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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 91 records · Page 5
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NASA NTRS1993

A case study of the intraseasonal oscillation traversing the TOGA-COARE LSD

The paper presents examination of tree intraseasonal (30-60 day) oscillations (ISOs) that occurred during the southern summer season (December 1, 1985 - February 28, 1986) traversing the Large-Scale Domain (LSD) TOGA-COARE, the region which also plays an important role in ENSO, Australian monsoon, and extratropical circulations. Data presented include Hovmoeller diagrams of 5-day running means of 250-mb velocity potential anomalies and OLR anomalies; graphs of five-day running means of OLR in precipitable water (W) per sq m, averaged over 10 x 10 deg boxes centered on 5 S and (1) 145 E, (2) 155 E, (3) 165 E, and (4) 165 D, indicating the midpoint of each ISO; and vertical profiles of zonal wind in m/s averaged over the time period that each ISO spends in the 10 x 10 deg box centered at 5 S, and 175 E and 145 E.

Vincent, Dayton G.↗
NASA NTRS1961

Calculated Normal Load Factors on Light Airplanes Traversing the Trailing Vortices of Heavy Transport Airplanes

Results are presented of normal-load-factor calculations made for a lightnormal-category airplane and a light transport-category airplane traversing the trailing vortices generated by each of three heavy transport airplanes. With each light airplane, the normal load factors were determined for several penetration paths lying i n a plane perpendicular to the trailing vortices and for three center-of-gravity locations and velocities. Also determined for the light normal-category airplane were the elevator deflections required to maintain 1 g flight and the vertical displacements of the airplane from the prescribed penetration paths while transversing the vortices.

McGowan, William A.↗
NASA NTRS2005

Evidence of Phyllosilicate in Wooly Patch+: An Altered Rock Encountered on the Spirit Rover Traverse

In the course of examining rocks along the traverse of the Spirit rover toward the Columbia Hills [1, 9], we noticed that the chemistry of a rock named "Wooly Patch" was neither basaltic as the rocks near the landing site [8] nor slightly altered basalt inferred from regolith in plains trenches [10]. The major cation ratios appear to match those of phyllosilicates [11]. The presence of phyllosilicate minerals on Mars has been predicted [12]; reasons for the rarity or absence of phyllosilicates have also been discussed [13]. We have thus done as detailed an analysis of Wooly Patch as the data enable, which suggests phyllosilicates of kaolinite, serpentine, and chlorite types, plus some feldspar and pyroxene are prime candidates to constitute Wooly Patch.

Wang, Alian↗
NASA NTRS2003

Machine learning challenges in Mars rover traverse science

The successful implementation of machine learning in autonomous rover traverse science requires addressing challenges that range from the analytical technical realm, to the fuzzy, philosophical domain of entrenched belief systems within scientists and mission managers.

OASIS onboard autonomous science investigation sys↗
NASA NTRS2007

The Walkback Test: A Study to Evaluate Suit and Life Support System Performance Requirements for a 10 Kilometer Traverse in a Planetary Suit

As planetary suit and planetary life support systems develop, specific design inputs for each system relate to a presently unanswered question concerning operational concepts: What distance can be considered a safe walking distance for a suited EVA crew member exploring the surface of the Moon to "walk-back" to the habitat in the event of a rover breakdown, taking into consideration the planned EVA tasks as well as the possible traverse back to the habitat? It has been assumed, based on Apollo program experience, that 10 kilometers (6.2 mi) will be the maximum EVA excursion distance from the lander or habitat to ensure the crew member s safe return to the habitat in the event of a rover failure. To investigate the feasibility of performing a suited 10 km Walkback, NASA-JSC assembled a multi-disciplinary team to design and implement the Lunar Walkback Test . The test was designed not only to determine the feasibility of a 10 km excursion, but also to collect human performance, biomedical, and biomechanical data relevant to optimizing space suit design and life support system sizing. These data will also be used to develop follow-on studies to understand interrelationships of such key parameters as suit mass, inertia, suit pressure, and center of gravity (CG), and the respective influences of each on human performance.

Vos, Jessica R.↗
NASA NTRS2006

Chemical Diversity along the Traverse of the Rover Spirit at Gusev Crater

The Alpha-Particle-X-ray Spectrometer (APXS) is part of the in situ payload of the Mars Exploration Rovers. It has determined the chemical composition of soils and rocks along the nearly 6 km long traverse of the rover Spirit. The measuring method a combination of PIXE and XRF using Cm244 sources - allowed the unambiguous identification of elemental compositions with high precision. Besides sample triage and quantification of saltforming elements as indicators for aqueous alteration, the APXS also delivered important constraints to mineralogy intruments (i.e., Mossbauer (MB), MiniTES, Pancam) on minerals and rock types. The mineralogy instruments on the other hand provided constraints on minerals used for APXS normative calculations and, e.g. allowed the attribution of S to sulfate, instead of sulfide or elemental sulfur. This abstract gives an updated overview of the data obtained up to our current rover position on sol 720 at the eastern base of the Columbia Hills. We will emphasize elemental correlations that imply the presence of certain minerals that can not be identified by the MER mineralogy instruments.

Gellert, R.↗
NASA NTRS2009

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Bajracharya, Max↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2010

Predicting Long-Range Traversability from Short-Range Stereo-Derived Geometry

Based only on its appearance in imagery, this program uses close-range 3D terrain analysis to produce training data sufficient to estimate the traversability of terrain beyond 3D sensing range. This approach is called learning from stereo (LFS). In effect, the software transfers knowledge from middle distances, where 3D geometry provides training cues, into the far field where only appearance is available. This is a viable approach because the same obstacle classes, and sometimes the same obstacles, are typically present in the mid-field and the farfield. Learning thus extends the effective look-ahead distance of the sensors.

Turmon, Michael↗
NASA NTRS2011

Evaluation of Robotic Systems to Carry Out Traverse Execution, Opportunistic Science, and Landing Site Evaluation Tasks

This report covers the execution of and results from the activities proposed and approved in Exploration Analogs and Mission Development (EAMD) Field Test Protocol HMP2010: Evaluation of Robotic Systems to carry out Traverse Execution, Opportunistic Science, and Landing Site Evaluation Tasks. The field tests documented in this report examine one facet of a larger program of planetary surface exploration. This program has been evolving and maturing for several years, growing from a broad policy statement with a few specified milestones for NASA to an international effort with much higher fidelity descriptions of systems and operations necessary to accomplish this type of exploration.

Hoffman, Stephen J.↗
NASA NTRS2012

Uncertainty Due to Unsteady Fluid/Structure Interaction for the Ares I Vehicle Traversing the Transonic Regime

Rapid reduced-order numerical models are being investigated as candidates to simulate the dynamics of a flexible launch vehicle during atmospheric ascent. There has also been the extension of these new approaches to include gust response. These methods are used to perform aeroelastic and gust response analyses at isolated Mach numbers. Such models require a method to time march through a succession of ascent Mach numbers. An approach is presented for interpolating reduced-order models of the unsteady aerodynamics at successive Mach numbers. The transonic Mach number range is considered here since launch vehicles can suffer the highest dynamic loads through this range. Realistic simulations of the flexible vehicle behavior as it traverses this Mach number range are presented. The response of the vehicle due to gusts is computed. Uncertainties in root mean square and maximum bending moment and crew module accelerations are presented due to assumed probability distributions in design parameters, ascent flight conditions, gusts. The primary focus is on the uncertainty introduced by modeling fidelity. It is found that an unsteady reduced order model produces larger excursions in the root mean square loading and accelerations than does a quasi-steady reduced order model.

Bartels, Robert E.↗
NASA NTRS2011

Lunar Surface Electric Potential Changes Associated with Traversals through the Earth's Foreshock

We report an analysis of one year of Suprathermal Ion Detector Experiment (SIDE) Total Ion Detector (TID) resonance events observed between January 1972 and January 1973. The study includes only those events during which upstream solar wind conditions were readily available. The analysis shows that these events are associated with lunar traversals through the dawn flank of the terrestrial magnetospheric bow shock. We propose that the events result from an increase in lunar surface electric potential effected by secondary electron emission due to primary electrons in the Earth's foreshock region (although primary ions may play a role as well). This work establishes (1) the lunar surface potential changes as the Moon moves through the terrestrial bow shock, (2) the lunar surface achieves potentials in the upstream foreshock region that differ from those in the downstream magnetosheath region, (3) these differences can be explained by the presence of energetic electron beams in the upstream foreshock region and (4) if this explanation is correct, the location of the Moon with respect to the terrestrial bow shock influences lunar surface potential.

Collier, Michael R.↗
NASA NTRS2012

ArcGIS Digitization of Apollo Surface Traverses

The Apollo surface activities were documented in extraordinary detail, with every action performed by the astronauts while on the surface recorded either in photo, audio, film, or by written testimony [1]. The samples and in situ measurements the astronauts collected while on the lunar surface have shaped our understanding of the geologic history of the Moon, and the earliest history and evolution of the inner Solar System. As part of an ongoing LASERfunded effort, we are digitizing and georeferencing data from astronaut traverses and spatially associating them to available, co-registered remote sensing data. Here we introduce the products produced so far for Apollo 15, 16, and 17 missions.

Petro, N. E.↗
NASA NTRS2013

Geologic Interpretation of Data Sets Collected by Planetary Analog Geology Traverses and by Standard Geologic Field Mapping: A Comparison Study - Part 1

Geologic maps integrate the distributions, contacts, and compositions of rock and sediment bodies as a means to interpret local to regional formative histories. Applying terrestrial mapping techniques to other planets is challenging because data is collected primarily by orbiting instruments, with infrequent, spatiallylimited in situ human and robotic exploration. Although geologic maps developed using remote data sets and limited "Apollo-style" field access likely contain inaccuracies, the magnitude, type, and occurrence of these are only marginally understood. This project evaluates the interpretative and cartographic accuracy of both field- and remote-based mapping approaches by comparing two 1:24,000 scale geologic maps of the San Francisco Volcanic Field (SFVF), north-central Arizona. The first map is based on traditional field mapping techniques, while the second is based on remote data sets, augmented with limited field observations collected during NASA Desert Research & Technology Studies (RATS) 2010 exercises. The RATS mission used Apollo-style methods not only for pre-mission traverse planning but also to conduct geologic sampling as part of science operation tests. Cross-comparison demonstrates that the Apollo-style map identifies many of the same rock units and determines a similar broad history as the field-based map. However, field mapping techniques allow markedly improved discrimination of map units, particularly unconsolidated surficial deposits, and recognize a more complex eruptive history than was possible using Apollo-style data. Further, the distribution of unconsolidated surface units was more obvious in the remote sensing data to the field team after conducting the fieldwork. The study raises questions about the most effective approach to balancing mission costs with the rate of knowledge capture, suggesting that there is an inflection point in the "knowledge capture curve" beyond which additional resource investment yields progressively smaller gains in geologic knowledge.

Eppler, Dean B.↗