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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

A vision system for a Mars rover

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Wilcox, Brian H.↗
NASA NTRS1988

Advanced transport operating system software upgrade: Flight management/flight controls software description

The Flight Management/Flight Controls (FM/FC) software for the Norden 2 (PDP-11/70M) computer installed on the NASA 737 aircraft is described. The software computes the navigation position estimates, guidance commands, those commands to be issued to the control surfaces to direct the aircraft in flight based on the modes selected on the Advanced Guidance Control System (AGSC) mode panel, and the flight path selected via the Navigation Control/Display Unit (NCDU).

Clinedinst, Winston C.↗
NASA NTRS1989

Force/torque and tactile sensors for sensor-based manipulator control

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Vanbrussel, H.↗
NASA NTRS1989

Hybrid vision for automated spacecraft landing

A hyrbid real-time vision system concept is proposed for Mars lander guidance and control for the Mars Rover/Sample Return mission. The system includes digital and optical processing methods with high speed digital image warping to preprocess a video image for optical correlation. The system also includes position estimation by synthetic estimation filtering, image stabilization by joint transform optical correlation, and hazard identification from measurements of optical flow by sequential image subtraction.

Juday, Richard D.↗
NASA NTRS1991

Hypersonic Research Vehicle (HRV) real-time flight test support feasibility and requirements study. Part 1: Real-time flight experiment support

The results are presented of a study to identify potential real time remote computational applications to support monitoring HRV flight test experiments along with definitions of preliminary requirements. A major expansion of the support capability available at Ames-Dryden was considered. The focus is on the use of extensive computation and data bases together with real time flight data to generate and present high level information to those monitoring the flight. Six examples were considered: (1) boundary layer transition location; (2) shock wave position estimation; (3) performance estimation; (4) surface temperature estimation; (5) critical structural stress estimation; and (6) stability estimation.

Rediess, Herman A.↗
NASA NTRS1993

Advanced Transport Operating System (ATOPS) Flight Management/Flight Controls (FM/FC) software description

The flight software developed for the Flight Management/Flight Controls (FM/FC) MicroVAX computer used on the Transport Systems Research Vehicle for Advanced Transport Operating Systems (ATOPS) research is described. The FM/FC software computes navigation position estimates, guidance commands, and those commands issued to the control surfaces to direct the aircraft in flight. Various modes of flight are provided for, ranging from computer assisted manual modes to fully automatic modes including automatic landing. A high-level system overview as well as a description of each software module comprising the system is provided. Digital systems diagrams are included for each major flight control component and selected flight management functions.

Wolverton, David A.↗
NASA NTRS1991

Mars approach navigation using Doppler and range measurements to surface beacons and orbiting spacecraft

Approximate analytical models are developed and used to construct an error covariance analysis for investigating the range of orbit determination accuracies which might be achieved for typical Mars approach trajectories. The sensitivity or orbit determination accuracy to beacon/orbiter position errors and to small spacecraft force modeling errors is also investigated. The results indicate that the orbit determination performance obtained from both Doppler and range data is a strong function of the inclination of the approach trajectory to the Martian equator, for surface beacons, and for orbiters, the inclination relative to the orbital plane. Large variations in performance were also observed for different approach velocity magnitudes; Doppler data in particular were found to perform poorly in determining the downtrack (along the direction of flight) component of spacecraft position. In addition, it was found that small spacecraft acceleration modeling errors can induce large errors in the Doppler-derived downtrack position estimate.

Thurman, Sam W.↗
NASA NTRS1994

Processing In A GPS Receiver To Reduce Multipath Errors

Four techniques of ancillary real-time digital processing of signals in Global Positioning System, GPS, receiver introduced reducing effects of multipath propagation of signals on position estimates produced by receiver. Multipath range errors halved. Applied in addition to other signal-processing techniques and to other techniques designing as receiving antenna to make it insensitive to reflections of GPS signals from nearby objects.

Meehan, Thomas K.↗
NASA NTRS1994

Integration of magnetic bearings in the design of advanced gas turbine engines

Active magnetic bearings provide revolutionary advantages for gas turbine engine rotor support. These advantages include tremendously improved vibration and stability characteristics, reduced power loss, improved reliability, fault-tolerance, and greatly extended bearing service life. The marriage of these advantages with innovative structural network design and advanced materials utilization will permit major increases in thrust to weight performance and structural efficiency for future gas turbine engines. However, obtaining the maximum payoff requires two key ingredients. The first key ingredient is the use of modern magnetic bearing technologies such as innovative digital control techniques, high-density power electronics, high-density magnetic actuators, fault-tolerant system architecture, and electronic (sensorless) position estimation. This paper describes these technologies. The second key ingredient is to go beyond the simple replacement of rolling element bearings with magnetic bearings by incorporating magnetic bearings as an integral part of the overall engine design. This is analogous to the proper approach to designing with composites, whereby the designer tailors the geometry and load carrying function of the structural system or component for the composite instead of simply substituting composites in a design originally intended for metal material. This paper describes methodologies for the design integration of magnetic bearings in gas turbine engines.

Storace, Albert F.↗
NASA NTRS1994

Optical position measurement for a large gap magnetic suspension system: Design and performance analysis

An optical measurement system (OMS) has been designed and tested for a large gap magnetic suspension system (LGMSS). The LGMSS will be used to study control laws for magnetic suspension systems for vibration isolation and pointing applications. The LGMSS features six degrees of freedom and consists of a planar array of electromagnets that levitate and position a cylindrical element containing a permanent magnet core. The OMS provides information on the location and orientation of the element to the LGMSS control system to stabilize suspension. The hardware design of this optical sensing system and the tracking algorithms are presented. The results of analyses and experiments are presented that define the accuracy limits of the optical sensing system and that quantify the errors in position estimation.

Welch, Sharon S.↗
NASA NTRS1995

Determination of the position of Jupiter from radio metric tracking of Voyager 1

The Voyager 1 spacecraft flew by Jupiter on March 5, 1979. Spacecraft navigation was performed with radio tracking data from NASA's Deep Space Network. In the years since then, there has been a great deal of progress in the definition of celestial reference frames and in determining the orbit and orientation of the Earth. Using these improvements, the radio metric range and Doppler data acquired from the Voyager 1 spacecraft near its encounter with Jupiter have been reanalyzed to determine the plane-of-sky position of Jupiter with much greater accuracy than was possible at the time of the encounter. The position of Jupiter at the time of encounter has been determined with an accuracy of 40 nrad in right ascension and 140 nrad in declination with respect to the celestial reference frame defined by the International Earth Rotation Service. This position estimate has been done to improve the ephemeris of Jupiter prior to the upcoming encounter of the Galileo spacecraft with Jupiter.

Folkner, W. M.↗
NASA NTRS1994

The first Extreme Ultraviolet Explorer source catalog

The Extreme Ultraviolet Explorer (EUVE) has conducted an all-sky survey to locate and identify point sources of emission in four extreme ultraviolet wavelength bands centered at approximately 100, 200, 400, and 600 A. A companion deep survey of a strip along half the ecliptic plane was simultaneously conducted. In this catalog we report the sources found in these surveys using rigorously defined criteria uniformly applied to the data set. These are the first surveys to be made in the three longer wavelength bands, and a substantial number of sources were detected in these bands. We present a number of statistical diagnostics of the surveys, including their source counts, their sensitivites, and their positional error distributions. We provide a separate list of those sources reported in the EUVE Bright Source List which did not meet our criteria for inclusion in our primary list. We also provide improved count rate and position estimates for a majority of these sources based on the improved methodology used in this paper. In total, this catalog lists a total of 410 point sources, of which 372 have plausible optical ultraviolet, or X-ray identifications, which are also listed.

Bowyer, S.↗
NASA NTRS2000

Monitoring Global Sea Level: Eustatic Variations, Local Variations, and Solid Earth Effects

Project BIFROST (Baseline Inferences for Fennoscandian Rebound Observations. Sea-level and Tectonics) combines networks of continuously operating CPS receivers in Sweden and Finland to measure ongoing crustal deformation due to glacial isostatic adjustment, (CIA). We present an analysis of data collected in the years 1993-1998. We compare the CPS determinations of three-dimensional crustal motion to predictions calculated using the high resolution Fennoscandian deglaciation model recently proposed by Lambeck et al. We find that the the maximum observed uplift rate (approx. 10 mm/ yr) and the maximum predicted uplift rate agree to better than 1 mm/ yr. The patterns of uplift also agree quite well, although differences are discernible. The chi(exp 2) difference between predicted and GPS-observed radial rates is reduced by a factor of 5-6 compared to that for the "null" (no uplift) model, depending on whether a mean difference is first removed. The north components of velocity agree at about the same relative level. whereas the agreement for the east components is worse, a problem possibly related to the lack of bias fixing. We have also compared the values for the observed radial deformation rates to those based on sea-level rates from Baltic tide gauges. The weighted RMS difference between CPS and tide-gauge rates (after removing a mean) is 0.6 mm/ yr, giving an indication of the combined accuracy of the CPS and tide-gauge measurement systems. Spectral analysis of the time series of position estimates yields spectral indices in the range -1 to -2. An EOF analysis indicates, however, that much of this power is correlated among the sites. The correlation appears to be regional and falls off only slightly with distance. Some of this correlated noise is associated with snow accumulation on the antennas or, for those antennas with radomes, on the radomes. This problem has caused us to modify the radomes used several times, leading to one of our more significant sources of uncertainty.

Davis, James L.↗
NASA NTRS2002

Extending the ICRF to Higher Radio Frequencies

The ICRF forms the basis for all astrometry including use as the inertial coordinate system for navigating deep space missions. This frame was defined using S/X-band observations over the past 20+ years. In January 2002, the VLBA approved our proposal for observing time to extend the ICRF to K-band (24 GHz) and Q-band (43 GHz). The first step will be observations at K- and Q-bands on a subset of ICRF sources. Eventually, K- and Q-band multi-epoch observations will be used to estimate positions, flux density and source structure for a large fraction of the current S/X-band ICRF source list. This work will benefit the radio astronomy community by extending the VLBA calibrator list at these bands. In the longer term, we would also like to extend the ICRF to Ka-band (32 GHz). A celestial reference frame will be needed at this frequency to support deep space navigation. A navigation demonstration is being considered for NASA's Mars 2005 mission. The initial K- and Q-band work will serve to identify candidate sources at Ka-band for use with that mission.

Jacobs, C. S.↗
NASA NTRS2002

An Overview of Flight Test Results for a Formation Flight Autopilot

The first flight test phase of the NASA Dryden Flight Research Center Autonomous Formation Flight project has successfully demonstrated precision autonomous station-keeping of an F/A-18 research airplane with a second F/A-18 airplane. Blended inertial navigation system (INS) and global positioning system (GPS) measurements have been communicated across an air-to-air telemetry link and used to compute relative-position estimates. A precision research formation autopilot onboard the trailing airplane controls lateral and vertical spacing while the leading airplane operates under production autopilot control. Four research autopilot gain sets have been designed and flight-tested, and each exceeds the project design requirement of steady-state tracking accuracy within 1 standard deviation of 10 ft. Performance also has been demonstrated using single- and multiple-axis inputs such as step commands and frequency sweeps. This report briefly describes the experimental formation flight systems employed and discusses the navigation, guidance, and control algorithms that have been flight-tested. An overview of the flight test results of the formation autopilot during steady-state tracking and maneuvering flight is presented.

Curtis E Hanson↗
NASA NTRS2001

Applicability of the single equivalent point dipole model to represent a spatially distributed bio-electrical source

Although the single equivalent point dipole model has been used to represent well-localised bio-electrical sources, in realistic situations the source is distributed. Consequently, position estimates of point dipoles determined by inverse algorithms suffer from systematic error due to the non-exact applicability of the inverse model. In realistic situations, this systematic error cannot be avoided, a limitation that is independent of the complexity of the torso model used. This study quantitatively investigates the intrinsic limitations in the assignment of a location to the equivalent dipole due to distributed electrical source. To simulate arrhythmic activity in the heart, a model of a wave of depolarisation spreading from a focal source over the surface of a spherical shell is used. The activity is represented by a sequence of concentric belt sources (obtained by slicing the shell with a sequence of parallel plane pairs), with constant dipole moment per unit length (circumferentially) directed parallel to the propagation direction. The distributed source is represented by N dipoles at equal arc lengths along the belt. The sum of the dipole potentials is calculated at predefined electrode locations. The inverse problem involves finding a single equivalent point dipole that best reproduces the electrode potentials due to the distributed source. The inverse problem is implemented by minimising the chi2 per degree of freedom. It is found that the trajectory traced by the equivalent dipole is sensitive to the location of the spherical shell relative to the fixed electrodes. It is shown that this trajectory does not coincide with the sequence of geometrical centres of the consecutive belt sources. For distributed sources within a bounded spherical medium, displaced from the sphere's centre by 40% of the sphere's radius, it is found that the error in the equivalent dipole location varies from 3 to 20% for sources with size between 5 and 50% of the sphere's radius. Finally, a method is devised to obtain the size of the distributed source during the cardiac cycle.

NASA Discipline Cardiopulmonary↗
NASA NTRS2001

The Mars exploration rover: an in situ science mission to Mars

In this paper the concept for a mobile vehicle system which performs an in situ science mission to Mars is described. This rover mission with its requirements for driving, positioning at science selected targets, and remote and in situ measurement will utilize the technologies for hazard avoidance and autonomous navigation supported by ground operation tools which use rover-based imagery for position estimation and motion planning.

Mars rover athena instruments hazard detection haz↗