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NASA NTRS2001

Remote Sensing of the Urban Heat Island Effect: Assessment of Risks to Human Health and Development of Mitigation Strategies for Sustainable Cities

The growth of cities, both in population and in areal extent, appears as an inexorable process. Urbanization continues at a rapid rate, and it is estimated that by the year 2025, 80% of the world's population will live in cities. One of the more egregious side effects of urbanization is the deterioration in air quality as a result of increased vehicular traffic, industrialization and related activities. In the United States alone, under the more stringent air quality guidelines established by the U.S. Environmental Protection Agency (EPA) in 1997, nearly 300 counties in 34 states will not meet the new air quality standards for ground level ozone. The mitigation of one the physical/environmental characteristics of urbanization known as the urban heat island (UHI) effect, is now being looked at more closely as a possible way to bring down ground level ozone levels in cities and assist states in improving air quality. The UHI results from the replacement of "natural" land covers (e.g., trees, grass) with urban land surface types, such as pavement and buildings. Heat stored in these surfaces is released into the air and results in a "dome" of elevated air temperatures that presides over cities. The effect of this dome of elevated air temperatures is known as the UHI, which is most prevalent about 2-3 hours after sunset on days with intense solar radiation and calm winds. Given the local and regional impacts of the UHI, there are significant potential affects on human health, particularly as related to heat stress and ozone on body temperature regulation and on the cardiovascular and respiratory systems. In this study we are using airborne and satellite remote sensing data to analyze how differences in the urban landscape influence or drive the development of the UHI over four U.S. cities. Additionally, we are assessing what the potential impact is on risks to human health, and developing mitigation strategies to make urban areas more environmentally sustainable.

Quattrochi, Dale A.↗
NASA NTRS1997

Adsorption and Processes in Spacecraft Environmental Control and Life Support Systems

The environmental control and life support system on a spacecraft must maintain a safe and comfortable environment in which the crew can live and work. The system's functions include supplying the crew with oxygen and water, as well as removing carbon dioxide, water vapor, and trace contaminants from cabin air. Although open-loop systems have been used in the past, logistics and safety factors of current and future missions in space make near-complete recycling of the cabin's air and water desirable. The recycling process may include separation and reduction of carbon dioxide, removal of trace gas-phase contaminants, recovery and purification of humidity condensate, purification and polishing of wastewater streams, and other processes. Several of these operations can be performed totally or in part by adsorption processes. Adsorption processes are frequently good candidates for separation and purification in space by virtue of such characteristics as gravity independence, high reliability, relatively high energy efficiency, design flexibility, technological maturity, and regenerability. For these reasons, adsorption has historically played a key role in life support on U.S. and Russian piloted spacecraft. This article focuses on three current spacecraft life support applications that often use adsorption technology: carbon dioxide separation from cabin air, gas-phase trace contaminant control, and potable water recovery from waste streams. In each application, adsorption technology has been selected for use on the International Space Station. The requirements, science, and hardware for each application are discussed. Eventually, human space exploration may lead to construction of planetary habitats. These habitats may have additional applications, such as control of greenhouse gas composition and purification of hydroponic solutions, and may have different requirements and resources available to them, such as gases present in the planetary atmosphere. Adsorption separation and purification processes may continue to fulfill environmental control and life support needs well into the future.

Dall-Bauman, Liese↗
NASA NTRS1999

Effect of High Temperature on the Tensile Behavior of CFRP and Cementitious Composites

Concrete and other composite manufacturing processes are continuing to evolve and become more and more suited for use in non-Earth settings such as the Moon and Mars. The fact that structures built in lunar environments would experience a range of effects from temperature extremes to bombardment by micrometeorites and that all the materials for concrete production exist on the Moon means that concrete appears to be the most feasible building material. it can provide adequate shelter from the harshness of the lunar environment and at the same time be a cost effective building material. With a return to the Moon planned by NASA to occur after the turn of the century, it will be necessary to include concrete manufacturing as one of the experiments to be conducted in one of the coming missions. Concrete's many possible uses and possibilities for manufacturing make it ideal for lunar construction. The objectives of this research are summarized as follows: i) study the possibility of concrete production on the Moon or other planets, ii) study the effect of high temperature on the tensile behavior of concrete, and iii) study the effect of high temperature on the tensile behavior of carbon fiber reinforced with inorganic polymer composites. Literature review indicates that production of concrete on the Moon or other planets is feasible using the indigenous materials. Results of this study has shown that both the tensile strength and static elastic modulus of concrete decreased with a rise in temperature from 200 to 500 C. The addition of silica fume to concrete showed higher resistance to high temperatures. Carbon fiber reinforced inorganic polymer (CFRIP) composites seemed to perform well up to 300 C. However, a significant reduction in strength was observed of about 40% at 400 C and up to 80% when the specimens were exposed to 700 C.

Toutanji, Houssam A.↗
NASA NTRS2002

High Spatial Resolution Thermal Remote Sensing of the Urban Heat Island Effect: Assessment of Risks to Human Health and Development of Mitigation Strategies for Sustainable Cities

The growth of cities, both in population and in areal extent, appears as an inexorable process. Urbanization continues at a rapid rate, and it is estimated that by the year 2025, 80% of the world's population will live in cities. One of the more egregious side effects of urbanization is the deterioration in air quality as a result of increased vehicular traffic, industrialization and related activities. In the United States alone, under the more stringent air quality guidelines established by the U.S. Environmental Protection Agency (EPA) in 1997, nearly 300 counties in 34 states will not meet the new air quality standards for ground level ozone. The mitigation of one the physical/environmental characteristics of urbanization known as the urban heat island (UHI) effect, is now being looked at more closely as a possible way to bring down ground level ozone levels in cities and assist states in improving air quality. The UHI results from the replacement of "natural" land covers (e.g., trees, grass) with urban land surface types, such as pavement and buildings. Heat stored in these surfaces is released into the air and results in a "dome" of elevated air temperatures that presides over cities. The effect of this dome of elevated air temperatures is known as the UHI, which is most prevalent about 2-3 hours after sunset on days with intense solar radiation and calm winds. Given the local and regional impacts of the UHI, there are significant potential affects on human health, particularly as related to heat stress and ozone on body temperature regulation and on the cardiovascular and respiratory systems. In this study we are using airborne and satellite remote sensing data to analyze how differences in the urban landscape influence or drive the development of the UHI over four U.S. cities. Additionally, we are assessing what the potential impact is on risks to human health, and developing mitigation strategies to make urban areas more environmentally sustainable.

Quattrochi, Dale A.↗
NASA NTRS2003

Evolutionary Technique for Automated Synthesis of Electronic Circuits

A method for evolving a circuit comprising configuring a plurality of transistors using a plurality of reconfigurable switches so that each of the plurality of transistors has a terminal coupled to a terminal of another of the plurality of transistors that is controllable by a single reconfigurable switch. The plurality of reconfigurable switches being controlled in response to a chromosome pattern. The plurality of reconfigurable switches may be controlled using an annealing function. As such, the plurality of reconfigurable switches may be controlled by selecting qualitative values for the plurality of reconfigurable switches in response to the chromosomal pattern, selecting initial quantitative values for the selected qualitative values, and morphing the initial quantitative values. Typically, subsequent quantitative values will be selected more divergent than the initial quantitative values. The morphing process may continue to partially or to completely polarize the quantitative values.

Stoica, Adrian↗
NASA NTRS2003

Kinetic Roughening and Energetics of Tetragonal Lysozyme Crystal Growth

Lysozyme crystal growth rates over 5 orders of magnitude in range can be described using a layer-by-layer model where growth occurs by 2D nucleation on the crystal surface. Based upon the 2D nucleation model of layer growth, the effective barrier for growth was determined to be gamma = 1.3 plus or minus 0.3 x 10(exp -13) erg/molecule, corresponding to a barrier of 3.2 plus or minus 0.7 k(sub B)T, at 22 C. For solution supersaturation, In c/c(sub eq) greater than or equal to 1.9 plus or minus 0.2, the nucleation model would not predict or consistently estimate the highest observable crystal growth rates. As such, a kinetic roughening hypothesis where crystal growth occurs by a continuous mode was implemented for all growth rate data obtained above In c(sub r)/c(sub eq) greater than or equal to 2. That is, independent of the solution conditions that vary with either buffer pH, temperature or precipitant concentration, crystal growth occurs by the continuous addition of molecules anywhere on the crystal surface, above a roughening solution supersaturation. The energy barrier, E(sub c), for the continuous growth process is determined as 6.1 plus or minus 0.4 x 10(exp -13) erg/molecule or 15 plus or minus 1 k(sub B)T at 22 C.

Gorti, Sridhar↗
NASA NTRS2003

Modeling, Simulation, and Forecasting of Subseasonal Variability

A planning workshop on "Modeling, Simulation and Forecasting of Subseasonal Variability" was held in June 2003. This workshop was the first of a number of meetings planned to follow the NASA-sponsored workshop entitled "Prospects For Improved Forecasts Of Weather And Short-Term Climate Variability On Sub-Seasonal Time Scales" that was held April 2002. The 2002 workshop highlighted a number of key sources of unrealized predictability on subseasonal time scales including tropical heating, soil wetness, the Madden Julian Oscillation (MJO) [a.k.a Intraseasonal Oscillation (ISO)], the Arctic Oscillation (AO) and the Pacific/North American (PNA) pattern. The overarching objective of the 2003 follow-up workshop was to proceed with a number of recommendations made from the 2002 workshop, as well as to set an agenda and collate efforts in the areas of modeling, simulation and forecasting intraseasonal and short-term climate variability. More specifically, the aims of the 2003 workshop were to: 1) develop a baseline of the "state of the art" in subseasonal prediction capabilities, 2) implement a program to carry out experimental subseasonal forecasts, and 3) develop strategies for tapping the above sources of predictability by focusing research, model development, and the development/acquisition of new observations on the subseasonal problem. The workshop was held over two days and was attended by over 80 scientists, modelers, forecasters and agency personnel. The agenda of the workshop focused on issues related to the MJO and tropicalextratropical interactions as they relate to the subseasonal simulation and prediction problem. This included the development of plans for a coordinated set of GCM hindcast experiments to assess current model subseasonal prediction capabilities and shortcomings, an emphasis on developing a strategy to rectify shortcomings associated with tropical intraseasonal variability, namely diabatic processes, and continuing the implementation of an experimental forecast and model development program that focuses on one of the key sources of untapped predictability, namely the MJO. The tangible outcomes of the meeting included: 1) the development of a recommended framework for a set of multi-year ensembles of 45-day hindcasts to be carried out by a number of GCMs so that they can be analyzed in regards to their representations of subseasonal variability, predictability and forecast skill, 2) an assessment of the present status of GCM representations of the MJO and recommendations for future steps to take in order to remedy the remaining shortcomings in these representations, and 3) a final implementation plan for a multi-institute/multi-nation Experimental MJO Prediction Program.

Waliser, Duane↗
NASA NTRS1997

Development of gravity-sensing organs in altered gravity

Experiments are described in which the development of the gravity-sensing organs was studied in newt larvae reared in microgravity on the IML-2 mission and in Aplysia embryos and larvae reared on a centrifuge at 1 to 5 g. In Aplysia embryos, the statolith (single dense mass on which gravity and linear acceleration act) was reduced in size in a graded fashion at increasing g. In early post-metamorphic Aplysia or even in isolated statocysts from such animals, the number of statoconia produced is reduced at high g. Newt larvae launched before any of the otoconia were formed and reared for 15 days in microgravity had nearly adult labyrinths at the end of the IML-2 mission. The otoliths of the saccule and utricle were the same size in flight and ground-reared larvae. However, the system of aragonitic otoconia produced in the endolymphatic sac in amphibians was much larger and developed earlier in the flight-reared larvae. At later developmental stages, the aragonitic otoconia enter and fill the saccule. One flight-reared larva was maintained for nine months post-flight and the size of the saccular otolith, as well as the volume of otoconia within the endolymphatic sac, were considerably larger than in age-matched, ground-reared newts. This suggests that rearing in microgravity initiates a process that continues for several months after introduction to 1-g, which greatly increases the volume of otoconia. The flight-reared animal had abnormal posture, pointing its head upward, whereas normal ground-reared newts always keep their head horizontal. This suggests that rearing for even a short period in microgravity can have lasting functional consequences in an animal subsequently reared in 1-g conditions on Earth.

STS-65 Shuttle Project↗
NASA NTRS2004

Concurrent Engineering for the Management of Research and Development

The Management of Research and Development (R&D) is facing the challenges of reducing time from R&D to customer, reducing the cost of R&D, having higher accountability for results (improved quality), and increasing focus on customers. Concurrent engineering (CE) has shown great success in the automotive and technology industries resulting in significant decreases in cycle time, reduction of total cost, and increases in quality and reliability. This philosophy of concurrency can have similar implications or benefits for the management of R&D organizations. Since most studies on the application of CE have been performed in manufacturing environments, research into the benefits of CE into other environments is needed. This paper presents research conducted at the NASA Glenn Research Center (GRC) investigating the application of CE in the management of an R&D organization. In particular the paper emphasizes possible barriers and enhancers that this environment presents to the successful implementation of CE. Preliminary results and recommendations are based on a series of interviews and subsequent surveys, from which data has been gathered and analyzed as part of the GRC's Continuous Improvement Process.

DelRosario, Ruben↗
NASA NTRS2004

Fabrication of a novel gigabit/second free-space optical interconnect - photodetector characterization and testing and system development

The time when computing power is limited by the copper wire inherent in the computer system and not the speed of the microprocessor is rapidly approaching. With constant advances in computer technology, many researchers believe that in only a few years, optical interconnects will begin to replace copper wires in your Central Processing Unit (CPU). On a more macroscopic scale, the telecommunications industry has already made the switch to optical data transmission as, to date, fiber optic technology is the only reasonable method of reliable, long range data transmission. Within the span of a decade, we will see optical technologies move from the macroscopic world of the telecommunications industry to the microscopic world of the computer chip. Already, the communications industry is marketing commercially available optical links to connect two personal computers, thereby eliminating the need for standard and comparatively slow wired and wireless Ethernet transfers and greatly increasing the distance the computers can be separated. As processing demands continue to increase, the realm of optical communications will continue to move closer to the microprocessor and quite possibly onto the microprocessor itself. A day may come when copper connections are used only to supply power, not transfer data. This summer s work marks some of the beginning stages of a 5 to 10 year, long-term research project to create and study a free-space, 1 Gigabit/sec optical interconnect. The research will result in a novel fabricated, chip-to-chip interconnect consisting of a Vertical Cavity Surface Emitting Laser (VCSEL) Diode linked through free space to a Metal- Semiconductor-Metal (MSM) Photodetector with the possible integration of microlenses for signal focusing and Micro-Electromechanical Systems (MEMS) devices for optical signal steering. The advantages, disadvantages, and practicality of incorporating flip-chip mounting technologies will also be addressed. My work began with the design and construction of a test setup for the experiment and then appropriate characterization of the test system. Specifically, I am involved in the characterization of a commercially available 1550nm wavelength, 5mW diode laser and a study of its modulation bandwidth. Commercially produced photodetectors as well as the incorporation of microwave technology, in the form of RF input and output, are used in the characterization procedure. The next stage involves the use of a probe station and network analyzer to characterize and test a series of photodetectors fabricated on a 2 inch, Indium Gallium Arsenide (InGaAs) wafer in the Branch s microlithography lab. Other project responsibilities include, but are not limited to the incorporation of a transimpedance amplifier to the photodetector circuit; a study of VCSEL technology; bit error rate analysis of an optical interconnect system; and analysis of free space divergence of the VCSEL, optical path length of the interconnect; and any other pertinent optical properties of the one gigabit per second interconnect for fabrication and testing.

Savich, Gregory R.↗
NASA NTRS2006

Modeling the Atmospheric Phase Effects of a Digital Antenna Array Communications System

In an antenna array system such as that used in the Deep Space Network (DSN) for satellite communication, it is often necessary to account for the effects due to the atmosphere. Typically, the atmosphere induces amplitude and phase fluctuations on the transmitted downlink signal that invalidate the assumed stationarity of the signal model. The degree to which these perturbations affect the stationarity of the model depends both on parameters of the atmosphere, including wind speed and turbulence strength, and on parameters of the communication system, such as the sampling rate used. In this article, we focus on modeling the atmospheric phase fluctuations in a digital antenna array communications system. Based on a continuous-time statistical model for the atmospheric phase effects, we show how to obtain a related discrete-time model based on sampling the continuous-time process. The effects of the nonstationarity of the resulting signal model are investigated using the sample matrix inversion (SMI) algorithm for minimum mean-squared error (MMSE) equalization of the received signal

Tkacenko, A.↗
NASA NTRS1997

Origin of the Ubiquitous Fast Solar Wind

The solar wind is a direct manifestation of the coronal heating processes which continue to elude us. For over three decades, observations in interplanetary space have identified two types of wind: a slow component with highly variable physical properties also characterized by speeds typically beow 500 kn/s, and a much less variable fast wind flowing on average at 750 km/s1.

solar wind↗
NASA NTRS2008

Comparison of Terra and Aqua MODIS VIS Bands On-Orbit Response

The Moderate Resolution Imaging Spectroradiometer (MODIS) has 36 spectral bands with a total of 490 detectors, covering spectral regions in the visible (VIS), near-infrared (NIR), short-wave infrared (SWIR), mid-wave infrared (MWIR), and long-wave infrared (LWIR). MODIS is a cross-track scanning radiometer which collects data using a rotating scan mirror (both sides) over a wide range of scan angles. The VIS, NIR, and SWIR bands (bands 1-19 and 26) make measurements of daytime surface reflected radiances, thus are referred to as the reflective solar bands (RSB). MODIS was built with a complete set of on-board calibrators, capable of providing radiometric, spatial, and spectral calibration and characterization during its entire mission. The RSB on-orbit calibration is primarily provided using a solar diffuser (SD) and a solar diffuser stability monitor (SDSM). The SD and SDSM calibration system is operated on a regular (weekly to bi-weekly) basis. The spectro-radiometric calibration assembly (SRCA) is another on-hoard calibrator that also provides RSB radiometric calibration support. For this purpose, the SRCA is operated in a radiometric mode on a monthly basis. A complete SRCA radiometric calibration is performed using different lamp configurations, or different radiance levels, to cover the range of RSB gain. Two additional SRCA modes with slightly different configurations are designed and operated for sensor on-orbit spectral and spatial characterization. In addition to its on-hoard calibrators, each MODIS makes monthly lunar observations to monitor RSB radiometric calibration stability. The MODIS lunar observations are made through its space view (SV) port at nearly the same lunar phase angles via spacecraft roll maneuvers. The SD, SRCA, and lunar measurements are made at different scan angles and data samples are collected for all spectral bands and detectors using both sides of the scan minor. Since launch, Terra and Aqua MODIS have operated successfully for more than 8 years and 6 years, respectively. Many SD/SDSM, SRCA, and lunar observations have been made by each instrument and used to derive RSB on-orbit calibration parameters, enabling corrections for sensor response changes and changes of the response versus scan angle (RVS). In general, the RSB calibration parameters are updated regularly into the MODIS Level 1B (LIB) code in support of continuous data processing for all MODIS science data products. This paper provides a brief description of MODIS RSB calibration methodologies and approaches, and summarizes on-orbit changes of their responses (gains), particularly for the VIS spectral bands.

Xiong, Xiaoxiong↗
NASA NTRS2009

Human Factors Interface with Systems Engineering for NASA Human Spaceflights

This paper summarizes the past and present successes of the Habitability and Human Factors Branch (HHFB) at NASA Johnson Space Center s Space Life Sciences Directorate (SLSD) in including the Human-As-A-System (HAAS) model in many NASA programs and what steps to be taken to integrate the Human-Centered Design Philosophy (HCDP) into NASA s Systems Engineering (SE) process. The HAAS model stresses systems are ultimately designed for the humans; the humans should therefore be considered as a system within the systems. Therefore, the model places strong emphasis on human factors engineering. Since 1987, the HHFB has been engaging with many major NASA programs with much success. The HHFB helped create the NASA Standard 3000 (a human factors engineering practice guide) and the Human Systems Integration Requirements document. These efforts resulted in the HAAS model being included in many NASA programs. As an example, the HAAS model has been successfully introduced into the programmatic and systems engineering structures of the International Space Station Program (ISSP). Success in the ISSP caused other NASA programs to recognize the importance of the HAAS concept. Also due to this success, the HHFB helped update NASA s Systems Engineering Handbook in December 2007 to include HAAS as a recommended practice. Nonetheless, the HAAS model has yet to become an integral part of the NASA SE process. Besides continuing in integrating HAAS into current and future NASA programs, the HHFB will investigate incorporating the Human-Centered Design Philosophy (HCDP) into the NASA SE Handbook. The HCDP goes further than the HAAS model by emphasizing a holistic and iterative human-centered systems design concept.

Wong, Douglas T.↗
NASA NTRS2009

Robotic Recon for Human Exploration

Robotic reconnaissance has the potential to significantly improve scientific and technical return from lunar surface exploration. In particular, robotic recon may increase crew productivity and reduce operational risk for exploration. However, additional research, development and field-testing is needed to mature robot and ground control systems, refine operational protocols, and specify detailed requirements. When the new lunar surface campaign begins around 2020, and before permanent outposts are established, humans will initially be on the Moon less than 10% of the time. During the 90% of time between crew visits, robots will be available to perform surface operations under ground control. Understanding how robotic systems can best address surface science needs, therefore, becomes a central issue Prior to surface missions, lunar orbiters (LRO, Kaguya, Chandrayyan-1, etc.) will map the Moon. These orbital missions will provide numerous types of maps: visible photography, topographic, mineralogical and geochemical distributions, etc. However, remote sensing data will not be of sufficient resolution, lighting, nor view angle, to fully optimize pre-human exploration planning, e.g., crew traverses for field geology and geophysics. Thus, it is important to acquire supplemental and complementary surface data. Robotic recon can obtain such data, using robot-mounted instruments to scout the surface and subsurface at resolutions and at viewpoints not achievable from orbit. This data can then be used to select locations for detailed field activity and prioritize targets to improve crew productivity. Surface data can also help identify and assess terrain hazards, and evaluate alternate routes to reduce operational risk. Robotic recon could be done months in advance, or be part of a continuing planning process during human missions.

Deans, Matthew↗
NASA NTRS2009

Evidence for a 115 Day Orbital Period in the Ultraluminous X-ray Source NGC 5408 X-1

We report the detection of a 115 day periodicity in SWIFT/XRT monitoring data from the ultraluminous X-ray source (ULX) NGC 5408 X-1. Our ongoing campaign samples its X-ray flux approximately twice weekly and has now achieved a temporal baseline of more than 500 days. Timing analysis reveals a significant periodicity with a period of 115.5 +- 4 days. The fractional modulation amplitude decreases with increasing energy, ranging from 0.13 above 1 keV to 0.24 below 1 keV. The shape of the profile evolves as well, becoming less sharply peaked at higher energies. Periodogram analysis is consistent with a periodic process, however, continued monitoring is required to confirm the coherent nature of the modulation. Spectral analysis indicates that NGC 5408 X-1 can reach 0.3 - 10 keV luminosities of 2 x 10e40 ergs/s. We suggest that, like the 62 day period of the ULX in M82 (X41.4+60), the periodicity detected in NGC 5408 X-1 represents the orbital period of the black hole binary containing the ULX. If this is true then the secondary can only be a giant or supergiant star.

Strohmayer, T.↗
NASA NTRS2009

Discovery of a 115 Day Orbital Period in the Ultraluminous X-ray Source NGC 5408 X-1

We report the detection of a 115 day periodicity in SWIFT/XRT monitoring data from the ultraluminous X-ray source (ULX) NGC 5408 X-1. Our o ngoing campaign samples its X-ray flux approximately twice weekly and has now achieved a temporal baseline of ti 485 days. Periodogram ana lysis reveals a significant periodicity with a period of 115.5 +/- 4 days. The modulation is detected with a significance of 3.2 x 10(exp -4) . The fractional modulation amplitude decreases with increasing e nergy, ranging from 0.13 +/- 0.02 above 1 keV to 0.24 +/- 0.02 below 1 keV. The shape of the profile evolves as well, becoming less sharply peaked at higher energies. The periodogram analysis is consistent wi th a periodic process, however, continued monitoring is required to c onfirm the coherent nature of the modulation. Spectral analysis indic ates that NGC 5408 X-1 can reach 0.3 - 10 keV luminosities of approxi mately 2 x 10 40 ergs/s . We suggest that, like the 62 day period of the ULX in M82 (X41.4-1-60), the periodicity detected in NGC 5408 X-1 represents the orbital period of the black hole binary containing the ULX. If this is true then the secondary can only be a giant or super giant star.

Strohmayer, Tod E.↗
NASA NTRS2007

Algorithm Plans Collision-Free Path for Robotic Manipulator

An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps between the corresponding OBB and OBP models. For computational efficiency, the process is started at the coarsest resolution and stopped as soon as possible, preferably before reaching the finest resolution. At the coarsest resolution, there is a single OBB enclosing all relevant external objects and a single OBB enclosing the entire robot. At the next finer level of resolution, the coarsest-resolution OBB is divided into two OBBs, and so forth. If no collision is detected at the coarsest resolution, then there is no need for further computation to detect collisions. If a collision is detected at the coarsest resolution, then tests for collisions are performed at the next finer level of resolution. This process is continued to successively finer resolutions until either no more collisions are detected or the finest resolution is reached.

Backes, Paul↗