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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 NTRS2005

Vision Based Localization in Urban Environments

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

unmanned-ground vehicles↗
DOE OSTI2022

Evaluation of macadamia felted coccid (Hemiptera: Eriococcidae) damage and cultivar susceptibility using imagery from a small unmanned aerial vehicle ( sUAV ), combined with ground truthing

Abstract BACKGROUND Macadamia felted coccid, Acanthococcus ioronsidei (Williams) (Hemiptera: Eriococcidae), is a significant pest of macadamia nut, Macadamia integrifolia Maiden & Betche (Protaceae), in Hawaii, and heavy infestations can kill branches, resulting in characteristic dead, copper‐colored leaves. Small Unmanned Aerial Vehicles (sUAV) or ‘drones,’ combined with spatial data analysis, can provide growers with accurate and high‐resolution detection of plant stress due to pest infestations. We investigated the feasibility of using RGB (red‐green‐blue) color images from sUAV to detect dieback caused by macadamia felted coccid infestation and compared sUAV estimates with ground‐based damage estimates (ground truthing). RESULTS Spatial analysis showed clustering of foliar damage that reflected cultivar susceptibility to macadamia felted coccid infestation, with cultivars 344 and 856 being susceptible, and cultivars 800 and 333 being tolerant. sUAV and ground‐based estimates of foliar damage were similar for the cultivar 344, but ground‐based assessments were higher than sUAV for cultivar 856, possibly due to the differences in canopy architecture and significant early dieback in the lower canopy. At foliar damage levels <10%, sUAV and ground truthing data were significantly positively correlated, suggesting sUAV may be useful in detecting early stages of macadamia felted coccid infestation. CONCLUSIONS Cultivars showed varying susceptibility to macadamia felted coccid infestation and the foliage damage appeared in clusters. sUAV was able to detect the foliage damage under high and low infestation scenarios suggesting that it can be effectively used for the early detection of infestations. © 2022 The Authors. Pest Management Science published by John Wiley & Sons Ltd on behalf of Society of Chemical Industry. This article has been contributed to by U.S. Government employees and their work is in the public domain in the USA.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2007

The Ground Control Room as an Enabling Technology in the Unmanned Aerial System

This viewgraph presentation reviews the development of the ground control room as an required technology for the use of an Unmanned Aerial system. The Unmanned Aerial system is a strategic component of the Global Observing System, which will serve global science needs. The unmanned aerial system will use the same airspace as manned aircraft, therefore there will be unique telemetry needs.

Gear, Gary↗
DOE OSTI2020

Cooperative Routing for an Air–Ground Vehicle Team—Exact Algorithm, Transformation Method, and Heuristics

This paper considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and an unmanned aerial vehicle (UAV) that travel cooperatively and visit a set of targets while satisfying the communication constraints. The problem is formulated as a mixed-integer linear program, and a branch-and-cut algorithm is developed to solve the problem to optimality. Furthermore, a transformation method and a heuristic are also developed for the problem. The effectiveness of all the algorithms is corroborated through extensive computational experiments on several randomly generated instances. Furthermore, this paper is motivated by an intelligence, surveillance, and reconnaissance mission involving a single unmanned aerial vehicle (UAV) and a ground vehicle, where the vehicles must coordinate their activity in the presence of communication constraints. The combination of a small UAV and a ground vehicle is an ideal platform for such missions, since small UAVs can fly at low altitudes and can avoid obstacles or threats that would be problematic for the ground vehicle alone. This paper addresses the coordinated routing problem involving these two vehicles and presents an algorithm to obtain an optimal solution for this problem, fast heuristics to obtain good feasible solutions, and also a transformation method to transform any instance of this cooperative vehicle routing problem to an instance of the one-in-a-set traveling salesman problem.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS2002

An Analysis for an Internet Grid to Support Space Based Operations

Currently, and in the past, dedicated communication circuits and "network services" with very stringent performance requirements have been used to support manned and unmanned mission critical ground operations at GSFC, JSC, MSFC, KSC and other NASA facilities. Because of the evolution of network technology, it is time to investigate other approaches to providing mission services for space ground and flight operations. In various scientific disciplines, effort is under way to develop network/komputing grids. These grids consisting of networks and computing equipment are enabling lower cost science. Specifically, earthquake research is headed in this direction. With a standard for network and computing interfaces using a grid, a researcher would not be required to develop and engineer NASA/DoD specific interfaces with the attendant increased cost. Use of the Internet Protocol (IP), CCSDS packet spec, and reed-solomon for satellite error correction etc. can be adopted/standardized to provide these interfaces. Generally most interfaces are developed at least to some degree end to end. This study would investigate the feasibility of using existing standards and protocols necessary to implement a SpaceOps Grid. New interface definitions or adoption/modification of existing ones for the various space operational services is required for voice both space based and ground, video, telemetry, commanding and planning may play a role to some undefined level. Security will be a separate focus in the study since security is such a large issue in using public networks. This SpaceOps Grid would be transparent to users. It would be anagulous to the Ethernet protocol's ease of use in that a researcher would plug in their experiment or instrument at one end and would be connected to the appropriate host or server without further intervention. Free flyers would be in this category as well. They would be launched and would transmit without any further intervention with the researcher or ground ops personnel. The payback in developing these new approaches in support of manned and unmanned operations is lower cost and will enable direct participation by more people in organizations and educational institutions in space based science. By lowering the high cost of space based operations and networking, more resource will be available to the science community for science. With a specific grid in place, experiment development and operations would be much less costly by using standardized network interfaces. Because of the extensive connectivity on a global basis, significant numbers of people would participate in science who otherwise would not be able to participate.

Bradford, Robert↗
NASA NTRSDate not supplied

Ground Risk Informed Operational Planning for Small Unmanned Aerial Systems

Increasing quantities of small Unmanned Aerial Systems (sUAS) operations present many challenges in terms of safe adoption and integration into existing airspace. The ability to study and quantify the risk to third parties on the ground prior to flight is an important step toward enabling Beyond Visual Line of Sight (BVLOS) operations. The Ground Risk Assessment Service Provider (GRASP) software is a capability developed by NASA to assist with third-party risk quantification and risk-informed flight planning. In this paper, two nominal flight paths intended to represent an infrastructure inspection mission are evaluated using the software to demonstrate its utility. A method is also introduced for adding other NASA-developed capabilities into a single architecture to assess a broader set of operational risks associated with BVLOS operations. These capabilities include a navigation system performance prediction tool, a high fidelity vehicle dynamics model, high resolution wind field data, and other information pertinent to operators. Data produced by these capabilities are combined to enable use of the Performance Based Navigation (PBN) concept borrowed from conventional aviation, providing quantified flight path uncertainty for where the sUAS is likely to be relative to its nominal flight plan. Ground risk is assessed within this region of uncertainty, giving a higher level of confidence in the solution compared to an analysis of only the nominal flight path.

Ground Risk↗
NASA NTRS2016

Developing an Adaptable NextGen Interface for the UAS Ground Control Station

Presently a significant number of unmanned aircraft are not included in the existing National Airspace System surveillance system. This is due to many reasons including an inability to carry Automatic Dependent Surveillance Broadcast equipment for weight or power consumption deficiencies, legacy equipment usage, and the experimental nature of unmanned aircraft. In addition, pilots on the ground do not have the situation awareness to proximal aircraft pilots in the cockpit have. However, many unmanned aircraft utilize a link between the aircraft and ground control station that includes periodic updates to the aircraft position. Technologies have been developed to provide the existing national surveillance system with the location of the aircraft while at the same time providing the ground pilot a display with aircraft that are in the aircrafts proximity, thus expanding the national surveillance data as well as provide increased pilot situation awareness.

surveillance↗
NASA NTRS2023

Strategic Deconfliction of Small Unmanned Aircraft Using Operational Volume Blocks at Crossing Waypoints

In this research, first, analytical case studies are performed to understand the parameters on which the minimum temporal separation between unmanned aircraft at crossing waypoints is dependent for enabling strategic deconfliction. The analytical expressions show that the minimum temporal separation is a function of the length and width of operational volume blocks, the relative positions of the active operational volume blocks, groundspeed of unmanned aircraft, and the incoming crossing angle. Next, the parametric study shows that the impact of the incoming crossing angle on the minimum temporal separation at a crossing waypoint increases with an increase in the width of the operational volume blocks. Finally, simulation studies are performed to understand the impact of operational volume block sizing, on-demand departure rate, minimum departure time separation, and the incoming crossing angle on the average ground delay of unmanned aircraft traveling on two routes with a single crossing waypoint and identical on-demand departure rate. Each unmanned aircraft’s estimated time of arrival at a crossing waypoint is adjusted by introducing a ground delay in departure time; no other controls (e.g., speed adjustments) are applied for strategic deconfliction. Simulation studies show that the impact of the minimum temporal separation at a crossing waypoint on the average ground delay of flights is negligible if the minimum departure time separation is at least two times the minimum temporal separation. Therefore, with an increase in minimum departure time separation at a depot, the impact of increased length of operational volume blocks enclosing the crossing waypoint on the ground delay is offset to an extent.

Operational intent↗
NASA NTRS2023

Strategic Deconfliction of Small Unmanned Aircraft Using Operational Volume Blocks at Crossing Waypoints

In this research, first, analytical case studies are performed to understand the parameters on which the minimum temporal separation between unmanned aircraft at crossing waypoints is dependent for enabling strategic deconfliction. The analytical expressions show that the minimum temporal separation is a function of the length and width of operational volume blocks, the relative positions of the active operational volume blocks, groundspeed of unmanned aircraft, and the incoming crossing angle. Next, the parametric study shows that the impact of the incoming crossing angle on the minimum temporal separation at a crossing waypoint increases with an increase in the width of the operational volume blocks. Finally, simulation studies are performed to understand the impact of operational volume block sizing, on-demand departure rate, minimum departure time separation, and the incoming crossing angle on the average ground delay of unmanned aircraft traveling on two routes with a single crossing waypoint and identical on-demand departure rate. Each unmanned aircraft’s estimated time of arrival at a crossing waypoint is adjusted by introducing a ground delay in departure time; no other controls (e.g., speed adjustments) are applied for strategic deconfliction. Simulation studies show that the impact of the minimum temporal separation at a crossing waypoint on the average ground delay of flights is negligible if the minimum departure time separation is at least two times the minimum temporal separation. Therefore, with an increase in minimum departure time separation at a depot, the impact of increased length of operational volume blocks enclosing the crossing waypoint on the ground delay is offset to an extent.

Operational Intent↗
NASA NTRS2014

NASA Unmanned Aircraft (UA) Control and Non-Payload Communication (CNPC) System Waveform Trade Studies

Unmanned Aircraft Systems (UAS) represent a new capability that will provide a variety of services in the government (public) and commercial (civil) aviation sectors. The growth of this potential industry has not yet been realized due to the lack of a common understanding of what is required to safely operate UAS in the National Airspace System (NAS). To address this deficiency, NASA has established a project called UAS Integration in the NAS (UAS in the NAS), under the Integrated Systems Research Program (ISRP) of the Aeronautics Research Mission Directorate (ARMD). This project provides an opportunity to transition concepts, technology, algorithms, and knowledge to the Federal Aviation Administration (FAA) and other stakeholders to help them define the requirements, regulations, and issues for routine UAS access to the NAS. The safe, routine, and efficient integration of UAS into the NAS requires new radio frequency (RF) spectrum allocations and a new data communications system which is both secure and scalable with increasing UAS traffic without adversely impacting the Air Traffic Control (ATC) communication system. These data communications, referred to as Control and Non-Payload Communications (CNPC), whose purpose is to exchange information between the unmanned aircraft and the ground control station to ensure safe, reliable, and effective unmanned aircraft flight operation. A Communications Subproject within the UAS in the NAS Project has been established to address issues related to CNPC development, certification and fielding. The focus of the Communications Subproject is on validating and allocating new RF spectrum and data link communications to enable civil UAS integration into the NAS. The goal is to validate secure, robust data links within the allocated frequency spectrum for UAS. A vision, architectural concepts, and seed requirements for the future commercial UAS CNPC system have been developed by RTCA Special Committee 203 (SC-203) in the process of determining formal recommendations to the FAA in its role provided for under the Federal Advisory Committee Act. NASA intends to conduct its research and development in keeping with this vision and associated architectural concepts. The prototype communication systems developed and tested by NASA will be used to validate and update the initial SC-203 requirements in order to provide a foundation for SC-203's Minimum Aviation System Performance Standards (MASPS).

Aircraft Communications↗
DOE OSTI2023

Coal as Value-Added for Lithium Battery Anodes (Final Report)

Graphite is a basic material used for energy storage in lithium-ion (Li-ion) batteries. More than 70% of worldwide graphite production and nearly 50% of the annual graphite supply for the United States comes from China. Potential economic and national security concerns exist because Li-ion batteries are used not only for the fast-growing electrical vehicle market (15.6% compound annual growth rate [CAGR] from 2018 to 2028 in North America), but also for defense applications including unmanned aerial and ground vehicles. Development of an alternative formulation for Li-ion batteries is key. Building upon previous research confirming the ability of silicon alloys to improve the energy density of anodes, Semplastics developed a novel material based on our X-MAT® polymer-derived ceramic (PDC) technology. The X-MAT anode material is a composite of chemically tailored silicon oxycarbide (SiOC) and domestically sourced coal powder, designed to be a drop-in replacement for graphite within Li-ion battery anodes. Preliminary tests of this material showed more than twice the reversible capacity of graphite anodes (1,000 mAh/g vs. 372 mAh/g), with excellent stability and capacity retention, almost 100% coulombic efficiency, low voltage potential, and low thermal expansion. At full adoption in 2024, we expect the coal utilization to reach 27,300 tons. Through this project, Semplastics proposed to complete development and begin commercialization of this material. The objective was to determine the best formulation for technical performance and economic viability. At the end of the project, the X-MAT anode material is ready for implementation into existing battery manufacturing processes and can have a significant impact on the utilization of coal, with positive effects for the mining sector and the mitigation of carbon dioxide (CO 2 ) emissions.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2022

Multi-Sensor Optimal Motion Planning for Radiological Contamination Surveys by Using Prediction-Difference Maps

Distributed and networked mobile sensor platforms using unmanned aerial and/or ground vehicles to survey areas of interest offer a safer and more efficient method for radiological contamination mapping; however, most applications rely on uniformly sweeping of the area in a raster-type motion without utilizing the information available in a dynamic sense. We have developed a fully autonomous optimal motion planning procedure for networks with two or more mobile sensors. The procedure utilizes well-established concepts of Gaussian processes in combination with control laws based on centroidal Voronoi tessellations to achieve optimal next-iteration sensor movements. A new method of informing optimal motion planning is proposed, whereby the absolute difference between the prior and current full-map prediction, referred to as the prediction-difference map, is used as the spatial density function within each Voronoi cell, providing immediate and iterative feedback for dynamic use of available information. The Gaussian process regression model used to estimate the contamination in unvisited locations also provides prediction uncertainties, and can be used as a quantitative metric to assess the confidence in the calculated contamination map; these estimates and prediction uncertainties are unavailable for standard uniform survey routines as they can only produce maps in the vicinity of observed locations. We present through simulation the achievable performance gains from using this new method by directly comparing to a uniform survey method. Results show that using the prediction-difference maps to inform motion planning procedures offers a faster rate of producing an accurate and convergent map relative to a uniform survey route.

47 OTHER INSTRUMENTATION↗
NASA NTRS2002

An Analysis for the Use of Research and Education Networks and Commercial Network Vendors in Support of Space Based Mission Critical and Non-Critical Networking

Currently, and in the past, dedicated communication circuits and "network services" with very stringent performance requirements are being used to support manned and unmanned mission critical ground operations at GSFC, JSC, MSFC, KSC and other NASA facilities. Because of the evolution of network technology, it is time to investigate using other approaches to providing mission services for space ground operations. The current NASA approach is not in keeping with the evolution of network technologies. In the past decade various research and education networks dedicated to scientific and educational endeavors have emerged, as well as commercial networking providers, that employ advanced networking technologies. These technologies have significantly changed networking in recent years. Significant advances in network routing techniques, various topologies and equipment have made commercial networks very stable and virtually error free. Advances in Dense Wave Division Multiplexing will provide tremendous amounts of bandwidth for the future. The question is: Do these networks, which are controlled and managed centrally, provide a level of service that equals the stringent NASA performance requirements. If they do, what are the implication(s) of using them for critical space based ground operations as they are, without adding high cost contractual performance requirements? A second question is the feasibility of applying the emerging grid technology in space operations. Is it feasible to develop a Space Operations Grid and/or a Space Science Grid? Since these network's connectivity is substantial, both nationally and internationally, development of these sorts of grids may be feasible. The concept of research and education networks has evolved to the international community as well. Currently there are international RENs connecting the US in Chicago to and from Europe, South America, Asia and the Pacific rim, Russia and Canada. And most countries in these areas have their own research and education network as do many states in the USA.

Bradford, Robert N.↗
NASA NTRS1994

Strategies for Tailoring Reliability Test Standards

The paper suggests a simple strategy for the tailoring of the ground testing of unmanned spacecraft including considerations of project costs and risks. It is simply stated in five steps: (1) access the specific project's requirements and constraints, (2) use the existing comprehensive quality assurance programs as a guide, (3) prioritize the risks, (4) prioritize the tests, and (5) tailor the test program as appropriate. This approach addresses the specific project needs without unduly compromising the wealth of accumulated flight experience. Tailoring falls into three categories: tailoring of test levels, tailoring of test configurations, and tailoring of test techniques. Three examples are included to illustrate these types of tailoring activities. This paper on stratagies for tailoring spacecraft standards both advocates for and cautions against tailoring depending on the situation. Applied sensibly and carefully, tailoring can improve the test effectiveness and relax constraints on certain project resources. On the other hand, tailoring a product assurance program usually incurres some element of risk and may increase project costs.

tailoring↗
DOE OSTI2026

Quantifying Operational Drivers of Multimodal Biometric Verification in Aerial Surveillance

Multimodal biometric verification is increasingly applied across operational contexts ranging from close-range security cameras and building-mounted surveillance to long-range ground sensors and unmanned aerial system (UAS) imagery. Variations in acquisition conditions—such as image resolution, viewing geometry, and motion artifacts—pose significant challenges for cross-domain algorithmic generalization. This study evaluates two independent multimodal biometric verification systems developed under the Intelligence Advanced Research Projects Activity (IARPA) Biometric Recognition and Identification at Altitude and Range (BRIAR) program, comparing performance on close-range and aerial datasets. Close-range video served as a baseline to quantify the decline in verification performance on aerial footage. The dataset included six UAS platforms, spanning small quadcopters at 10m altitude to medium-sized fixed-wing aircraft at 360m. Mixed-effects logistic regression identified image resolution (head and body pixel counts), head height, sensor characteristics, and algorithm selection as primary determinants of verification success, whereas demographic attributes and mission gait were not significant predictors. Activity type and collection site influenced performance in close-range data but had negligible impact on UAS imagery. These results clarify modality-specific strengths and limitations and highlight opportunities to enhance cross-domain biometric verification.

Peluso, Alina [ORNL] (ORCID:0000000328950406)↗
NASA NTRSDate not supplied

Bootstrapping Multi-Agent Unmanned Aerial Vehicle (UAV) System Integration Using Ground-Based Assets: Lessons Learned

The highly dynamic nature of UAVs imposes significant challenges when conducting initial testing ranging from safety risks posed by high-capacity lithium batteries and spinning propellers to rigorous timing demands on controllers and the consequences of failures mid-air. Flight testing of a single vehicle is time and labor intensive due to these challenges and more, and the complexity increases exponentially with the number of vehicles. While simulations and hardware-in-the-loop bench testing can provide adequate environments for preliminary validation, differences in system deployment architecture, software interfaces, and hardware infrastructure between simulation and a fleet of real UAVs create a sizable gap that must be navigated carefully during system integration. In support of the Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) project, which had the goal of establishing a basis of certification of trust and trustworthiness in multi-agent autonomous systems, this gap was tackled from two directions. First, a novel mixed-reality simulation environment was engineered to blur the transition from simulation to flight hardware. Second, a fleet of Unmanned Surface Vehicles (USVs) was developed as a test and evaluation platform that more closely represented the final aerial fleet while eliminating many of the risks associated with air vehicles. This paper delves into the second element, analyzing the efficacy of the USV platform in performing system integration testing for the UAV system. In this paper we present the USV fleet and its role in reducing the aforementioned gaps in deployment architecture, software interfaces, and hardware infrastructure when moving from simulation to flight. An overview of the hardware and software onboard the vehicles will be provided along with supporting infrastructure. The system integration process will be documented including results in supporting both the overarching design reference mission (DRM) of ATTRACTOR and individual research efforts conducted during the project. Finally, we will discuss some of the practical lessons learned regarding the testing, deployment, and operation of multi-agent autonomous systems.

Matthew P Vaughan↗