A proposed obstacle sensor for a Mars rover
Injection laser range finder with avalanche photodiode for Mars rover obstacle sensing, discussing range data processing methods
Kuriger, W. L.↗
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Laser range measurement for a satellite navigation scheme and mid-range path selection and obstacle avoidance
The functions of a laser rangefinder on board an autonomous Martian roving vehicle are discussed. The functions are: (1) navigation by means of a passive satellite and (2) mid-range path selection and obstacle avoidance. The feasibility of using a laser to make the necessary range measurements is explored and a preliminary design is presented. The two uses of the rangefinder dictate widely different operating parameters making it impossible to use the same system for both functions.
Zuraski, G. D.↗
Short-range laser obstacle detector
Detector, designed for slow-moving vehicle to explore surface of Mars, will automatically divert vehicle from obstacles as small as 0.5 m in its path. Detector comprises injection laser operating in pulse time-delay measurement, or radar, mode. It is capable of scanning area extending from few meters to approximately 30 m.
Kuriger, W. L.↗
A linear photodiode array employed in a short range laser triangulation obstacle avoidance sensor
An opto-electronic receiver incorporating a multi-element linear photodiode array as a component of a laser-triangulation rangefinder was developed as an obstacle avoidance sensor for a Martian roving vehicle. The detector can resolve the angle of laser return in 1.5 deg increments within a field of view of 30 deg and a range of five meters. A second receiver with a 1024 elements over 60 deg and a 3 meter range is also documented. Design criteria, circuit operation, schematics, experimental results and calibration procedures are discussed.
Odenthal, J. P.↗
An efficient code for the simulation of nonhydrostatic stratified flow over obstacles
The physical model and computational procedure of the code is described in detail. The code is validated in tests against a variety of known analytical solutions from the literature and is also compared against actual mountain wave observations. The code will receive as initial input either mathematically idealized or discrete observational data. The form of the obstacle or mountain is arbitrary.
Pihos, G. G.↗
The Venus ionosphere as an obstacle to the solar wind
Pioneer Venus Orbiter Electron Temperature Probe measurements of hundreds of bow shock and ionopause crossings are employed in describing the configuration of these two boundaries and their variations in response to changes in solar wind pressure. The average bow shock configuration is found to be well represented by an Archimedian hyperboloid whose altitude at the subsolar point is 0.46 Venus radii, a value slightly greater than that derived from Pioneer Venus magnetometer data using a fit to a general conic section. It is noted that the average bow shock configuration exhibits a high degree of azimuthal symmetry near the terminator. The orbit to orbit variability of the shock location is unexpectedly large, the standard deviation being about 10%. A tendency is noted for the bow shock and the ionopause to expand and contract simultaneously, but the weakness of their orbit by orbit correlation suggests that the ionopause of Venus is not the only obstacle to the solar wind. It is thought that such processes as photoion pickup and charge exchange with neutrals may be important in diverting the solar wind plasma around the planet.
Theis, R. F.↗
The obstacle block as a device to measure turbulent skin friction in compressible flow
The obstacle block, developed as an alternative to the Preston tube for indirectly measuring skin friction on smooth surfaces in incompressible flows, is examined as a device for compressible flows as well. The block, which is congruent with a surface static pressure orifice, has a geometry which is easily specified and thus has a universal calibration. Data from two independent studies are used to establish such a calibration using 'wall' variables, valid for Mach numbers up to about 3. Various aspects concerning practical application of the device are examined, such as sensitivity to yaw and the minimum permissible axial spacing between blocks. Several examples showing the utility of the device are given.
Elfstrom, G. M.↗
Application of a global solar wind/planetary obstacle interaction computational model: Earth, Venus, Mars, Jupiter and Saturn studies
The investigations undertaken in this report relate to studies of various solar wind interaction phenomena with Venus, Earth, Mars, Jupiter and Saturn. A computational model is developed for the determination of the detailed plasma and magnetic field properties associated with various planetary obstacles throughout the solar system.
Stahara, S. S.↗
Unsteady flow characteristics in the near-wake of a two-dimensional obstacle
The influence of the characteristics of the boundary layer separation on the formation of vortices and alternate paths in the wake of a bidimensional obstacle at high Reynolds numbers was studied by ultra fast visualization system. It is shown that there are alternate paths for laminar and turbulent flows, with similar flow characteristics. It is found that emission of vortices does not change substantially when the flow passes from laminar to turbulent. A film with a time scale change of 10,000 times illustrates some of the discussed phenomena.
Dyment, A.↗
Magnetic configurations of planetary obstacles
The interaction between planetary magnetospheres and solar wind flow is discussed. A proper planetary magnetosphere results from the interaction of a flowing plasma with a planet having an intrinsic, global, magnetic field of sufficient strength to stand off the impinging plasma. Upstream of such an obstacle a bow shock usually exists. The known magnetospheres have severely asymmetric shapes, being elongated approximately along the solar wind flow direction. Conditions which fundamentally determine the structure of a proper planetary magnetosphere are the state of the externally flowing plasma, the planet's magnetic moment, its vector spin, and the presence and nature of internal plasma sources and any plasma sinks. Planets known to have proper magnetospheres are Earth, Mercury, Jupiter, and Saturn. Uranus and Neptune may also have magnetospheres, with that of Uranus promising to have an exotic field configuration, because the planet's magnetic moment is expected to be nearly aligned with the solar wind flow direction. Venus and Mars are also discussed. Magnetopause surface waves are mentioned.
Lepping, R. P.↗
Orbital navigation, docking and obstacle avoidance as a form of three dimensional model-based image understanding
Range imagery from a laser scanner can be used to provide sufficient information for docking and obstacle avoidance procedures to be performed automatically. Three dimensional model-based computer vision algorithms in development can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous location points). Roll, pitch and yaw of the vehicle can be taken into account as image scanning takes place, so that these can be corrected when the image is converted from egocentric to world coordinates. Other attributes of the sensor, such as the registered reflectence and texture channels, provide additional data sources for algorithm robustness. Temporal fusion of sensor immages can take place in the work coordinate domain, allowing for the building of complex maps in three dimensional space.
Beyer, J.↗
Orbital navigation, docking and obstacle avoidance as a form of three dimensional model-based image understanding
Range imagery from a laser scanner can be used to provide sufficient information for docking and obstacle avoidance procedures to be performed automatically. Three dimensional model-based computer vision algorithms in development can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous points). Role, pitch, and yaw of a vehicle can be taken into account as image scanning takes place, so that these can be correlated when the image is converted from egocentric to world coordinated. Other attributes of the sensor, such as the registered reflectance and texture channels, provide additional data sources for algorithm robustness.
Beyer, J.↗
Hypersonic, stratified gas flows past an obstacle - Direct simulation Monte Carlo calculations
Monte Carlo particle dynamics are presently used to study the interaction of a stratified gas that impinges hypersonically on a solid body, whose size is comparable to the gas scale height. Attention is given to the results of these computations for two representative cases, where the obstacle adopted is a short, uniform cylindrical pipe whose upstream end is fully open, facing directly into the flow, while the downstream end is covered by a flat circular endplate containing an 'orifice' at its center. The cases are those of a completely closed and a fully open orifice; together, these bound the full range of obstructed hypersonic, stratified gas flows of interest.
Roberts, William W., Jr.↗
Fresnel diffraction by spherical obstacles
Lommel functions were used to solve the Fresnel-Kirchhoff diffraction integral for the case of a spherical obstacle. Comparisons were made between Fresnel diffraction theory and Mie scattering theory. Fresnel theory is then compared to experimental data. Experiment and theory typically deviated from one another by less than 10 percent. A unique experimental setup using mercury spheres suspended in a viscous fluid significantly reduced optical noise. The major source of error was due to the Gaussian-shaped laser beam.
Hovenac, Edward A.↗
Reflexive obstacle avoidance for kinematically-redundant manipulators
Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.
Karlen, James P.↗
Robot path planning with obstacles, actuator, gripper, and payload constraints
A method is presented to obtain the time-optimal motions for robotic manipulators. It considers the full nonlinear dynamics of the manipulator, its actuator saturation limits, and gripper and payload constraints. It also accounts for both the presence of obstacles in the work space and restrictions on the motion of the manipulator's joints. The method is computationally practical and has been implemented for the optimal trajectory planning of general six degree-of-freedom manipulators. Examples are presented that demonstrate the substantial improvement in manipulator performance that can be achieved using this method.
Shiller, Zvi↗
Concept development of automatic guidance for rotorcraft obstacle avoidance
The automatic guidance of rotorcraft for obstacle avoidance in nap-of-the-earth flight is studied. A hierarchical breakdown of the guidance components is used to identify the functional requirements. These requirements and anticipated sensor capabilities lead to a preliminary guidance concept, which has been evaluated via computer simulations.
Cheng, Victor H. L.↗
Computational results for flows over 2-D ramp and 3-D obstacle with an upwind Navier-Stokes solver
An implicit, finite-difference, upwind, full Navier-Stokes solver was applied to supersonic/hypersonic flows over two-dimensional ramps and three-dimensional obstacle. Some of the computed results are presented. The numerical scheme used in the study is an implicit, spacially second order accurate, upwind, LU-ADI scheme based on Roe's approximate Reimann solver with MUSCL differencing of Van Leer. An algebraic grid generation scheme based on generalized interpolation scheme was used in generating the grids for the various 2-D and 3-D problems.
Venkatapathy, Ethiraj↗