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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
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),↗
DOE OSTI2025

An end-to-end deep learning solution for automated LiDAR tree detection in the urban environment

Cataloging and classifying trees in the urban environment is a crucial step in urban and environmental planning; however, manual collection and maintenance of this data is expensive and time-consuming. Although algorithmic approaches that rely on remote sensing data have been developed for tree detection in forests, they generally struggle in the more varied urban environment. This work proposes a novel end-to-end deep learning method for the detection of trees in the urban environment from remote sensing data. Specifically, we develop and train a novel PointNet-based neural network architecture to predict tree locations directly from LiDAR data augmented with multi-spectral imagery. We compare this model to a number of high-performing baselines on a large and varied dataset in the Southern California region, and find that our method outperforms all baselines in terms of tree detection ability (75.5% F-score) and positional accuracy (2.28 meter root mean squared error), while being highly efficient. We then analyze and compare the sources of errors, and how these reveal the strengths and weaknesses of each approach. Our results highlight the importance of fusing spectral and structural information for remote sensing tasks in complex urban environments.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Probabilistic error estimation for non-intrusive reduced models learned from data of systems governed by linear parabolic partial differential equations

This work derives a residual-based a posteriori error estimator for reduced models learned with non-intrusive model reduction from data of high-dimensional systems governed by linear parabolic partial differential equations with control inputs. It is shown that quantities that are necessary for the error estimator can be either obtained exactly as the solutions of least-squares problems in a non-intrusive way from data such as initial conditions, control inputs, and high-dimensional solution trajectories or bounded in a probabilistic sense. Here, the computational procedure follows an offline/online decomposition. In the offline (training) phase, the high-dimensional system is judiciously solved in a black-box fashion to generate data and to set up the error estimator. In the online phase, the estimator is used to bound the error of the reduced-model predictions for new initial conditions and new control inputs without recourse to the high-dimensional system. Numerical results demonstrate the workflow of the proposed approach from data to reduced models to certified predictions.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2024

A new spectrally-invariant approach to the remote sensing of inhomogeneous clouds

Current operational satellite retrievals of cloud optical and microphysical properties go back to the Nakajima-King technique developed at the end of the 1980s. This technique is based on library calculations for plane-parallel homogeneous clouds. It often works well for overcast skies but leads to substantial errors for inhomogeneous and broken cloud fields where the plane-parallel-geometry assumption is no longer valid. The basic concept of a new technique was first introduced in nuclear physics to quantify the critical conditions of reactors. Based on the eigenvalues of the radiative transfer equation, their approach provides a powerful means to parameterize the structure of 3D media. This parameterization was later successfully applied to relate surface reflectance spectra to 3D canopy structure and is known as the spectrally-invariant approximation. The proposed approach adapts this technique to the remote sensing of cloud properties such as droplet single scattering albedo and the average number of scatterings (which are the fundamental parameters in radiative transfer theory), with an emphasis on quantifying the associated errors and uncertainties. This retrieval is free from the plane-parallel homogeneous cloud assumption.

clouds↗
DOE OSTI2019

Multi-wavelength Brillouin erbium-doped fiber laser sensor with high tunable temperature sensing coefficient

A multi-wavelength Brillouin erbium-doped fiber laser sensor is proposed and investigated experimentally. It is a linear laser cavity multi-wavelength fiber laser, formed by fixing two high-reflectivity Sangac loop mirrors at both ends. We investigate the laser system output characteristics and test the sensor performance for different temperature. Temperature/humidity and reliable linear-cavity fiber laser sensing operation were successfully achieved. Experimental results show that the temperature sensitivity is 27.15 MHz/ °C and the measurement error caused by frequency drift is about ±0.285 °C.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2022

Simultaneous Observations of Surface Layer Profiles of Humidity, Temperature, and Wind Using Scanning Lidar Instruments

We demonstrate the combination of three Doppler lidars (DLs), a water vapor differential absorption lidar and a temperature rotational Raman lidar for the investigation of the interactions between the land-surface and the atmospheric boundary layer. This combination of scanning lidars was operated for the first time during the Land-Atmosphere Feedback Experiment at the Atmospheric Radiation Measurement program's Southern Great Plain site, Oklahoma, USA, in August 2017, and provided simultaneous surface layer profiles of horizontal wind, humidity and temperature. The horizontal wind profiles were determined using the dual-Doppler method with two DLs. The scans were performed above four towers providing atmospheric variables and fluxes. These combined lidar data allowed for the estimation of the friction velocity as well as the surface latent and sensible heat fluxes. For this purpose, profiles calculated with Monin-Obukhov similarity theory were fitted with the Levenberg-Marquardt nonlinear least squares curve-fitting method to the measured surface-layer lidar profiles. We present case studies of three 50-min periods to illustrate the new method. The measurements resulted in friction velocities of 0.31, 0.29, and 0.38 ms –1 , sensible surface heat fluxes of 312.1, 234.1, and 183.3 Wm –2 and latent surface heat fluxes of 251.8, 227.3, and 274.4 Wm –2 . These values were compared with the in-situ measurements of the towers. Considering the sampling differences and the error analyses, the results agree within 25.1%, 42.5%, and 28.8%, respectively, demonstrating that this synergy of scanning active remote sensing systems can be used to derive surface fluxes with reasonable accuracy.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1972

A three stage sampling model for remote sensing applications

A conceptual model and an empirical application of the relationship between the manner of selecting observations and its effect on the precision of estimates from remote sensing are reported. This three stage sampling scheme considers flightlines, segments within flightlines, and units within these segments. The error of estimate is dependent on the number of observations in each of the stages.

Eisgruber, L. M.↗
NASA NTRS1973

Atmospheric effects on ocean surface temperature sensing from the NOAA satellite scanning radiometer.

Investigation of the effects of atmosphere state, nadir angle, cloud amount, cloud height, and random noise on ocean surface temperature sensing from the NOAA series satellites. The results obtained include the finding that a 10% cloud cover can introduce errors that range from 0.5 K to 4 K depending on cumuloform cloud height, which makes necessary a complete cloud elimination in the analysis. A correction scheme for cloud-free conditions is developed that is essentially free of bias.

Maul, G. A.↗
NASA NTRS1977

Autonomous satellite navigation with the Global Positioning System

This paper discusses the potential of using the Global Positioning System (GPS) to provide autonomous navigation capability to NASA satellites in the 1980 era. Some of the driving forces motivating autonomous navigation are presented. These include such factors as advances in attitude control systems, onboard science annotation, and onboard gridding of imaging data. Simulation results which demonstrate baseline orbit determination accuracies using GPS data on Seasat, Landsat-D, and the Solar Maximum Mission are presented. Emphasis is placed on identifying error sources such as GPS time, GPS ephemeris, user timing biases, and user orbit dynamics, and in a parametric sense on evaluating their contribution to the orbit determination accuracies.

A J Fuchs↗
NASA NTRS1981

Optimal determination of geopotential base height for stratospheric temperature sounders

A technique is presented by which a geopotential base height between 100 and 10 mbar may be estimated to serve as a reference for the construction of stratospheric height fields from remotely sensed temperatures. The scheme employs conventional data obtained below 100 mbar coupled with remotely sensed observations above this level to derive an accurate estimate of the height field by the minimization of the error at the tie-on level, the pressure level of the base height. In a series of numerical realizations, it is demonstrated that the technique yields an unbiased and optimal estimate of the height at levels where conventional errors are typically large, particularly where the conventional height error grows rapidly in the vertical.

Salby, M. L.↗
NASA NTRS1983

The measurement of the synoptic scale wind over the ocean

The effects of mesoscale and microscale fluctuations of the winds on the determination of the synoptic scale wind are studied in order to show the effects of mesoscale variability on the verification of wind forecasts and on the comparison of remotely sensed and anemometer-averaged winds, and to show how to measure the synoptic wind scale more accurately. The frequencies involved correspond to periods longer than one hour and extend to the microscale. Nondimensional spectra that span both the mesoscale and the microscale are derived. Both conventional anemometer averages and remotely sensed winds contain a random component of the mesoscale wind in their values. These components are differences and not errors when winds are compared, and quantitative values for these differences are given. Ways of improving the measurement of the synoptic scale wind by transient ships, data buoys, and scatterometers on future spacecraft are described.

Pierson, W. J., Jr.↗
NASA NTRS1985

Monitoring of inventory in enclosed turbulent liquid tanks using floating gamma-ray sources

An accurate and simple technique utilizing a low-intensity gamma-ray source floating in a vertical tube, whose configuration is tank geometry and size dependent, is shown to eliminate the disturbing effects of turbulent fluid on enclosed tank liquid inventory measurement. The vertical tube aligns the source with detectors positioned outside of the tank, and collapses the turbulent liquid surface to a true average level. The exit attenuation of the information carrying high energy gamma rays is insensitive to liquid surface tubulence, and sensing probe penetrations are not necessary. It is found that for a half-full tank, 1.0 percent statistical error, and 1-s measuring times, that a 220 C Ce-137 source is required for an 8-ft high tank. Consistent experimental results are found for the dual detector method, and results indicate that the accuracy of the scanning side detector method is dependent on the quality of the collimator and degree of lower level energy discrimination.

Klein, R. M.↗
NASA NTRS1989

Shuttle relative navigation of a tethered satellite mission with current on board software

A Shuttle mission planned in 1991 will test the feasibility of tethers in space. This mission, a joint effort between Italy and the United States, will connect a satellite (built by the Italians) to the Shuttle with a 20 km long tether. This mission poses unique navigation problems. The flight software on the Shuttle was never designed to account for the low level acceleration that is generated by the gravity gradient. IMUs on the Shuttle was never designed to account for the low level acceleration that is generated by the gravity gradient. Inertial Maneuvering Units on the shuttle will sense the acceleration of the tether but it turns out that incorporating the continuous accelerometer noise also generates large error growth. Relative navigation is another important issue since the majority of the mission will be conducted while the satellite is out of the visual range of the crew. Some kind of feedback on the motion of the satellite will be desirable. Feedback of the satellite motion can be generated by using the rendezvous radar. To process the radar measurements, the flight software uses a 13 state Kalman Filter, but unfortunately with the filter currently tuned as it is, valid measurements tend to be ignored. This is due to the constraint of the tether on the satellite, which is an unmodeled force. Analysis shows that with proper tuning, relative navigation is possible.

Lee, Kevin A.↗
NASA NTRS1992

Thermistor bolometer scanning radiometer - Applications and flight experience

Scanning radiometers aboard both high-altitude sun-synchronous polar orbit and low altitude equatorial orbit spacecraft have conducted measurements of the earth's long-wave radiation. Attention is presently given to the Earth Radiation Budget Satellite Experiment instruments, which are designed to measure earth radiance with an absolute radiometric error of less than 1 percent. The scanner instruments consists of three broadband radiometer channels employing thermistor bolometers as sensing elements; these radiometers repeatedly scan the earth from limb to limb every 4 sec, generating contiguous pixels on the earth's surface.

Kopia, Leonard P.↗
NASA NTRS1992

NASA/LMSC instrument design and fabrication

The topics addressed are: (1) class-10 flight test program; (2) class system requirements; (3) Doppler wind velocity measurement; (4) systems specifications rational; (5) signal-to-noise equation for remote atmospheric sensing laser velocimeter; (6) variation of signal-to-noise ratios and true wind velocity with distance; (7) velocity error as a function of signal-to-noise ratio, with turbulence; and (8) final class optomechanical design on NASA B/737.

Targ, Russel↗
NASA NTRS1999

Lase Validation Experiment

This report discusses the work done in validation the Lidar Atmospheric Sensing Experiment (LASE) data. This data was analyzed and compared to data from the RS-80 radiosonde. After an error was found and corrected in the programs used to analyze the LASE data, the results were closer to the results expected. The interpretation of the LASE measurements was based on the use of the Goddard Cumulus Ensemble model. This work is further described in the report.

Garstang, Michael↗
NASA NTRS2006

Design and Performance of the Keck Angle Tracker

The Keck Angle Tracker (KAT) is a key subsystem in the NASA-funded Keck Interferometer at the Keck Observatory on the summit of Mauna Kea in Hawaii. KAT, which has been in operation since the achievement of first fringes in March 2001, senses the tilt of the stellar wavefront for each of the beams from the interferometer telescopes and provides tilt error signals to fast tip/tilt mirrors for high-bandwidth, wavefront tilt correction. In addition, KAT passes low-bandwidth, desaturation offsets to the adaptive optics system of the Keck telescopes to correct for slow pointing drifts. We present an overview of the instrument design and recent performance of KAT in support of the V2 science and nulling observing modes of the Keck Interferometer.

adaptive optics↗
NASA NTRS2021

Florida Transportation and Infrastructure: Monitoring Water Quality Along Southern Florida Seaports to Assess Impact on Coral Reef Tracts from Harbor Deepening Projects

The U.S. Army Corps of Engineers (USACE) and National Oceanic and Atmospheric Administration (NOAA) National Marine Fisheries Service (NMFS) will be supervising a harbor deepening project in Port Everglades, Florida. The project raises concerns about potential impacts on the nearby Florida reef tract through increased turbidity and sediment from the dredging. To better understand these potential impacts, the NASA DEVELOP team created an interactive Google Earth Engine tool to help establish a historical baseline of water quality parameters and assist monitoring these parameters more frequently than traditional sampling. This Seaport & Harbor Area Resource Quality (SHARQ) tool incorporates remotely sensed data from Sentinel-2 Multispectral Instrument, Landsat 5 Thematic Mapper, Landsat 7 Enhanced Thematic Mapper+, Landsat 8 Operational Land Imager, and Aqua Moderate Resolution Imaging Spectroradiometer. It allows users to view true color images and calculate water quality parameters, like turbidity and chlorophyll-a, for any given study area and time period from 1984 onward. The SHARQ tool also generate time series charts, allowing users to interpret changes in water quality over a given time range. The accuracy of the remotely sensed water quality parameter algorithms was determined using in situ data to calculate percent difference and root mean square error values (RMSE), which ranged from 0.32 to 0.58 error between sites. Using the SHARQ tool’s time series analysis feature, a baseline average turbidity metric of ~6.8 FNUs provides a historical baseline average for turbidity between September 2000 and 2020 and can assist in future decision-making for determining thresholds for turbidity.

Benjamin Rocha↗