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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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NASA NTRS1981

Robots and manipulators

Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.

Heer, E.↗
NASA NTRS1981

Atmospheric angular momentum and the length of day - A common fluctuation with a period near 50 days

Four astronomical measures of changes in the length of day obtained in 1979 have been shown to exhibit the same, approximately 50-day fluctuation. To find whether this fluctuation was persistent, and of meteorological origin, lunar laser ranging observations and wind data deduced from sources distributed over the globe were analyzed. A high degree of correlation was found between the two sets of data. It is implied that the 50-day period fluctuations in length of day are real and related to meteorological effects. Observed changes in length of day can provide a constraint for models for atmospheric flow, and a partial check for global analyses of such motions.

Langley, R. B.↗
NASA NTRS1982

NASA geodynamics program investigations summaries: A supplement to the NASA geodynamics program overview

The development of a time series of global atmospheric motion and mass fields through April 1984 to compare with changes in length of day and polar motion was investigated. Earth rotation was studied and the following topics are discussed: (1) computation of atmospheric angular momentum through April 1984; (2) comparisons of psi sub values with variations in length of day obtained by several groups utilizing B.I.H., lunar laser ranging, VLBI, or Lageos measurements; (3) computation of atmospheric excitation of polar motion using daily fields of atmospheric winds and pressures for a short test period. Daily calculations may be extended over a longer period to examine the forcing of the annual and Chandler wobbles, in addition to higher frequency nutations.

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NASA NTRS1983

Crustal dynamics project site selection criteria

The criteria for selecting site locations and constructing observing pads and monuments for the Mobile VLB1 and the satellite laser ranging systems used in the NASA/GSFC Crustal Dynamics Project are discussed. Gross system characteristics (size, shape, weight, power requirement, foot prints, etc.) are given for the Moblas, MV-1 through 3, TLRS-1 through 4 and Series instruments.

Allenby, R.↗
NASA NTRS1982

A refined gravity model from Lageos /GEM-L2/

Lageos satellite laser ranging (SLR) data taken over a 2.5 yr period were employed to develop the Goddard Earth Model GEM-L2, a refined gravity field model. Additional data was gathered with 30 other satellites, resulting in spherical harmonics through degree and order 20, based on over 600,000 measurements. The Lageos data was accurate down to 10 cm, after which the GEM 9 data were used to make adjustments past order 7. The resolution of long wavelength activity, through degree and order 4, was made possible by the Lageos data. The GEM-L2 model features a 20 x 20 geopotential, tracking station coordinates (20), 5-day polar motion and A1-UT1 values, and a GM value of 398,600.607 cu km/sq sec. The accuracy of station positioning has been raised to within 6 cm total position globally and within 1.8 cm in baselines. It is concluded that SLR is useful for measuring tectonic plate motions and inter-plate deformations.

Lerch, F. J.↗
NASA NTRS1983

Status of the geopotential

Satellite laser ranging, satellite altimetry, and improved measurements of surface gravitational anomalies have broadened the data base on intermediate and short wavelength regions of the earth gravity field. The global data set served to develop new geopotential models with a resolution in spherical harmonics out to degree 180. The resolution was made possible using Seasat altimetry data containing 56,761 values of 1 x 1 deg gravity anomalies. Satellite-to-satellite tracking techniques involving the Geos-3 and Apollo spacecraft data for the sea surface temperature have yielded accurate intermediate wavelength gravity variations which correlate well with residual depth anomalies. Oceanic gravity anomalies have been computed directly from satellite altimetry or through statistical estimation using oceanic geoid heights. The data sets for gravimetric geoids have been compared with altimetric surfaces to identify areas which were of interest for geophysical investigation. Future data sets could become available from a proposed satellite-to-satellite Doppler tracking system (Gravsat) launched by NASA.

Lerch, F. J.↗
NASA NTRS1983

DE 102 - A numerically integrated ephemeris of the moon and planets spanning forty-four centuries

It is pointed out that the 1960's were the turning point for the generation of lunar and planetary ephemerides. All previous measurements of the positions of solar system bodies were optical angular measurements. New technological improvements leading to immense changes in observational accuracy are related to developments concerning radar, Viking landers on Mars, and laser ranges to lunar corner cube retroreflectors. Suitable numerical integration techniques and more comprehensive physical models were developed to match the accuracy of the modern data types. The present investigation is concerned with the first integrated ephemeris, DE 102, which covers the entire span of the historical astronomical observations of usable accuracy which are known. The fit is made to modern data. The integration spans the time period from 1411 BC to 3002 AD.

Newhall, X. X.↗
NASA NTRS1983

Basic research for the geodynamics program

Laser systems deployed in satellite tracking were upgraded to accuracy levels where biases from systematic unmodelled effects constitute the basic factor that prohibits extraction of the full amount of information contained in the observations. Taking into consideration that the quality of the instrument advances at a faster pace compared to the understanding and modeling of the physical processes involved, one can foresee that in the near future when all lasers are replaced with third generation ones the limiting factor for the estimated accuracies will be the aforementioned biases. Therefore, for the reduction of the observations, methods should be deployed in such a way that the effect of the biases will be kept well below the noise level. Such a method was proposed and studied. This method consists of using the observed part of the satellite pass and converting the laser ranges into range differences in hopes that they will be less affected by biases in the orbital models, the reference system, and the observations themselves.

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NASA NTRS1984

Sensitivity of SLR baselines to errors in Earth orientation

The sensitivity of inter station distances derived from Satellite Laser Ranging (SLR) to errors in Earth orientation is discussed. An analysis experiment is performed which imposes a known polar motion error on all of the arcs used over this interval. The effect of the averaging of the errors over the tracking periods of individual sites is assessed. Baselines between stations that are supported by a global network of tracking stations are only marginally affected by errors in Earth orientation. The global network of stations retains its integrity even in the presence of systematic changes in the coordinate frame. The effect of these coordinate frame changes on the relative locations of the stations is minimal.

Smith, D. E.↗
NASA NTRS1984

Geodynamics: Introduction and Background

An overview is given of the field of geodynamics and its major scientific questions. The NASA geodynamics program is described as well as its status and accomplishments projected by 1988. Federal coordination and international cooperation in monitoring tectonic plate motion, polar motion, and Earth rotation are mentioned. The development of a GPS receiver for civilian geodesy and results obtained using satellite laser ranging and very long baseline interferometry in measuring crustal dynamics, global dynamics, and the geopotential field are reported.

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NASA NTRS1984

Projection for Space Geodynamics, 1988-1998

Premises defining the technical and operational environment of the next decade are listed. Observational programs required to satisfy scientific objectives in the study of geopotential fields, global dynamics, tectonics, and regional tectonics/crustal hazards are defined. Capabilities and applications of the Geopotential Research Mission to be launched in the early 1990's are explored and the benefits of more detailed measurements of the Moon and planets are indicated. Earthquake prediction in the western part of the U.S. is discussed. The use of decimeter, centimeter, and millimeter systems for very long baseline interferometry, satellite laser ranging, and lunar ranging techniques are discussed. Geographic regions of particular interest are identified.

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NASA NTRS1984

Recommended Program Activities, 1988-1998

The observations needed from the standpoint of measurement programs are considered and the technologies which must be developed and the flight missions which must be carried out to support ground-based measurements are discussed. Instrument development for millimeter accuracy in both the horizontal and vertical components as well as for sensitivity to short wavelengths is discussed. Algorithms and models in the application of space data in geodynamics demand special attention. Continued development of airborne and spaceborne laser ranging systems should be supported.

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NASA NTRS1984

International lithosphere program - Exploiting the geodynamics revolution

After presenting a development history of the application of spacecraft technology in the field of earth dynamics, which encompasses the measurement of the motion and the large scale deformation of the tectonic plates as well as the monitoring of earth's gravity and magnetic fields, attention is given to the International Lithosphere Program (ILP). ILP studies the dynamics and evolution of the lithosphere, with a view to earth resources identification and geological hazard reduction. Among the major problems being addressed is the mechanism by which magmas are generated, extruded, and intruded, at convergent and divergent plate boundaries and within plates. By contrast to current understanding of rifting, almost nothing is known about how the process of subduction begins. The methods used to measure tectonic plate phenomena are: laser ranging to both the moon and man-made satellites, and VLBI.

Flinn, E. A.↗
NASA NTRS1984

Airborne laser topographic mapping results

The results of terrain mapping experiments utilizing the National Aeronautics and Space Administration (NASA) Airborne Oceanographic Lidar (AOL) over forested areas are presented. The flight tests were conducted as part of a joint NASA/U.S. Army Corps of Engineers (CE) investigation aimed at evaluating the potential of an airborne laser ranging system to provide cross-sectional topographic data on flood plains that are difficult and expensive to survey using conventional techniques. The data described in this paper were obtained in the Wolf River Basin located near Memphis, TN. Results from surveys conducted under winter 'leaves off' and summer 'leaves on' conditions, aspects of day and night operation, and data obtained from decidous and coniferous tree types are compared. Data processing techniques are reviewed. Conclusions relative to accuracy and present limitations of the AOL, and airborne lidar systems in general, to terrain mapping over forested areas are discussed.

Krabill, W. B.↗
NASA NTRS1984

Crustal Dynamics Project - Status and plans

The progress of the NASA Crustal Dynamics Project is summarized. The Project is performed to measure regional deformation and strain accumulation due to large earthquakes in the plate boundary region of western N. America, to measure relative plate motions around the globe, to measure internal deformations of continental and oceanic lithospheric plates, to relate the rotational dynamics of the earth to earthquakes, plate motions and other geophysical phenomena and to measure regional fault motions and strain accumulation globally. VLBI and satellite laser ranging (SLR) have been employed using several base and mobile stations in N. America, Europe, S. America and the S. Pacific. Satellite data are being gathered with the LAGEOS spacecraft. Measurement campaigns in S. America and the Carribbean and Mediterranean regions will be carried out with new instrumentation in 1985.

Coates, R. J.↗
NASA NTRS1984

Constraints on future observing plans

Scheduling considerations in the deployment of transportable laser ranging systems (TLRS) in 1985 are discussed. The new TLRS units will be field tested in North America and Europe first before being sent to remote Mediterranean and South American sites. Six weeks' residence will be required for 600 hr of measurements at each site, although a second crew could bring the necessary time down to four weeks. The surveys are set for periods of the year with the greatest incidence of clear skies. Twelve sites have been selected in the Mediterranean area, although no weather data have been acquired. Site selections are constrained by the need for accessible roads, telephones, and the stability of the terrain. Details of the marker monument layouts are provided.

Coates, R. J.↗
NASA NTRS1984

The size of the lunar core

A 0.2 arc second phase shift in the 18.6 year forced precession of the lunar figure was inferred from analysis of lunar laser ranging data. The source of the phase shift is either viscous friction at a lunar core mantle boundary or solid friction caused by tidal flexing of the Moon by the Earth. Core mantle viscous coupling will explain the signature if the core radius R sub c approximately equals 330 km. On the other hand, solid friction can account for the signature only if the lunar solid friction 0 approximately equals 30 is abnormally small compared with that observed for, say, Mars (approximately equals 100 - 200). Although the inferred core radius is certainly within the limits imposed by the Apollo seismic experiment, it is significantly smaller than estimates of order 400-500 km from electromagnetic sounding. How accurate is the estimate of the R sub c derived from the phase shift? The effect of uncertainties in the frictional coupling mechanism, core density and ellipticity on the inferred core radius are discussed. The excitation of lunar free librations by core turbulence vis-a-vis other mechanisms (e.g., cometary or asteroidal impacts) and the influence of changes in lunar precession in the past on lunar dynamo generation are also examined.

Yoder, C. F.↗
NASA NTRS1985

Time-resolved speckle effects on the estimation of laser-pulse arrival times

A maximum-likelihood (ML) estimator of the pulse arrival in laser ranging and altimetry is derived for the case of a pulse distorted by shot noise and time-resolved speckle. The performance of the estimator is evaluated for pulse reflections from flat diffuse targets and compared with the performance of a suboptimal centroid estimator and a suboptimal Bar-David ML estimator derived under the assumption of no speckle. In the large-signal limit the accuracy of the estimator was found to improve as the width of the receiver observational interval increases. The timing performance of the estimator is expected to be highly sensitive to background noise when the received pulse energy is high and the receiver observational interval is large. Finally, in the speckle-limited regime the ML estimator performs considerably better than the suboptimal estimators.

Tsai, B.-M.↗