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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Rotary encoding device using polygonal mirror with diffraction gratings on each facet

A device for position encoding of a rotating shaft in which a polygonal mirror having a number of facets is mounted to the shaft and a monochromatic light beam is directed towards the facets. The facets of the polygonal mirror each have a low line density diffraction grating to diffract the monochromatic light beam into a number of diffracted light beams such that a number of light spots are created on a linear array detector. An analog-to-digital converter is connected to the linear array detector for reading the position of the spots on the linear array detector means. A microprocessor with memory is connected to the analog-to-digital converter to hold and manipulate the data provided by the analog-to-digital converter on the position of the spots and to compute the position of the shaft based upon the data from the analog-to-digital converter.

Leviton, Douglas B.↗
NASA NTRS1995

A microcontroller-based three degree-of-freedom manipulator testbed

A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

Brown, Robert Michael, Jr.↗
NASA NTRS1999

Antigen S1, encoded by the MIC1 gene, is characterized as an epitope of human CD59, enabling measurement of mutagen-induced intragenic deletions in the AL cell system

S1 cell membrane antigen is encoded by the MIC1 gene on human chromosome 11. This antigen has been widely used as a marker for studies in gene mapping or in analysis of mutagen-induced gene deletions/mutations, which utilized the human-hamster hybrid cell-line, AL-J1, carrying human chromosome 11. Evidence is presented here which identifies S1 as an epitope of CD59, a cell membrane complement inhibiting protein. E7.1 monoclonal antibody, specific for the S1 determinant, was found to react strongly with membrane CD59 in Western blotting, and to bind to purified, urinary form of CD59 in ELISAs. Cell membrane expression of S1 on various cell lines always correlated with that of CD59 when examined by immunofluorescent staining. In addition, E7.1 antibody inhibited the complement regulatory function of CD59. Identification of S1 protein as CD59 has increased the scope of the AL cell system by enabling analysis of intragenic mutations, and multiplex PCR analysis of mutated cells is described, showing variable loss of CD59 exons.

Non-NASA Center↗
NASA NTRS1986

dc electric field meter with fiber-optic readout

The design of a dc electric field meter capable of measuring the magnitude and direction of the electric field at an arbitrary location above the ground plane is described. The meter is based on measuring induced charge on a split cylindrical electrode pair which is rotated around its axis of symmetry. Data readout is by fiber-optic cable using pulse frequency encoding. The sensing head is electrically isolated. Initial results are reported from a series of tests at General Electric's High Voltage Transmission Research Facility, Pittsfield, MA. The electric field was measured in a large test cage and under a dc test line. Measurement of field magnitude and direction around a human subject standing under the conductor was demonstrated.

Johnston, Alan R.↗
NASA NTRS1990

Real-time fuzzy inference based robot path planning

This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.

Pacini, Peter J.↗
NASA NTRS1996

High Angular Sensitivity, Absolute Rotary Encoding Device with Polygonal Mirror and Stand-Alone Diffraction Gratings

A device for position encoding of a rotating shaft in which a polygonal mirror having a number of facets is mounted to the shaft and a monochromatic light beam is directed towards the facets. The facets of the polygonal mirror direct the light beam to a stand-alone low line density diffraction grating to diffract the monochromatic light beam into a number of diffracted light beams such that a number of light spots are created on a linear array detector. An analog-to-digital converter is connected to the linear array detector for reading the position of the spots on the linear array detector means. A microprocessor with memory is connected to the analog-to-digital converter to hold and manipulate the data provided by the analog-to-digital converter on the position of the spots and to compute the position of the shaft based upon the data from the analog-lo-digital converter.

Leviton, Douglas B.↗
NASA NTRS2011

Radiation-Tolerant, SpaceWire-Compatible Switching Fabric

Current and future near-Earth and deep space exploration programs and space defense programs require the development of robust intra-spacecraft serial data transfer electronics that must be reconfigurable, fault-tolerant, and have the ability to operate effectively for long periods of time in harsh environmental conditions. Existing data transfer systems based on state-of-the-art serial data transfer protocols or passive backplanes are slow, power-hungry, and poorly reconfigurable. They provide limited expandability and poor tolerance to radiation effects and total ionizing dose (TID) in particular, which presents harmful threats to modern submicron electronics. This novel approach is based on a standard library of differential cells tolerant to TID, and patented, multi-level serial interface architecture that ensures the reliable operation of serial interconnects without application of a data-strobe or other encoding techniques. This proprietary, high-speed differential interface presents a lowpower solution fully compatible with the SpaceWire (SW) protocol. It replaces a dual data-strobe link with two identical independent data channels, thus improving the system s tolerance to harsh environments through additional double redundancy. Each channel incorporates an automatic line integrity control circuitry that delivers error signals in case of broken or shorted lines.

Katzman, Vladimir↗
NASA NTRS2008

Optical Communications from Planetary Distances

Future planetary campaigns, including human missions, will require data rates difficult to realize by microwave links. Optical channels not only provide an abundance of bandwidth, they also allow for significant size, weight, and power reduction. Moreover, optical-based tracking may enhance spacecraft navigation with respect to microwave-based tracking. With all its advantages, optical communications from deep space is not without its challenges. Due to the extreme distance between the two ends of the link, specialized technologies are needed to enable communications in the deep space environment. Although some of the relevant technologies have been developed in the last decade, they remain to be validated in an appropriate domain. The required assets include efficient pulsed laser sources, modulators, transmitters, receivers, detectors, channel encoders, precise beam pointing technologies for the flight transceiver and large apertures for the ground receiver. Clearly, space qualification is required for the systems that are installed on a deep space probe. Another challenge is atmospheric effects on the optical beam. Typical candidate locations on the ground have a cloud-free line of sight only on the order of 60-70% of the time. Furthermore, atmospheric losses and background light can be problematic even during cloud-free periods. Lastly, operational methodologies are needed for efficient and cost effective management of optical links. For more than a decade, the National Aeronautics and Space Administration (NASA) has invested in relevant technologies and procedures to enable deep space optical communications capable of providing robust links with rates in the order of 1 Gb/s from Mars distance. A recent publication indicates that potential exists for 30-dB improvement in performance through technology development with respect to the state-of-the-art in the early years of this decade. The goal is to fulfill the deep space community needs from about 2020 to the foreseeable future. It is envisioned that, at least initially, optical links will be complemented by microwave assets for added robustness, especially for human missions. However, it is expected that as optical techniques mature, laser communications may be operated without conventional radio frequency links. The purpose of this paper is to briefly review the state-of-the-art in deep space laser communications and its challenges and discuss NASA-supported technology development efforts and plans for deep space optical communications at JPL.

Laser Communications↗
NASA NTRS2011

Single-Frame Terrain Mapping Software for Robotic Vehicles

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Rankin, Arturo L.↗
NASA NTRS2012

Radiation-Hard SpaceWire/Gigabit Ethernet-Compatible Transponder

A radiation-hard transponder was developed utilizing submicron/nanotechnology from IBM. The device consumes low power and has a low fabrication cost. This device utilizes a Plug-and-Play concept, and can be integrated into intra-satellite networks, supporting SpaceWire and Gigabit Ethernet I/O. A space-qualified, 100-pin package also was developed, allowing space-qualified (class K) transponders to be delivered within a six-month time frame. The novel, optical, radiation-tolerant transponder was implemented as a standalone board, containing the transponder ASIC (application specific integrated circuit) and optical module, with an FPGA (field-programmable gate array) friendly parallel interface. It features improved radiation tolerance; high-data-rate, low-power consumption; and advanced functionality. The transponder utilizes a patented current mode logic library of radiation-hardened-by-architecture cells. The transponder was developed, fabricated, and radhard tested up to 1 MRad. It was fabricated using 90-nm CMOS (complementary metal oxide semiconductor) 9 SF process from IBM, and incorporates full BIT circuitry, allowing a loop back test. The low-speed parallel LVCMOS (lowvoltage complementary metal oxide semiconductor) bus is compatible with Actel FPGA. The output LVDS (low-voltage differential signaling) interface operates up to 1.5 Gb/s. Built-in CDR (clock-data recovery) circuitry provides robust synchronization and incorporates two alarm signals such as synch loss and signal loss. The ultra-linear peak detector scheme allows on-line control of the amplitude of the input signal. Power consumption is less than 300 mW. The developed transponder with a 1.25 Gb/s serial data rate incorporates a 10-to-1 serializer with an internal clock multiplication unit and a 10-1 deserializer with internal clock and data recovery block, which can operate with 8B10B encoded signals. Three loop-back test modes are provided to facilitate the built-in-test functionality. The design is based on a proprietary library of differential current switching logic cells implemented in the standard 90-nm CMOS 9SF technology from IBM. The proprietary low-power LVDS physical interface is fully compatible with the SpaceWire standard, and can be directly connected to the SFP MSA (small form factor pluggable Multiple Source Agreement) optical transponder. The low-speed parallel interfaces are fully compatible with the standard 1.8 V CMOS input/output devices. The utilized proprietary annular CMOS layout structures provide TID tolerance above 1.2 MRad. The complete chip consumes less than 150 mW of power from a single 1.8-V positive supply source.

Katzman, Vladimir↗
NASA NTRS1989

Digital codec for real-time processing of broadcast quality video signals at 1.8 bits/pixel

The authors present the hardware implementation of a digital television bandwidth compression algorithm which processes standard NTSC (National Television Systems Committee) composite color television signals and produces broadcast-quality video in real time at an average of 1.8 b/pixel. The sampling rate used with this algorithm results in 768 samples over the active portion of each video line by 512 active video lines per video frame. The algorithm is based on differential pulse code modulation (DPCM), but additionally utilizes a nonadaptive predictor, nonuniform quantizer, and multilevel Huffman coder to reduce the data rate substantially below that achievable with straight DPCM. The nonadaptive predictor and multilevel Huffman coder combine to set this technique apart from prior-art DPCM encoding algorithms. The authors describe the data compression algorithm and the hardware implementation of the codec and provide performance results.

Shalkhauser, Mary JO↗
NASA NTRS1994

Delay Line Detectors for the UVCS and Sumer Instruments on the SOHO Satellite

Microchannel plate based detectors with cross delay line image readout have been rapidly implemented for the SUMER and UVCS instruments aboard the Solar Orbiting Heliospheric Observatory (SOHO) mission to be launched in July 1995. In October 1993 a fast track program to build and characterize detectors and detector control electronics was initiated. We present the detector system design for the SOHO UVCS and SUMER detector programs, and results from the detector test program. Two deliverable detectors have been built at this point, a demonstration model for UVCS, and the flight Ly alpha detector for UVCS, both of which are to be delivered in the next few weeks. Test results have also been obtained with one other demonstration detector system. The detector format is 26mm x 9mm, with 1024 x 360 digitized pixels, using a low resistance Z stack of microchannel plates (MCP's) and a multilayer cross delay line anode (XDL). This configuration provides gains of approximately 2 x 10(exp 7) with good pulse height distributions (less than 50% FWHM) under uniform flood illumination, and background levels typical for this configuration (approximately 0.6 event cm (exp -2)sec(exp -1)). Local counting rates up to about 400 events/pixel/sec have been achieved with no degradation of the MCP gain. The detector and event encoding electronics achieves about 25 millimeter FVHM with good linearity (plus or minus approximately 1 pixel) and is stable to high global counting rates (greater than 4 x 10(exp 5) events sec(exp -1)). Flat field images are dominated by MCP fixed pattern noise and are stable, but the MCP multifiber modulation usually expected is uncharacteristically absent. The detector and electronics have also successfully passed both thermal vacuum and vibration tests.

Seigmund, O. H. W.↗
NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗
NASA NTRS1994

A componential model of human interaction with graphs: 1. Linear regression modeling

Task analyses served as the basis for developing the Mixed Arithmetic-Perceptual (MA-P) model, which proposes (1) that people interacting with common graphs to answer common questions apply a set of component processes-searching for indicators, encoding the value of indicators, performing arithmetic operations on the values, making spatial comparisons among indicators, and repsonding; and (2) that the type of graph and user's task determine the combination and order of the components applied (i.e., the processing steps). Two experiments investigated the prediction that response time will be linearly related to the number of processing steps according to the MA-P model. Subjects used line graphs, scatter plots, and stacked bar graphs to answer comparison questions and questions requiring arithmetic calculations. A one-parameter version of the model (with equal weights for all components) and a two-parameter version (with different weights for arithmetic and nonarithmetic processes) accounted for 76%-85% of individual subjects' variance in response time and 61%-68% of the variance taken across all subjects. The discussion addresses possible modifications in the MA-P model, alternative models, and design implications from the MA-P model.

Gillan, Douglas J.↗
NASA NTRS2003

Resistance of virus to extinction on bottleneck passages: study of a decaying and fluctuating pattern of fitness loss

RNA viruses display high mutation rates and their populations replicate as dynamic and complex mutant distributions, termed viral quasispecies. Repeated genetic bottlenecks, which experimentally are carried out through serial plaque-to-plaque transfers of the virus, lead to fitness decrease (measured here as diminished capacity to produce infectious progeny). Here we report an analysis of fitness evolution of several low fitness foot-and-mouth disease virus clones subjected to 50 plaque-to-plaque transfers. Unexpectedly, fitness decrease, rather than being continuous and monotonic, displayed a fluctuating pattern, which was influenced by both the virus and the state of the host cell as shown by effects of recent cell passage history. The amplitude of the fluctuations increased as fitness decreased, resulting in a remarkable resistance of virus to extinction. Whereas the frequency distribution of fitness in control (independent) experiments follows a log-normal distribution, the probability of fitness values in the evolving bottlenecked populations fitted a Weibull distribution. We suggest that multiple functions of viral genomic RNA and its encoded proteins, subjected to high mutational pressure, interact with cellular components to produce this nontrivial, fluctuating pattern.

Serial Passage↗
NASA NTRS2005

Accreting Millisecond Pulsars and Fundamental Physics

X-ray emission from the surfaces of rapidly rotating neutron stars encodes information about their global properties as well as physical conditions locally. Detailed modelling of, for example, the energy dependent pulse profiles observed from accreting millisecond pulsars and thermonuclear burst oscillations can be used to derive constraints on the masses and radii of neutron stars. These measurements provide direct information on the properties of the dense matter equation of state of the supranuclear density matter in their interiors. Study of absorption lines created in the surface layers can also provide measurements of masses and radii, and may be able to probe aspects of relativistic gravity, such as frame dragging. I will discuss the results of recent efforts to carry out such measurements and their implications for the properties of dense matter.

Strohmayer, Tod↗
NASA NTRS1993

Recent experiences with implementing a video based six degree of freedom measurement system for airplane models in a 20 foot diameter vertical spin tunnel

A model space positioning system (MSPS), a state-of-the-art, real-time tracking system to provide the test engineer with on line model pitch and spin rate information, is described. It is noted that the six-degree-of-freedom post processor program will require additional programming effort both in the automated tracking mode for high spin rates and in accuracy to meet the measurement objectives. An independent multicamera system intended to augment the MSPS is studied using laboratory calibration methods based on photogrammetry to characterize the losses in various recording options. Data acquired to Super VHS tape encoded with Vertical Interval Time Code and transcribed to video disk are considered to be a reasonable priced choice for post editing and processing video data.

Snow, Walter L.↗
NASA NTRS1993

Real-time trajectory optimization on parallel processors

A parallel algorithm has been developed for rapidly solving trajectory optimization problems. The goal of the work has been to develop an algorithm that is suitable to do real-time, on-line optimal guidance through repeated solution of a trajectory optimization problem. The algorithm has been developed on an INTEL iPSC/860 message passing parallel processor. It uses a zero-order-hold discretization of a continuous-time problem and solves the resulting nonlinear programming problem using a custom-designed augmented Lagrangian nonlinear programming algorithm. The algorithm achieves parallelism of function, derivative, and search direction calculations through the principle of domain decomposition applied along the time axis. It has been encoded and tested on 3 example problems, the Goddard problem, the acceleration-limited, planar minimum-time to the origin problem, and a National Aerospace Plane minimum-fuel ascent guidance problem. Execution times as fast as 118 sec of wall clock time have been achieved for a 128-stage Goddard problem solved on 32 processors. A 32-stage minimum-time problem has been solved in 151 sec on 32 processors. A 32-stage National Aerospace Plane problem required 2 hours when solved on 32 processors. A speed-up factor of 7.2 has been achieved by using 32-nodes instead of 1-node to solve a 64-stage Goddard problem.

Psiaki, Mark L.↗