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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

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NASA NTRS2012

Fully Self-Contained Vision-Aided Navigation and Landing of a Micro Air Vehicle Independent from External Sensor Inputs

Direct-lift micro air vehicles have important applications in reconnaissance. In order to conduct persistent surveillance in urban environments, it is essential that these systems can perform autonomous landing maneuvers on elevated surfaces that provide high vantage points without the help of any external sensor and with a fully contained on-board software solution. In this paper, we present a micro air vehicle that uses vision feedback from a single down looking camera to navigate autonomously and detect an elevated landing platform as a surrogate for a roof top. Our method requires no special preparation (labels or markers) of the landing location. Rather, leveraging the planar character of urban structure, the landing platform detection system uses a planar homography decomposition to detect landing targets and produce approach waypoints for autonomous landing. The vehicle control algorithm uses a Kalman filter based approach for pose estimation to fuse visual SLAM (PTAM) position estimates with IMU data to correct for high latency SLAM inputs and to increase the position estimate update rate in order to improve control stability. Scale recovery is achieved using inputs from a sonar altimeter. In experimental runs, we demonstrate a real-time implementation running on-board a micro aerial vehicle that is fully self-contained and independent from any external sensor information. With this method, the vehicle is able to search autonomously for a landing location and perform precision landing maneuvers on the detected targets.

autonomous landing↗

NASA NTRSDate not supplied

Mobile LiDAR as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗

NASA NTRS2025

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

Future space missions require spacecraft to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current navigation filters used for RPO can have difficulty when optical sensors are used, due to complications with data association, high measurement uncertainty, and clutter. This paper provides an initial demonstration of the feasibility of using random finite set (RFS) filters for spacecraft relative navigation and pose estimation. Spacecraft relative navigation is formulated as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. Simulated flash LIDAR measurements are processed using a Gaussian Mixture Probability Hypothesis Density (GMPHD) filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer over time. Results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario.

David E Gaylor↗

DOE OSTI2021

A Data-Fusion Method using Bayesian Approach to Enhance Raw Data Accuracy of Position and Distance Measurements for Connected Vehicles

Accurate positioning of vehicles is a critical element of autonomous and connected vehicle systems. Most of other studies heavily focused on enhancing simultaneous localization and mapping (SLAM) methods, i.e., constructing or updating a map of an unknown environment and tracking an object within the map. This paper provides a method that can, in addition to existing SLAM or relevant methods, enhance the raw measurements of position and distance. The basic idea of this study is to identify and update the error distribution of each data source by combining all available information. A Bayesian approach was incorporated to estimate and update the error distribution of individual data sources or sensors. The proposed method can be conducted in real-time environments, and a self-learning scheme determines whether enough data has been collected to further improve the accuracy of such measurements. The simulated experiments show that the proposed model noticeably improves the accuracy of position and distance measurements. Especially, the estimated biases of position coordinates and distance measures are very close to the biases of true error distributions, with the R-squared over 0.98. A similar approach can also be utilized to enhance accuracy of other sensors or measurements in connected vehicle or relevant systems, where multi-data sources are available.

Lim, Hyeonsup↗

NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SlLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile LiDAR (Light Detection and Ranging) system. It can map its surroundings in 3 dimensions and localize itself in space. The project is exploring how LiDAR can advance terrain mapping and navigation at the lunar south pole. KNaCK is lead by Dr. Michael Zanetti of NASA MSFC’s Heliophysics and Planetary Science Branch. - KNaCK serves as - A test article for GPS denied mapping and navigation. - A test bed for SLAM (Simultaneous Localization and Mapping) algorithms. - A test bed for commercial LiDAR units. - A tool for terrestrial science.

LiDAR↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

Relevant environment testing↗

NASA NTRSDate not supplied

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

LiDAR↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.

Relevant environment testing↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

LiDAR↗

DOE OSTI2021

LAMOST Time-Domain survey: first results of four K2 plates

From Oct. 2019 to Apr. 2020, LAMOST performed a time-domain (TD) spectroscopic survey of four K2 plates with both low- and medium-resolution observations. The low-resolution spectroscopic survey acquired 282 exposures ( ≈ 46.6 h) over 25 nights, yielding a total of about 767 000 spectra, and the medium-resolution survey took 177 exposures ( ≈ 49.1 h) over 27 nights, collecting about 478 000 spectra. More than 70%/50% of low-resolution/medium-resolution spectra have signal-to-noise ratio higher than 10. We determine stellar parameters (e.g., T eff , log g, [Fe/H]) and radial velocity (RV) with different methods, including LASP, DD-Payne and SLAM. In general, these parameter estimations from different methods show good agreement, and the stellar parameter values are consistent with those of APOGEE. We use the Gaia DR2 RV values to calculate a median RV zero point (RVZP) for each spectrograph exposure by exposure, and the RVZP-corrected RVs agree well with the APOGEE data. The stellar evolutionary and spectroscopic masses are estimated based on the stellar parameters, multi-band magnitudes, distances and extinction values. Finally, we construct a binary catalog including about 2700 candidates by analyzing their light curves, fitting the RV data, calculating the binarity parameters from medium-resolution spectra and cross-matching the spatially resolved binary catalog from Gaia EDR3. In conclusion, the LAMOST TD survey is expected to represent a breakthrough in various scientific topics, such as binary systems, stellar activity, stellar pulsation, etc.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2021

radkit v1.2

The radkit software suite (python) consists of three primary libraries: stark, trajan, and curie. The trajan library provides the tools to analyze and manipulate data from lidar and inertial measurement unit (IMU) devices as well as trajectories from algorithms such as simultaneous localization and mapping (SLAM). These components allow reading and writing standard data formats, performing rigid affine transformations, discretizing three-dimensional space, and visualizing data products. The curie library comprises a standard set of object-oriented tools for radiation data and analysis in the following modules: (1) listmode and binmode data classes with methods for manipulation, plotting, slicing and file IO; (2) radiological/nuclear source detection/identification analysis results; (3) source encounters of correlated analyses and (4) energy-dependent angular detector response functions. The stark package provides low-level tools that are leveraged by both curie and trajan. The tools are flexible for offline analysis as well as performant for real-time integrations. The radkit libraries have associated Robot Operating System packages for use in real-time and robotic systems.

Joshi, Tenzing↗

DOE OSTI2026

radkit base v1.6

The radkit (base) software suite (python) consists of three primary libraries: stark, trajan, and curie. The trajan library provides the tools to analyze and manipulate data from lidar and inertial measurement unit (IMU) devices, cameras, as well as trajectories from algorithms such as simultaneous localization and mapping (SLAM). These components allow reading and writing standard data formats, performing rigid affine transformations, discretizing three-dimensional space, and visualizing data products. The curie library comprises a standard set of object-oriented tools for radiation data and analysis in the following modules: (1) listmode and binmode data classes with methods for manipulation, plotting, slicing and file IO; (2) radiological/nuclear source detection/identification analysis results; (3) source encounters of correlated analyses and (4) energy-dependent angular detector response functions. The stark package provides low-level tools that are leveraged by both curie and trajan. The tools are flexible for offline analysis as well as performant for real-time integrations.

Salathe, Marco [Lawrence Berkeley National Laborat↗

DOE OSTI2021

Less-Than-Lethal Quick Deploy Inflatable Hall/Door Barrier: VISTA Feasibility Study

Physical protection of public buildings has long been a concern of police and security services where a balance of facility security and personnel safety is vital. Due to the nature of public spaces, the use of permanently installed and deploy-on-demand physical barrier systems must be safe for the legitimate occupants and visitors of that space. Such systems must seek to mitigate the personal and organizational consequences of unintentionally seriously injuring or killing an innocent bystander by slamming a heavy, rigid, and quick-deploying barrier into place. Consideration and implementation of less-than-lethal technologies is necessary to reduce risk to visitors and building personnel. One potential barrier solution is a fast-acting, high-strength, composite airbag barrier system for doorways and hallways to quickly deploy a less-than-lethal barrier at entry points as well as isolate intruders who have already gained access. This system is envisioned to be stored within an architecturally attractive selectively frangible shell that could be permanently installed at a facility or installed in remote or temporary locations as dictated by risk. The system would be designed to be activated remotely (hardwired or wireless) from a Central Alarm Station (CAS) or other secure location.

42 ENGINEERING↗

DOE OSTI2023

Wood Heater Design Challenge Workshop Report

To support the United States Department of Energy (DOE) Bioenergy Technologies Office’s (BETO) goal of advancing residential wood heating technologies, Brookhaven National Laboratory (BNL), Lawrence Berkeley National Laboratory (LBNL), and the Alliance for Green Heat (AGH) hosted the fifth Wood Heater Design Challenge (WHDC). The Challenge consists of three virtual workshops and a Technology Slam aimed at inspiring and advancing the next generation of residential wood heaters. With an estimated 12.5 million homes in the United States using wood or pellets for space heating, this challenge stands to create a significant impact on the environmental footprint of domestic heating. This report provides a summary of the activities and outcomes from the three virtual workshops held in January, March, and April of 2022. The goal of the workshops was to bring together stakeholders from across the world to discuss research and development (R&D) challenges and opportunities for advancing residential wood heaters in the United States. The workshops focused on three topics: 1. Advances in wood heater design and technology; 2. Advances in instrumentation used for wood heater testing and field data collection; and 3. Adoption of new wood heater technology and integration with other renewables. Each workshop had more than 100 participants each day which included wood heater manufacturers, researchers, academics, government agencies, and policy makers. Overall, a clear message was presented that collaborative input from experts at air quality agencies, industry, academic institutions, and non-profits is necessary to ensure that wood heating technology continues as a mainstream renewable energy option in our changing energy landscape and to facilitate innovative technology solutions. Participants also provided insights and recommendations that may help guide future R&D investments.

09 BIOMASS FUELS↗

DOE OSTI2023

Multimodal Data Fusion with 3D Gamma-Ray Imaging for Safeguards (2023 Annual Report)

Improve the quantitative results obtained from 3D gamma-ray imagers for use in safeguards inspections. In FY23 the work focused on continuing to improve the numerical results obtained with gamma-ray imagers and explore approaches to project such data onto 3D structures mapped with Self Localization and Mapping (SLAM) hardware and software.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2025

Automatic Image Point Matching

Sparse Image Point Matching (SIPM) is a foundational technology for photo triangulation, structure from motion (SfM), Simultaneous Location and Mapping (SLAM), and data fusion. The goal of the matching is to automatically generate sets of image coordinates that identify the same feature across images. Ideally, the process should be robust to lighting, scale, perspective, and modality changes. The scope of the image matching topic in the field of remote sensing (RS) is enormous because of the variety of collection platforms, modalities, sensor types, applications, and subjects. In this work, we report the history of and assess the state of the art of visible-spectrum (panchromatic and color) image matching of the Earth’s surface. Work specific to large-format images (LFI) (e.g., metric aerial cameras and Earth-observing satellites) will be highlighted. However, the state of the art in this century will mostly be traced through machine vision research and benchmarks because research specific to LFI is rare.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2025

Sim2Real Autonomous Robotic Exploration [Poster]

Autonomous robots offer promising solutions for exploration in environments that are inaccessible or hazardous to humans. Despite this, physical training of such robots is often constrained by safety risks, high cost or limited accessibility. This project presents an end-to-end simulation to reality pipeline leveraging Nvidia Isaac Sim and Boston Dynamics' Spot to enable autonomous navigation in indoor environments. A reinforcement learning policy is first trained using Nvidia Isaac Lab to establish Spot's locomotion pattern. Virtual LiDAR sensors are then integrated to perform SLAM-based navigation using simulated odometry. Finally, the simulated navigation scheme is transferred to a physical Spot robot to inspect and record images of a real-world room by repeating the learnt trajectory. The proposed framework highlights the potential of scalable training in simulation and reliable deployment in physical environments. Future directions include dynamic trajectory generation in unseen and challenging environments and integration of environmental sensing like temperature, radiation or humidity via sensor and material simulation.

97 - MATHEMATICS AND COMPUTING↗