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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 14

Contents include the following: Destruction of Presolar Silicates by Aqueous Alteration Observed in Murchison CM2 Chondrite. Generation of Chondrule Forming Shock Waves in Solar Nebula by X-Ray Flares. TEM and NanoSIMS Study of Hydrated/Anhydrous Phase Mixed IDPs: Cometary or Asteroidal Origin? Inflight Calibration of Asteroid Multiband Imaging Camera Onboard Hayabusa: Preliminary Results. Corundum and Corundum-Hibonite Grains Discovered by Cathodoluminescence in the Matrix of Acfer 094 Meteorite. Spatial Extent of a Deep Moonquake Nest A Preliminary Report of Reexamination. Modal Abundances of Carbon in Ureilites: Implications for the Petrogenesis of Ureilites. Trapped Noble Gas Components and Exposure History of the Enstatite Chondrite ALH84206. Deep-seated Crustal Material in Dhofar Lunar Meteorites: Evidence from Pyroxene Chemistry. Numerical Investigations of Kuiper Belt Binaries. Dust Devils on Mars: Effects of Surface Roughness on Particle Threshold. Hecates Tholus, Mars: Nighttime Aeolian Activity Suggested by Thermal Images and Mesoscale Atmospheric Model Simulations. Are the Apollo 14 High-Al Basalts Really Impact Melts? Garnet in the Lunar Mantle: Further Evidence from Volcanic Glass Beads. The Earth/Mars Dichotomy in Mg/Si and Al/Si Ratios: Is It Real? Dissecting the Polar Asymmetry in the Non-Condensable Gas Enhancement on Mars: A Numerical Modeling Study. Cassini VIMS Preliminary Exploration of Titan s Surface Hemispheric Albedo Dichotomy. An Improved Instrument for Investigating Planetary Regolith Microstructure. Isotopic Composition of Oxygen in Lunar Zircons Preliminary Design of Visualization Tool for Hayabusa Operation. Size and Shape Distributions of Chondrules and Metal Grains Revealed by X-Ray Computed Tomography Data. Properties of Permanently Shadowed Regolith. Landslides in Interior Layered Deposits, Valles Marineris, Mars: Effects of Water and Ground Shaking on Slope Stability. Mars: Recent and Episodic Volcanic, Hydrothermal, and Glacial Activity Revealed by Mars Express High Resolution Stereo Camera (HRSC). The Cratering Record of the Saturnian Satellites Phoebe, Tethys, Dione and Iapetus in Comparison: First Results from Analysis of the Cassini ISS Imaging Data. Joint Crossover Solutions of Altimetry and Image Data on 433 Eros. The Martian Soil as a Geochemical Sink for.

Source record↗
DOE OSTI2024

Summertime Continental Shallow Cumulus Cloud Detection Using GOES‐16 Satellite and Ground‐Based Ceilometer at North Alabama

Abstract Accurate simulations of boundary layer cloud processes remain challenging in Earth system modeling. Observations are essential to evaluate and improve models of such processes. This study introduces a comprehensive validation framework for a satellite‐based detection algorithm of continental shallow cumulus (ShCu) clouds during the daytime, which was initially developed using ground‐based observations of stereo cameras at the Department of Energy Atmospheric Radiation Measurement (ARM) Southern Great Plains site (J. Tian et al., 2021, https://doi.org/10.3390/rs13122309 , 2022, https://doi.org/10.1029/2021gl097070 ). To validate this algorithm, the framework employs ground‐based ceilometer measurements from North Alabama (NA) where ShCu populations are prevalent. This study first generates clear‐sky surface reflectance maps at NA and identifies ShCu pixels with a detection threshold using Geostationary Operational Environmental Satellite (GOES) reflectance data. The obtained cloud fractions (CFs) are then compared against CFs from a ground‐based ceilometer, considering factors such as observed area differences, satellite parallax issue, and systematic biases. We found that with a detection threshold (∆R) of 0.05, the ShCu detection algorithm is effective for NA, enabling the reproduction of hourly ShCu CFs using GOES. Our framework is straightforward and easily repeatable to evaluate the effectiveness of a ∆R threshold for detecting ShCu clouds in various geographic regions where ceilometers are deployed. This satellite detection of ShCu provides a crucial regional context for ground‐based measurements, facilitating the tracking of convection initiation and its coupling with land surface conditions. Integrating localized ground‐based and regional satellite data will enhance our ability to conduct thorough studies of cloud morphology and land‐atmosphere interactions in North Alabama.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

On the Life Cycle of a Shallow Cumulus Cloud: Is It a Bubble or Plume, Active or Forced?

Abstract A cloud’s life cycle determines how its mass flux translates into cloud cover, thereby setting Earth’s albedo. Here, an attempt is made to quantify the most basic aspects of the life cycle of a shallow cumulus cloud: the degree to which it is a bubble or a plume, and active or forced. Quantitative measures are proposed for these properties, which are then applied to hundreds of shallow cumulus clouds in Oklahoma using data from stereo cameras, a Doppler lidar, and large-eddy simulations. The observed clouds are intermediate between active and forced, but behave more like bubbles than plumes. The simulated clouds, on the other hand, are more active and plumelike, suggesting room for improvement in the modeling of shallow cumulus.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Market Survey of Airborne Small Unmanned Aircraft System Sensors February 2020

Sensors continue to decrease in size and power. This report presents results of a market survey conducted in February 2020 for commercial off-the-self sensors with optimal size, weight, and power to be carried onboard a small unmanned aircraft system. For this report, Sandia National Laboratories considered sensors that can detect an object in three dimensions. The sensors that were researched are broken into three categories: radio detection and ranging sensors, stereo camera sensors, and light detection and ranging sensors.

47 OTHER INSTRUMENTATION↗
DOE OSTI2024

TEAMER - Field Demonstration of MarineSitu’s Marine Energy Monitoring Tools - CRADA 664 (Abstract)

In order to effectively monitor for marine life around marine energy devices and thus minimize the risk of collision, multiple sensors working in coordination and augmented with around-the-clock automated monitoring algorithms need to be installed in challenging high-energy tidal and wave environments. Such systems are often too expensive for widespread adoption, or lack sufficient sensors or smarts to enable around-the-clock, real-time monitoring without human involvement. MarineSitu has been working to tackle this problem by developing a low-cost, combined sonar and stereo camera sensor array with connected real-time AI-based algorithms for automatically detecting marine life in these marine energy suitable environments. In this TEAMER project with Pacific Northwest National Lab (PNNL), MarineSitu will be testing this novel sensor system for the first time in the high-energy tidal channel environment at PNNL’s Marine and Coastal Research Lab. Throughout this deployment, MarineSitu will be monitoring their system and running analytics on the sensor’s data in real-time. Meanwhile, PNNL Data Scientists and Ocean Engineers, will be evaluating the system’s effectiveness and ease of use both as a tool for plug-and-play environmental monitoring and novel environmental monitoring research. In doing so, the team will improve MarineSitu’s system and software, produce insightful data products, and develop novel visualizations and AI algorithms for combining and analyzing the data produced by systems like MarineSitu’s.

16 TIDAL AND WAVE POWER↗
DOE OSTI2025

TEAMER – Field Demonstration of MarineSitu’s Marine Energy Monitoring (Abstract)

In order to effectively monitor for marine life around marine energy devices and thus minimize the risk of collision, multiple sensors working in coordination and augmented with around-the-clock automated monitoring algorithms need to be installed in challenging high-energy tidal and wave environments. Such systems are often too expensive for widespread adoption, or lack sufficient sensors or smarts to enable around-the-clock, real-time monitoring without human involvement. MarineSitu has been working to tackle this problem by developing a low-cost, combined sonar and stereo camera sensor array with connected real-time AI-based algorithms for automatically detecting marine life in these marine energy suitable environments. In this TEAMER project with Pacific Northwest National Lab (PNNL), MarineSitu will be testing this novel sensor system for the first time in the high-energy tidal channel environment at PNNL’s Marine and Coastal Research Lab. Throughout this deployment, MarineSitu will be monitoring their system and running analytics on the sensor’s data in real-time. Meanwhile, PNNL Data Scientists and Ocean Engineers, will be evaluating the system’s effectiveness and ease of use both as a tool for plug-and-play environmental monitoring and novel environmental monitoring research. In doing so, the team will improve MarineSitu’s system and software, produce insightful data products, and develop novel visualizations and AI algorithms for combining and analyzing the data produced by systems like MarineSitu’s.

16 TIDAL AND WAVE POWER↗
DOE OSTI2022

Quantitatively Monitoring Bubble-Flow at a Seep Site Offshore Oregon: Field Trials and Methodological Advances for Parallel Optical and Hydroacoustical Measurements

Two lander-based devices, the Bubble-Box and GasQuant-II, were used to investigate the spatial and temporal variability and total gas flow rates of a seep area offshore Oregon, United States. The Bubble-Box is a stereo camera–equipped lander that records bubbles inside a rising corridor with 80 Hz, allowing for automated image analyses of bubble size distributions and rising speeds. GasQuant is a hydroacoustic lander using a horizontally oriented multibeam swath to record the backscatter intensity of bubble streams passing the swath plain. The experimental set up at the Astoria Canyon site at a water depth of about 500 m aimed at calibrating the hydroacoustic GasQuant data with the visual Bubble-Box data for a spatial and temporal flow rate quantification of the site. For about 90 h in total, both systems were deployed simultaneously and pressure and temperature data were recorded using a CTD as well. Detailed image analyses show a Gaussian-like bubble size distribution of bubbles with a radius of 0.6–6 mm (mean 2.5 mm, std. dev. 0.25 mm); this is very similar to other measurements reported in the literature. Rising speeds ranged from 15 to 37 cm/s between 1- and 5-mm bubble sizes and are thus, in parts, slightly faster than reported elsewhere. Bubble sizes and calculated flow rates are rather constant over time at the two monitored bubble streams. Flow rates of these individual bubble streams are in the range of 544–1,278 mm 3 /s. One Bubble-Box data set was used to calibrate the acoustic backscatter response of the GasQuant data, enabling us to calculate a flow rate of the ensonified seep area (~1,700 m 2 ) that ranged from 4.98 to 8.33 L/min (5.38 × 10 6 to 9.01 × 10 6 CH 4 mol/year). Such flow rates are common for seep areas of similar size, and as such, this location is classified as a normally active seep area. For deriving these acoustically based flow rates, the detailed data pre-processing considered echogram gridding methods of the swath data and bubble responses at the respective water depth. The described method uses the inverse gas flow quantification approach and gives an in-depth example of the benefits of using acoustic and optical methods in tandem.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

Development of an Energy Efficient and Cost Effective Autonomous Vehicle Research Platform

Commercialization of autonomous vehicle technology is a major goal of the automotive industry, thus research in this space is rapidly expanding across the world. However, despite this high level of research activity, literature detailing a straightforward and cost-effective approach to the development of an AV research platform is sparse. To address this need, we present the methodology and results regarding the AV instrumentation and controls of a 2019 Kia Niro which was developed for a local AV pilot program. This platform includes a drive-by-wire actuation kit, Aptiv electronically scanning radar, stereo camera, MobilEye computer vision system, LiDAR, inertial measurement unit, two global positioning system receivers to provide heading information, and an in-vehicle computer for driving environment perception and path planning. Robotic Operating System software is used as the system middleware between the instruments and the autonomous application algorithms. After selection, installation, and integration of these components, our results show successful utilization of all sensors, drive-by-wire functionality, a total additional power* consumption of 242.8 Watts (*Typical), and an overall cost of $118,189 USD, which is a significant saving compared to other commercially available systems with similar functionality. This vehicle continues to serve as our primary AV research and development platform.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1988

Requirements for particulate monitoring system for Space Station

We recommend that a stereo camera system be utilized as a diagnostic for the particulate environment surrounding the Space Station. This system should have sufficient sensitivity to identify contaminated periods, to isolate the effects of sources and activities and to determine optical clearing times. A reasonable compromise between sensitivity and other operational constraints is recommended. Sensitivity comparable to the film camera systems should suffice, but long periods of unattended operation and remotely controlled exposure sequences are essential requirements.

Green, Byron David↗
NASA NTRS1989

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

Hirzinger, G.↗
NASA NTRS1992

Manipulator design and development for the Ranger satellite servicing vehicle

The Ranger program is a planned series of low cost telerobotics flight experiments, based on the use of Pegasus launch vehicles. As the first step towards this goal, the Space Systems Lab was developing a neutral buoyancy version of Ranger for use in design verification and operations testing. The design approach and results of the Ranger manipulator development program is related. Ranger is designed to incorporate four appendages: a pair of dexterous, seven degree of freedom manipulators for general manipulation; a six DOF grappling arm for securing the vehicle to the local work site; and a five DOF positioning manipulator for the stereo camera pair that provide feedback to the remote operator. Each of these manipulators incorporate unique approaches to satisfying design requirements. The numerical and operational requirements are given for Ranger manipulators, and the evolution is discussed of the differing design approaches based on similarities and differences in the requirements. Testing results for individual joints and manipulator assemblies are presented, followed by initial results of operational testing on satellite servicing tasks with the integrated Ranger neutral buoyancy vehicle.

Howard, Russell D.↗
NASA NTRS1993

Satellite Test Assistant Robot (STAR)

A three-year, three-phase program to demonstrate the applicability of telerobotic technology to the testing of satellites and other spacecraft has been initiated. Specifically, the objectives are to design, fabricate, and install into the JPL 25-ft. Space Simulator (SS) a system that will provide the capability to view test articles from all directions in both the visible and infrared (IR) spectral regions, to automatically map the solar flux intensity over the entire work volume of the chamber, and to provide the capability for leak detection. The first year's work, which provides a vertically mobile viewing platform equipped with stereo cameras, will be discussed. Design constraints and system implementation approaches mandated by the requirements of thermal vacuum operation will be emphasized.

Mcaffee, D. A.↗
NASA NTRS1990

Skyline based terrain matching

Skyline-based terrain matching, a new method for locating the vantage point of stereo camera or laser range-finding measurements on a global map previously prepared by satellite or aerial mapping is described. The orientation of the vantage is assumed known, but its translational parameters are determined by the algorithm. Skylines, or occluding contours, can be extracted from the sensory measurements taken by an autonomous vehicle. They can also be modeled from the global map, given a vantage estimate from which to start. The two sets of skylines, represented in cylindrical coordinates about either the true or the estimated vantage, are employed as 'features' or reference objects common to both sources of information. The terrain matching problem is formulated in terms of finding a translation between the respective representations of the skylines, by approximating the two sets of skylines as identical features (curves) on the actual terrain. The search for this translation is based on selecting the longest of the minimum-distance vectors between corresponding curves from the two sets of skylines. In successive iterations of the algorithm, the approximation that the two sets of curves are identical becomes more accurate, and the vantage estimate continues to improve. The algorithm was implemented and evaluated on a simulated terrain. Illustrations and examples are included.

Page, Lance A.↗
NASA NTRS1993

An evaluation of three-dimensional sensors for the extravehicular activity helper/retreiver

The Extravehicular Activity Retriever/Helper (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, accurate sensing of the operational environment and objects in the environment will therefore be critical. The qualitative and quantitative results of empirical studies of three sensors that are capable of providing three-dimensional information to the EVAHR, but using completely different hardware approaches are documented. The first of these devices is a phase shift laser with an effective operating range (ambiguity interval) of approximately 15 meters. The second sensor is a laser triangulation system designed to operate at much closer range and to provide higher resolution images. The third sensor is a dual camera stereo imaging system from which range images can also be obtained. The remainder of the report characterizes the strengths and weaknesses of each of these systems relative to quality of data extracted and how different object characteristics affect sensor operation.

Magee, Michael↗
NASA NTRS1994

SAVA 3: A testbed for integration and control of visual processes

The development of an experimental test-bed to investigate the integration and control of perception in a continuously operating vision system is described. The test-bed integrates a 12 axis robotic stereo camera head mounted on a mobile robot, dedicated computer boards for real-time image acquisition and processing, and a distributed system for image description. The architecture was designed to: (1) be continuously operating, (2) integrate software contributions from geographically dispersed laboratories, (3) integrate description of the environment with 2D measurements, 3D models, and recognition of objects, (4) capable of supporting diverse experiments in gaze control, visual servoing, navigation, and object surveillance, and (5) dynamically reconfiguarable.

Crowley, James L.↗
NASA NTRS1998

Studies of Potential Mars Surveyor 1998 Landing Sites

The 1998 lander payload consists of a descent imager, the Mars Volatiles and Climate Surveyor (MVACS) instruments (lander stereo camera, arm-mounted close-up imager, meteorology package, thermal and evolved gas analyzer), and a LIDAR instrument. The mission focuses on assessment of near-surface water ice in the south polar region, and the volatile and climate history of Mars. In order to achieve these objectives, the landing site must allow access to polar layered deposits by the robotic arm, which may be able to dig as much as 0.5 m below the surface. Hence, the presence of recent aeolian debris at the landing site may adversely affect the ability of the MVACS instruments to gather the samples and acquire data needed to properly address the science objectives. The studies described here include mapping surface units in the landing region (73S - 77S, 140W - 230W) to infer the distribution of aeolian debris and to identify potential landing sites where mantling is minimal. Because the '98 lander will not be able to survive very low temperature conditions, this study also includes mapping of south polar seasonal frost retreat based on Viking Orbiter images. The results of this work, in conjunction with complementary studies by other investigators, will facilitate the selection of the Mars Surveyor 1998 landing site (and backup) by the summer of 1998.

Herkenhoff, K. E.↗
NASA NTRS1995

A Mars Rover Mission Simulation on Kilauea Volcano

A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.

Stoker, Carol↗
NASA NTRS2003

Terrain Model Registration for Single Cycle Instrument Placement

This paper presents an efficient and robust method for registration of terrain models created using stereo vision on a planetary rover. Our approach projects two surface models into a virtual depth map, rendering the models as they would be seen from a single range sensor. Correspondence is established based on which points project to the same location in the virtual range sensor. A robust norm of the deviations in observed depth is used as the objective function, and the algorithm searches for the rigid transformation which minimizes the norm. An initial coarse search is done using rover pose information from odometry and orientation sensing. A fine search is done using Levenberg-Marquardt. Our method enables a planetary rover to keep track of designated science targets as it moves, and to hand off targets from one set of stereo cameras to another. These capabilities are essential for the rover to autonomously approach a science target and place an instrument in contact in a single command cycle.

Deans, Matthew↗