysical properties, due probably to different large-scale environments where these cloud objects are formed. Implications of these results for the cloud feedback will also be discussed.

Xu, Kuan-Man↗

NASA NTRS2010

Preliminary Design of the Guidance, Navigation, and Control System of the Altair Lunar Lander

Guidance, Navigation, and Control (GN&C) is the measurement and control of spacecraft position, velocity, and attitude in support of mission objectives. This paper provides an overview of a preliminary design of the GN&C system of the Lunar Lander Altair. Key functions performed by the GN&C system in various mission phases will first be described. A set of placeholder GN&C sensors that is needed to support these functions is next described. To meet Crew safety requirements, there must be high degrees of redundancy in the selected sensor configuration. Two sets of thrusters, one on the Ascent Module (AM) and the other on the Descent Module (DM), will be used by the GN&C system. The DM thrusters will be used, among other purposes, to perform course correction burns during the Trans-lunar Coast. The AM thrusters will be used, among other purposes, to perform precise angular and translational controls of the ascent module in order to dock the ascent module with Orion. Navigation is the process of measurement and control of the spacecraft's "state" (both the position and velocity vectors of the spacecraft). Tracking data from the Earth-Based Ground System (tracking antennas) as well as data from onboard optical sensors will be used to estimate the vehicle state. A driving navigation requirement is to land Altair on the Moon with a landing accuracy that is better than 1 km (radial 95%). Preliminary performance of the Altair GN&C design, relative to this and other navigation requirements, will be given. Guidance is the onboard process that uses the estimated state vector, crew inputs, and pre-computed reference trajectories to guide both the rotational and the translational motions of the spacecraft during powered flight phases. Design objectives of reference trajectories for various mission phases vary. For example, the reference trajectory for the descent "approach" phase (the last 3-4 minutes before touchdown) will sacrifice fuel utilization efficiency in order to provide landing site visibility for both the crew and the terrain hazard detection sensor system. One output of Guidance is the steering angle commands sent to the 2 degree-of-freedom (dof) gimbal actuation system of the descent engine. The engine gimbal actuation system is controlled by a Thrust Vector Control algorithm that is designed taking into account the large quantities of sloshing liquids in tanks mounted on Altair. In this early design phase of Altair, the GN&C system is described only briefly in this paper and the emphasis is on the GN&C architecture (that is still evolving). Multiple companion papers will provide details that are related to navigation, optical navigation, guidance, fuel sloshing, rendezvous and docking, machine-pilot interactions, and others. The similarities and differences of GN&C designs for Lunar and Mars landers are briefly compared.

Lee, Allan Y.↗

NASA NTRS2019

Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations Using Random Finite Sets

Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.

Schlenker, Lauren↗

NASA NTRS2019

Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations using Random Finite Sets

Schlenker, Lauren↗

NASA NTRS2003

Optical Tweezers Array and Nimble Tweezers Probe Generated by Spatial- Light Modulator

An optical tweezers is being developed at the NASA Glenn Research Center as a visiblelight interface between ubiquitous laser technologies and the interrogation, visualization, manufacture, control, and energization of nanostructures such as silicon carbide (SiC) nanotubes. The tweezers uses one or more focused laser beams to hold micrometer-sized particles called tools (sometimes called tips in atomic-force-microscope terminology). A strongly focused laser beam has an associated light-pressure gradient that is strong enough to pull small particles to the focus, in spite of the oppositely directed scattering force; "optical tweezers" is the common term for this effect. The objective is to use the tools to create carefully shaped secondary traps to hold and assemble nanostructures that may contain from tens to hundreds of atoms. The interaction between a tool and the nanostructures is to be monitored optically as is done with scanning probe microscopes. One of the initial efforts has been to create, shape, and control multiple tweezers beams. To this end, a programmable spatial-light modulator (SLM) has been used to modify the phase of a laser beam at up to 480 by 480 points. One program creates multiple, independently controllable tweezer beams whose shapes can be tailored by making the SLM an adaptive mirror in an interferometer (ref. 1). The beams leave the SLM at different angles, and an optical Fourier transform maps these beams to different positions in the focal plane of a microscope objective. The following figure shows two arrays of multiple beams created in this manner. The patterns displayed above the beam array control the intensity-to-phase transformation required in programming the SLM. Three of the seven beams displayed can be used as independently controllable beams.

Decker, Arthur J.↗

NASA NTRS1993

The new BL Lacertae objects discovered by an efficient X-ray/radio/optical technique

We report the recent discovery of ten BL Lac objects in the Einstein IPC Slew Survey by means of X-ray/radio versus X-ray/optical color-color diagrams and confirming optical spectroscopy. These ten BL Lac objects were discovered using a technique proposed by Stocke et al. (1989) which exploits the characteristic broad-band spectra of BL Lac objects. New VLA detections provide accurate fluxes (limiting f(6 cm) about 0.5 mJy) and about 1 arcsec positions, facilitating the determination of an optical counterpart. All ten new BL Lac objects show essentially featureless optical spectra and lie within the range of radio/X-ray/optical colors of known X-ray-selected BL Lac objects, when about 1 mag optical variability is included. We expect about 50 new BL Lac objects in total, from complete optical follow-up of our now completed VLA work and recent Australia Telescope observations, yielding a complete Slew Survey sample of about 90 BL Lac objects.

Schachter, Jonathan F.↗

NASA NTRS1994

Mark Tracking: Position/orientation measurements using 4-circle mark and its tracking experiments

Future space robots require position and orientation tracking with visual feedback control to track and capture floating objects and satellites. We developed a four-circle mark that is useful for this purpose. With this mark, four geometric center positions as feature points can be extracted from the mark by simple image processing. We also developed a position and orientation measurement method that uses the four feature points in our mark. The mark gave good enough image measurement accuracy to let space robots approach and contact objects. A visual feedback control system using this mark enabled a robot arm to track a target object accurately. The control system was able to tolerate a time delay of 2 seconds.

Kanda, Shinji↗

NASA NTRS1979

Optical and X-ray properties of the newly discovered BL Lacertae object PKS 2155-304 /= H2155-304/

The soft X-ray source H 2155-304 has been precisely located with the HEAO 1 scanning modulation collimator, and identified with an object of bolometric magnitude approximately 14. The linear polarization, variability, spectrum, and diffuse image of the optical flux, together with the positional coincidence of the radio source PKS 2155-304, indicate that this object is a new member of the BL Lacertae class. Its characteristics are compared with those of other X-ray-emitting BL Lacertae objects, particularly Mrk 421.

Griffiths, R. E.↗

NASA NTRS1990

Efficient detection and signal parameter estimation with application to high dynamic GPS receiver

In a system for deriving position, velocity, and acceleration information from a received signal emitted from an object to be tracked wherein the signal comprises a carrier signal phase modulated by unknown binary data and experiencing very high Doppler and Doppler rate, this invention provides combined estimation/detection apparatus for simultaneously detecting data bits and obtaining estimates of signal parameters such as carrier phase and frequency related to receiver dynamics in a sequential manner. There is a first stage for obtaining estimates of the signal parameters related to phase and frequency in the vicinity of possible data transitions on the basis of measurements obtained within a current data bit. A second stage uses the estimates from the first stage to decide whether or not a data transition has actually occurred. There is a third stage for removing data modulation from the received signal when a data transition has occurred and a fourth stage for using the received signal with data modulation removed therefrom to update global parameters which are dependent only upon receiver dynamics and independent of data modulation. Finally, there is a fifth stage for using the global parameters to determine the position, velocity, and acceleration of the object.

Kumar, Rajendra↗

NASA NTRS1973

Doppler compensation by shifting transmitted object frequency within limits

A system and method are disclosed for position locating, deriving centralized air traffic control data, and communicating via voice and digital signals between a multiplicity of remote aircraft, including supersonic transports, and a central station. Such communication takes place through a synchronous satellite relay station. Side tone ranging patterns, as well as the digital and voice signals, are modulated on a carrier transmitted from the central station and received on all of the supersonic transports. Each aircraft communicates with the ground stations via a different frequency multiplexed spectrum. Supersonic transport position is derived from a computer at the central station and supplied to a local air traffic controller. Position is determined in response to variable phase information imposed on the side tones at the aircrafts. Common to all of the side tone techniques is Doppler compensation for the supersonic transport velocity.

Laughlin, C. R., Jr.↗

DOE OSTI2024

Performance prediction applying different reduced turbulence models to the SMART tokamak

The SMall Aspect Ratio Tokamak (SMART) is currently being commissioned at the University of Seville and will be able to compare the performance of positive and negative triangularity plasmas at low aspect ratio. Predictive simulations have been performed for different machine scenarios and heating schemes using the TRANSP code. The objectives of these simulations are to predict the parameters expected in positive triangularity plasmas, to guide diagnostic development, and to validate transport models. Several reduced turbulence models have been used to predict electron and ion temperatures for the operational phase 2. All models provide similar results from approximately mid-radius to the separatrix but important discrepancies are found in the core region. These positive triangularity results are compared with experiments from a similar size machine like GLOBUS-M2. The multi-mode model (MMM) shows the best agreement. Simulations with different boundary conditions have been performed and no strong differences have been observed between them. The impact of neutral beam injection (NBI) on the predicted profiles has also been addressed. Rotation reduces turbulence levels so higher temperatures are achieved when included in the simulations. Studying the different contributions to the thermal diffusivities, it is observed that electron temperature gradient (ETG) turbulence dominates at the plasma core while micro-tearing modes (MTM) dominate at the edge in the electron channel. In the ion channel, the neoclassical contribution is dominant at the core and at the very edge while the Weiland component, which includes ion temperature gradient mode (ITG), trapped electron mode (TEM), kinetic ballooning mode (KBM), peeling mode (PM) and collisionless and collision dominated magnetohydrodynamic (MHD) modes governs the mid-radius region. For phase 3, two plasmas with different electron densities have been studied. The case with lower density matches well a specific discharge of GLOBUS-M2. The higher density plasma shows high performance with β N ≈ 3.8.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS1992

Model scattering envelopes of young stellar objects. I - Method and application to circumstellar disks

We describe a Monte Carlo code that accurately treats multiple scattering, absorption, and polarization by dust, and use this code to calculate images of dusty disks around young stellar objects. We present some approximate analytic results that describe the behavior of the Monte Carlo calculations. A geometrically thin disk illuminated by a central T Tauri star scatters very little light at distances of many AU from the star. Viewed at any inclination, the flux scattered by such a disk at the distance to the nearest star-forming region will be overwhelmed by the stellar image. An optically thick disk that has a flaring surface may be observable, especially if viewed nearly edge-on so that the stellar source becomes occulted. An optically thin disk with a finite opening angle, similar to the one surrounding beta Pictoris, is about as observable as the typical flared optically thick disk at a similar distance from the earth. The polarization position angle is perpendicular to the disk plane in all of the models, in contrast to observations of many young stellar objects which have the position angle oriented parallel to the presumed disk plane. We suggest that the scattered light structures observed around many premain-sequence objects are dusty envelopes rather than disks.

Whitney, Barbara A.↗

NASA NTRS1991

Anthropomorphic Remote Manipulator

Two-armed telerobot undergoing development manipulates objects with dexterity approaching that of human. Designed to be remotely operated by human. Operator wears harness with exoskeletonlike sleeves and gloves; remote manipulator follows operator's arm, hand, and finger movements and feeds back position and force information so operator has sense of manipulating object held by telerobot. Developed for use in outer space. Suited for such terrestrial uses as handling materials and maintaining equipment in hazardous environments where mechanical dexterity and nearly instantaneous feedback of sensory information needed.

Jau, Bruno M.↗

NASA NTRSDate not supplied

Defining a Global Lunar Position, Navigation, and Timing System

As NASA seeks to fulfill its mission of extending humanity’s reach through exploration as delineated in the Moon to Mars Strategy and Objectives Development and the Moon to Mars Architecture Definition Document, accurate and timely position, navigation, and timing (PNT) services are critical in the architecture, identifying a need to expand a PNT capability to the full lunar proximity service volume. This is echoed in the White House Office of Science, Technology, and Policy Cislunar Science and Technology Strategy, which pinpoints the fundamental need for PNT infrastructure to enable and sustain a vibrant cislunar ecosystem. While the Human Lunar Return segment seeks commercial services to provide a PNT service over a South Pole service volume for a limited period per Earth day, meeting the Sustained Lunar Evolution segment requires a Lunar Navigation System (LNS) focused on delivery of precise and resilient PNT services across the lunar globe and near-Moon space. This presentation describes the pre-Phase A system concept for an orbital constellation, the requisite lunar surface-based in-situ monitor and control segment, and an Earth control segment to provide lunar PNT services out to 200km altitude above the surface. The LNS leverages the foundational efforts on lunar reference system components such as the Lunar Geodetic System, Lunar Time System, and lunar ephemeris and orientation critical to safe, accurate, and seamless navigation.

navigation↗

NASA NTRS1993

A revised and updated catalog of quasi-stellar objects

The paper contains a catalog of all known quasi-stellar objects (QSOs) with measured emission redshifts, and BL Lac objects, complete to 1992 December 31. The catalog contains 7315 objects, nearly all QSOs including about 90 BL Lac objects. The catalog and references contain extensive information on names, positions, magnitudes, colors, emission-line redshifts, absorption, variability, polarization, and X-ray, radio, and infrared data. A key in the form of subsidiary tables enables the reader to relate the name of a given object to its coordinate name, which is used throughout the compilation. Plots of the Hubble diagram, the apparent magnitude distribution, the emission redshift distribution, and the distribution of the QSOs on the sky are also given.

Hewitt, A.↗

NASA NTRS2013

1SXPS: A Deep Swift X-Ray Telescope Point Source Catalog with Light Curves and Spectra

We present the 1SXPS (Swift-XRT point source) catalog of 151,524 X-ray point sources detected by the Swift-XRT in 8 yr of operation. The catalog covers 1905 sq deg distributed approximately uniformly on the sky. We analyze the data in two ways. First we consider all observations individually, for which we have a typical sensitivity of approximately 3 × 10(exp −13) erg cm(exp −2) s(exp −1) (0.3-10 keV). Then we co-add all data covering the same location on the sky: these images have a typical sensitivity of approximately 9 × 10(exp −14) erg cm(exp −2) s(exp −1) (0.3-10 keV). Our sky coverage is nearly 2.5 times that of 3XMM-DR4, although the catalog is a factor of approximately 1.5 less sensitive. The median position error is 5.5 (90% confidence), including systematics. Our source detection method improves on that used in previous X-ray Telescope (XRT) catalogs and we report greater than 68,000 new X-ray sources. The goals and observing strategy of the Swift satellite allow us to probe source variability on multiple timescales, and we find approximately 30,000 variable objects in our catalog. For every source we give positions, fluxes, time series (in four energy bands and two hardness ratios), estimates of the spectral properties, spectra and spectral fits for the brightest sources, and variability probabilities in multiple energy bands and timescales.

telescope↗

NASA NTRS1995

The role of the vestibular system in manual target localization

Astronauts experience perceptual and sensory-motor disturbances during spaceflight and immediately after return to the 1-g environment of Earth. During spaceflight, sensory information from the eyes, limbs and vestibular organs is reinterpreted by the central nervous system so that astronauts can produce appropriate body movements in microgravity. Alterations in sensory-motor function may affect eye-head-hand coordination and, thus, the crewmember's ability to manually locate objects in extrapersonal space. Previous reports have demonstrated that crewmembers have difficulty in estimating joint and limb position and in pointing to memorized target positions on orbit and immediately postflight. One set of internal cues that may assist in the manual localization of objects is information from the vestibular system. This system contributes to our sense of the body's position in space by providing information on head position and movement and the orientation of the body with respect to gravity. Research on the vestibular system has concentrated on its role in oculo-motor control. Little is known about the role that vestibular information plays in manual motor control, such as reaching and pointing movements. Since central interpretation of vestibular information is altered in microgravity, it is important to determine its role in this process. This summer, we determined the importance of vestibular information in a subject's ability to point accurately toward a target in extrapersonal space. Subjects were passively rotated across the earth-vertical axis and then asked to point back to a previously-seen target. In the first paradigm, the subjects used both visual and vestibular cues for the pointing response, while, in the second paradigm, subjects used only vestibular information. Subjects were able to point with 85 percent accuracy to a target using vestibular information alone. We infer from this result that vestibular input plays a role in the spatial programming of manual responses.

Barry, Susan R.↗