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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 703 records · Page 39
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

The Chorus Conflict and Loss of Separation Resolution Algorithms

The Chorus software is designed to investigate near-term, tactical conflict and loss of separation detection and resolution concepts for air traffic management. This software is currently being used in two different problem domains: en-route self- separation and sense and avoid for unmanned aircraft systems. This paper describes the core resolution algorithms that are part of Chorus. The combination of several features of the Chorus program distinguish this software from other approaches to conflict and loss of separation resolution. First, the program stores a history of state information over time which enables it to handle communication dropouts and take advantage of previous input data. Second, the underlying conflict algorithms find resolutions that solve the most urgent conflict, but also seek to prevent secondary conflicts with the other aircraft. Third, if the program is run on multiple aircraft, and the two aircraft maneuver at the same time, the result will be implicitly co-ordinated. This implicit coordination property is established by ensuring that a resolution produced by Chorus will comply with a mathematically-defined criteria whose correctness has been formally verified. Fourth, the program produces both instantaneous solutions and kinematic solutions, which are based on simple accel- eration models. Finally, the program provides resolutions for recovery from loss of separation. Different versions of this software are implemented as Java and C++ software programs, respectively.

Butler, Ricky W.↗
NASA NTRS2016

Horizon Based Orientation Estimation for Planetary Surface Navigation

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

localization↗
NASA NTRS2015

Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

A suite of prototype sensors, software, and avionics developed within the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project were terrestrially demonstrated onboard the NASA Morpheus rocket-propelled Vertical Testbed (VTB) in 2014. The sensors included a LIDAR-based Hazard Detection System (HDS), a Navigation Doppler LIDAR (NDL) velocimeter, and a long-range Laser Altimeter (LAlt) that enable autonomous and safe precision landing of robotic or human vehicles on solid solar system bodies under varying terrain lighting conditions. The flight test campaign with the Morpheus vehicle involved a detailed integration and functional verification process, followed by tether testing and six successful free flights, including one night flight. The ALHAT sensor measurements were integrated into a common navigation solution through a specialized ALHAT Navigation filter that was employed in closed-loop flight testing within the Morpheus Guidance, Navigation and Control (GN&C) subsystem. Flight testing on Morpheus utilized ALHAT for safe landing site identification and ranking, followed by precise surface-relative navigation to the selected landing site. The successful autonomous, closed-loop flight demonstrations of the prototype ALHAT system have laid the foundation for the infusion of safe, precision landing capabilities into future planetary exploration missions.

Carson, John M. III↗
NASA NTRSDate not supplied

AdaStress

This is a tutorial on AdaStress, a tool for finding and analyzing the likeliest failures in a simulated system under test. The presentation outlines the adaptive stress testing framework, provides a demonstration of use, and showcases several examples of failure detection in a complex real-world system.

Reinforcement learning↗
NASA NTRS1982

A general algorithm for solving the algebraic Riccati equation

The generalized eigenvalue problem provides a suitable framework for reliable solutions of many system theoretic, control, and estimation problems. A general algorithm for solving the matrix algebraic Riccati equation (ARE) which utilizes a pencil structure is described here. This algorithm avoids unnecessary inversion of cost or transition matrices, making it a numerically sound way to solve for the gains and/or ARE with singular quadratic costs, for cases satisfying detectability and stabilizability conditions. Examples are solution with discrete dead-beat control, noiseless measurements in Kalman filters and time-delays in discrete-time systems, which cause difficulties in the Hamiltonian standard eigenvalue problem formulation. The ARE algorithm implementatiton and numerical examples are shown.

Walker, R. A.↗
NASA NTRS1989

Method and apparatus for measuring frequency and phase difference

A system for deriving direct digital indications of frequency and phase difference between two incoming pulse trains adaptable for collision avoidance systems or the like. A pair of radar beams 152 and 152A are directed toward a target 153 and corresponding beams 154 and 154A returning therefrom are detected. A digital difference circuit 110 forms a pulse train 66 from the Doppler shift frequencies of each beam pair having a repetition rate functionally related to the difference in magnitude of the shift frequencies. Pulses from the pulse train are counted as a function of time. Visual indications thereof on display 144 are correlative to target position relative to beams 152 and 152A.

Kobayashi, Herbert S.↗
NASA NTRS1993

Impasse-Driven Tutoring for Reactive Skill Acquisition

We introduce a new approach to intelligent tutoring in performance-oriented training environments based on a method called situated plan attribution. The aim of this method is to provide contextualized tutoring for procedural tasks requiring reactive, goal-oriented skills. We use the term plan attribution instead of plan recognition because it does not assume that the problem solver is consciously executing plan. We avoid some of the pitfalls of other popularly used methods, i.e., model tracing and procedure net grammars, by selectively using an expert cognitive model to generate advice after detecting a problem solving impasse. The tutor attributes a set of plans to the student based on a task description. Each action is evaluated with respect to: the student's attributed plans, its actual effects on the training device, and the contextualized goals associated with the plans.

Johnson, W. Lewis↗
NASA NTRS2015

Advancing Lidar Sensors Technologies for Next Generation Landing Missions

Missions to solar systems bodies must meet increasingly ambitious objectives requiring highly reliable "precision landing", and "hazard avoidance" capabilities. Robotic missions to the Moon and Mars demand landing at pre-designated sites of high scientific value near hazardous terrain features, such as escarpments, craters, slopes, and rocks. Missions aimed at paving the path for colonization of the Moon and human landing on Mars need to execute onboard hazard detection and precision maneuvering to ensure safe landing near previously deployed assets. Asteroid missions require precision rendezvous, identification of the landing or sampling site location, and navigation to the highly dynamic object that may be tumbling at a fast rate. To meet these needs, NASA Langley Research Center (LaRC) has developed a set of advanced lidar sensors under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. These lidar sensors can provide precision measurement of vehicle relative proximity, velocity, and orientation, and high resolution elevation maps of the surface during the descent to the targeted body. Recent flights onboard Morpheus free-flyer vehicle have demonstrated the viability of ALHAT lidar sensors for future landing missions to solar system bodies.

Amzajerdian, Farzin↗
NASA NTRS1973

Digital image processing for information extraction.

The modern digital computer has made practical image processing techniques for handling nonlinear operations in both the geometrical and the intensity domains, various types of nonuniform noise cleanup, and the numerical analysis of pictures. An initial requirement is that a number of anomalies caused by the camera (e.g., geometric distortion, MTF roll-off, vignetting, and nonuniform intensity response) must be taken into account or removed to avoid their interference with the information extraction process. Examples illustrating these operations are discussed along with computer techniques used to emphasize details, perform analyses, classify materials by multivariate analysis, detect temporal differences, and aid in human interpretation of photos.

Billingsley, F. C.↗
NASA NTRS1993

Emission line galaxies in a narrow strip toward Perseus

Many studies have suggested that emission line galaxies (ELG's) have spatial distributions that differ from non-emission line galaxies. The ELG's tend to avoid rich clusters and may sometimes reside within voids. This paper describes work in progress on a redshift survey aimed both at determining the angular extent of the structures detected in deep pencil beam survey and at studying the characteristics of galaxies with respect to the rest of the sample.

Ellman, Nancy E.↗
NASA NTRS1994

The MITy micro-rover: Sensing, control, and operation

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

Malafeew, Eric↗
NASA NTRS2013

Embedding Temporal Constraints For Coordinated Execution in Habitat Automation

Future NASA plans call for long-duration deep space missions with human crews. Because of light-time delay and other considerations, increased autonomy will be needed. This will necessitate integration of tools in such areas as anomaly detection, diagnosis, planning, and execution. In this paper we investigate an approach that integrates planning and execution by embedding planner-derived temporal constraints in an execution procedure. To avoid the need for propagation, we convert the temporal constraints to dispatchable form. We handle some uncertainty in the durations without it affecting the execution; larger variations may cause activities to be skipped.

Morris, Paul↗
NASA NTRS2016

Growth Mechanism of Nanowires: Binary and Ternary Chalcogenides

Semiconductor nanowires exhibit very exciting optical and electrical properties including high transparency and a several order of magnitude better photocurrent than thin film and bulk materials. We present here the mechanism of nanowire growth from the melt-liquid-vapor medium. We describe preliminary results of binary and ternary selenide materials in light of recent theories. Experiments were performed with lead selenide and thallium arsenic selenide systems which are multifunctional material and have been used for detectors, acousto-optical, nonlinear and radiation detection applications. We observed that small units of nanocubes and elongated nanoparticles arrange and rearrange at moderate melt undercooling to form the building block of a nanowire. Since we avoided the catalyst, we observed self-nucleation and uncontrolled growth of wires from different places. Growth of lead selenide nanowires was performed by physical vapor transport method and thallium arsenic selenide nanowire by vapor-liquid-solid (VLS) method. In some cases very long wires (>mm) are formed. To achieve this goal experiments were performed to create situation where nanowires grew on the surface of solid thallium arsenic selenide itself.

Singh, N. B.↗
NASA NTRS2002

Runway Safety Monitor Algorithm for Runway Incursion Detection and Alerting

The Runway Safety Monitor (RSM) is an algorithm for runway incursion detection and alerting that was developed in support of NASA's Runway Incursion Prevention System (RIPS) research conducted under the NASA Aviation Safety Program's Synthetic Vision System element. The RSM algorithm provides pilots with enhanced situational awareness and warnings of runway incursions in sufficient time to take evasive action and avoid accidents during landings, takeoffs, or taxiing on the runway. The RSM currently runs as a component of the NASA Integrated Display System, an experimental avionics software system for terminal area and surface operations. However, the RSM algorithm can be implemented as a separate program to run on any aircraft with traffic data link capability. The report documents the RSM software and describes in detail how RSM performs runway incursion detection and alerting functions for NASA RIPS. The report also describes the RIPS flight tests conducted at the Dallas-Ft Worth International Airport (DFW) during September and October of 2000, and the RSM performance results and lessons learned from those flight tests.

Green, David F., Jr.↗
NASA NTRS1994

Characterizing the wake vortex signature for an active line of sight remote sensor

A recurring phenomenon, described as a wake vortex, develops as an aircraft approaches the runway to land. As the aircraft moves along the runway, each of the wing tips generates a spiraling and expanding cone of air. During the lifetime of this turbulent event, conditions exist over the runway which can be hazardous to following aircraft, particularly when a small aircraft is following a large aircraft. Left to themselves, these twin vortex patterns will converge toward each other near the center of the runway, harmlessly dissipating through interaction with each other or by contact with the ground. Unfortunately, the time necessary to disperse the vortex is often not predictable, and at busy airports can severely impact terminal area productivity. Rudimentary methods of avoidance are in place. Generally, time delays between landing aircraft are based on what is required to protect a small aircraft. Existing ambient wind conditions can complicate the situation. Reliable detection and tracking of a wake vortex hazard is a major technical problem which can significantly impact runway productivity. Landing minimums could be determined on the basis of the actual hazard rather than imposed on the basis of a worst case scenario. This work focuses on using a windfield description of a wake vortex to generate line-of-sight Doppler velocity truth data appropriate to an arbitrarily located active sensor such as a high resolution radar or lidar. The goal is to isolate a range Doppler signature of the vortex phenomenon that can be used to improve detection. Results are presented based on use of a simplified model of a wake vortex pattern. However, it is important to note that the method of analysis can easily be applied to any vortex model used to generate a windfield snapshot. Results involving several scan strategies are shown for a point sensor with a range resolution of 1 to 4 meters. Vortex signatures presented appear to offer potential for detection and tracking.

Heil, Robert Milton↗
NASA NTRS2018

An Active Subspace Method for Accelerating Convergence in Delaunay-Based Optimization via Dimension Reduction

Delaunay-based derivative-free optimization, ∆DOGS, is an efficient and provably-convergent global optimization method for the problems which has computationally expensive objection function and the analytical expression for the objective function is not available. ∆-DOGS is a novel optimization scheme in the family of response surface methods (RSMs); however, it suffers from the curse of dimensionality since the computational cost increases dramatically as the number of design parameters increases. As a result, the number of design parameters in ∆-DOGS algorithm is relatively low (n.10). To avoid such problems, this paper proposes a combination of derivative-free optimization, seeking the global minimizer of an expensive and nonconvex objective function f(x) and active subspace method, detecting the directions of the most variability using evaluations of the gradient. The contribution of other directions to the objective function is bounded by a sufficiently small constant. This new algorithm iteratively applied Delaunay-based derivative-free optimization to seek the minimizer on the d-dimensional active subspace that has most function variation. Inverse mapping is needed to project data from active subspace to full-model for evaluating function values. This task is overcome by solving an inequality constrained problem that curves the response surface of the objective function. The test results show that this strategy is effective on a handful of optimization problems.

Bewley, Thomas R.↗
NASA NTRS1986

Optical observations of very low ionization HII regions in the large Magellanic cloud

Several very low ionization isolated HII regions were detected on a prism-objective plate of the Large Magellanic Cloud. Most of the objects show a very weak (OIII) lambda 5007 emission line and, on the other hand the (OII) lambda 6584 doublets are very intense. This kind of objects seem to be ideal in order to determine accurate N and O abundance, avoiding the use of large ionization correction factors in the N abundance determination. Spectrophotometric observations of these regions were carried out with the 4 m telescope and the 2-D Frutti spectrograph at Cerro Tololo, and with the 1.52 m and the Image Dissector Scanner (IDS) at La Silla, ESO. The wavelength range lambda lambda 3700 to 7000 A was covered. Calibrated fluxes of the emission lines detected were measured, and from these data preliminary results of physical conditions of the gas as well as some ionic abundances were derived. Comparisons of the observations with ionization structure models show that the effective temperatures of the ionizing stars are less than 35,000 K. Possible abundances gradients across the large megallanic cloud are discussed.

Pena, M.↗