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At least 127 records · Page 7

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NASA NTRS2002

A Closed-Loop Hardware Simulation of Decentralized Satellite Formation Control

In recent years, there has been significant interest in the use of formation flying spacecraft for a variety of earth and space science missions. Formation flying may provide smaller and cheaper satellites that, working together, have more capability than larger and more expensive satellites. Several decentralized architectures have been proposed for autonomous establishment and maintenance of satellite formations. In such architectures, each satellite cooperatively maintains the shape of the formation without a central supervisor, and processing only local measurement information. The Global Positioning System (GPS) sensors are ideally suited to provide such local position and velocity measurements to the individual satellites. An investigation of the feasibility of a decentralized approach to satellite formation flying was originally presented by Carpenter. He extended a decentralized linear-quadratic-Gaussian (LQG) framework proposed by Speyer in a fashion similar to an extended Kalman filter (EKE) which processed GPS position fix solutions. The new decentralized LQG architecture was demonstrated in a numerical simulation for a realistic scenario that is similar to missions that have been proposed by NASA and the U.S. Air Force. Another decentralized architecture was proposed by Park et al. using carrier differential-phase GPS (CDGPS). Recently, Busse et al demonstrated the decentralized CDGPS architecture in a hardware-in-the-loop simulation on the Formation Flying TestBed (FFTB) at Goddard Space Flight Center (GSFC), which features two Spirent Cox 16 channel GPS signal generator. Although representing a step forward by utilizing GPS signal simulators for a spacecraft formation flying simulation, only an open-loop performance, in which no maneuvers were executed based on the real-time state estimates, was considered. In this research, hardware experimentation has been extended to include closed-loop integrated guidance and navigation of multiple spacecraft formations using GPS receivers and real-time vehicle telemetry. A hardware closed-loop simulation has been performed using the decentralized LQG architecture proposed by Carpenter in the GPS test facility at the Center for Space Research (CSR). This is the first presentation using this type of hardware for demonstration of closed-loop spacecraft formation flying.

Ebimuma, Takuji↗

DOE OSTI2020

Interdigital Capacitance Sensor for Cable Insulation Test and Monitoring

A substantial body of work suggests feasibility to measure cable jacket and insulation conditions using various forms of interdigital capacitance (IDC) sensors. The sensors can either be used to manually test local cable conditions or as permanently installed sensors. Eligible cables subject to these measurements do not include shielded cables but the set of candidate cables is expanded from only unjacketed cables by the ability to assess insulation condition through the jacket. Dual gap IDC sensors are confirmed to be able to sense the insulation condition beneath a polymer jacket and, moreover, the IDC is the only known way to assess the insulation condition through the jacket. PNNL has filed a patent for this approach and is exploring commercial partnerships to exploit IDC technology for actionable field measurements.

NDE, cable, IDC, capacitance, permittivity, insula↗

DOE OSTI2026

Predicting critical heat flux using localized sensing at invisible vapor-liquid interfaces

Predicting critical heat flux (CHF) in two-phase electronics cooling systems remains a significant challenge due to the sudden onset of boiling crisis and the difficulty in directly visualizing vapor-liquid interfaces. Existing sensing methods rely on lagging temperature measurements, optically accessible systems, or spatially averaged signals that cannot pinpoint CHF initiation at localized high-heat-flux regions. Here, we report a planar capacitive sensing approach that enables real-time, localized detection of vapor-liquid interface dynamics for CHF prediction in boiling heat transfer. The capacitive sensor exploits the dielectric constant difference between liquid and vapor phases to capture bubble nucleation, growth, and departure dynamics with a temporal resolution down to 2 ms. The capacitive sensing reveals distinct signals across boiling regimes: from high-frequency fluctuations during strong nucleate boiling to low-frequency fluctuations with increased amplitudes when approaching CHF. The multi-sensor array experiments demonstrate real-time localized sensing, where each sensor responds exclusively to boiling in its immediate vicinity without crosstalk from neighboring regions. This non-intrusive sensing approach provides predictive rather than lagging sensing signals of CHF occurrence, offering predictive diagnosis of two-phase liquid cooling for the thermal management of high-power-density electronics.

CHF↗

NASA NTRS2012

Localization Using Visual Odometry and a Single Downward-Pointing Camera

Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.

Swank, Aaron J.↗

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 NTRS2016

The Pilatus Unmanned Aircraft System for Lower Atmospheric Research

This paper presents details of the University of Colorado (CU) "Pilatus" unmanned research aircraft, assembled to provide measurements of aerosols, radiation and thermodynamics in the lower troposphere. This aircraft has a wingspan of 3.2 m and a maximum take-off weight of 25 kg, and it is powered by an electric motor to reduce engine exhaust and concerns about carburetor icing. It carries instrumentation to make measurements of broadband up- and downwelling shortwave and longwave radiation, aerosol particle size distribution, atmospheric temperature, relative humidity and pressure and to collect video of flights for subsequent analysis of atmospheric conditions during flight. In order to make the shortwave radiation measurements, care was taken to carefully position a high-quality compact inertial measurement unit (IMU) and characterize the attitude of the aircraft and its orientation to the upward-looking radiation sensor. Using measurements from both of these sensors, a correction is applied to the raw radiometer measurements to correct for aircraft attitude and sensor tilt relative to the sun. The data acquisition system was designed from scratch based on a set of key driving requirements to accommodate the variety of sensors deployed. Initial test flights completed in Colorado provide promising results with measurements from the radiation sensors agreeing with those from a nearby surface site. Additionally, estimates of surface albedo from onboard sensors were consistent with local surface conditions, including melting snow and bright runway surface. Aerosol size distributions collected are internally consistent and have previously been shown to agree well with larger, surface-based instrumentation. Finally the atmospheric state measurements evolve as expected, with the near-surface atmosphere warming over time as the day goes on, and the atmospheric relative humidity decreasing with increased temperature. No directional bias on measured temperature, as might be expected due to uneven heating of the sensor housing over the course of a racetrack pattern, was detected. The results from these flights indicate that the CU Pilatus platform is capable of performing research-grade lower tropospheric measurement missions.

de Boer, Gijs↗

NASA NTRS2013

3D Hail Size Distribution Interpolation/Extrapolation Algorithm

Radar data can usually detect hail; however, it is difficult for present day radar to accurately discriminate between hail and rain. Local ground-based hail sensors are much better at detecting hail against a rain background, and when incorporated with radar data, provide a much better local picture of a severe rain or hail event. The previous disdrometer interpolation/ extrapolation algorithm described a method to interpolate horizontally between multiple ground sensors (a minimum of three) and extrapolate vertically. This work is a modification to that approach that generates a purely extrapolated 3D spatial distribution when using a single sensor.

Lane, John↗

DOE OSTI2023

Reflective Fiber Temperature Probe Based on Localized Surface Plasmon Resonance towards Low-Cost and Wireless Interrogation

Reflection fiber temperature sensors functionalized with plasmonic nanocomposite material using intensity-based modulation are demonstrated for the first time. Characteristic temperature optical response of the reflective fiber sensor is experimentally tested using Au-incorporated nanocomposite thin films deposited on the fiber tip, and theoretically validated using a thin-film-optic-based optical waveguide model. By optimizing the Au concentration in a dielectric matrix, Au nanoparticles (NP) exhibit a localized surface plasmon resonance (LSPR) absorption band in a visible wavelength that shows a temperature sensitivity ~0.025%/°C as a result of electron–electron and electron–phonon scattering of Au NP and the surrounding matrix. Detailed optical material properties of the on-fiber sensor film are characterized using scanning electron microscopy (SEM) and focused-ion beam (FIB)-assisted transmission electron microscopy (TEM). Airy’s expression of transmission and reflection using complex optical constants of layered media is used to model the reflective optical waveguide. A low-cost wireless interrogator based on a photodiode transimpedance-amplifier (TIA) circuit with a low-pass filter is designed to integrate with the sensor. The converted analog voltage is wirelessly transmitted via 2.4 GHz Serial Peripheral Interface (SPI) protocols. Feasibility is demonstrated for portable, remotely interrogated next-generation fiber optic temperature sensors with future capability for monitoring additional parameters of interest.

47 OTHER INSTRUMENTATION↗

NASA NTRSDate not supplied

Deep Convective Cloud Calibration Sensitivity Studies in Support of Radiometrically Scaling GEO Imagers With VIIRS

The NASA CERES SYN1deg product provides the scientific community regional hourly TOA and surface broadband fluxes and clouds. For consistent geostationary (GEO) derived fluxes and clouds the GEO imagers are radiometrically scaled to the Aqua-MODIS calibration reference. The CERES project utilizes GEO and MODIS analogous channel coincident, collocated, and co-angled radiance pairs as the primary method to inter-calibrate the GEO imagers. Deep convective clouds (DCC) are bright tropical, near Lambertian, top of atmosphere pseudo invariant Earth targets that do not rely on coincident radiance pairs to radiometrically scale sensors to a common calibration reference. DCC pixels are identified by cold IR window channel brightness temperatures (BT). Successful DCC inter-calibration relies on sufficient sampling of comparable identified DCC pixels between sensors. The DCC identification thresholds, pixel resolution, local time, and geographical sampling should be consistent between sensors. Over 20 GEO imagers during the span of the CERES record have various visible and IR pixel resolutions. Unlike the MODIS and VIIRS imagers, where the visible and IR pixel resolutions are similar, the GEO visible pixel resolution is much finer than the IR pixel resolution. The study will examine the pixel resolution impact on the DCC calibration methodology. The resulting DCC calibration coefficients can be validated against the sensor pair calibration methodology. Accounting for the DCC calibration imager resolution differences will allow the CERES project to utilize the future CLARREO observations as the calibration reference for all GEO, MODIS, and VIIRS imagers across the CERES record.

Conor Haney↗

DOE OSTI2022

Sensing Electrical Networks Securely & Economically (SENSE)

The growing adoption of distributed energy resources (DERs) like battery energy storage systems and roof top solar/PV and the rapid penetration of electric vehicles (EVs), the electric grid is undergoing a major transformation with elevated stress on legacy grid assets. Despite a lot of expenditure to address these challenges, both in dollars and manpower, utilities have not been able to receive the value that was promised. The gains have been most visible at the transmission and substation level, especially where the main objective was improving operational and economic efficiency for the utility. Improving visibility and control at a few select points enhances the existing and established paradigm of centralized command and control. With changing load patterns, load types and the overall transition to an “active grid”, the centralized control and coordination paradigm gets challenged. To address the challenges, a new architecture and mechanism is needed, one that supports decentralized control and decision making, extracting value streams at the grid edge, particularly as the changes are fueled by transitions occurring in the distribution system. To address this, a communications and data processing platform, “GAMMA” was developed and demonstrated through the project. At the heart of the platform, are distributed, intelligent edge nodes with sensing and compute capabilities, that can record and analyze information locally. They are embedded in sensors and actuators specific to different distribution system applications. Phase 1 of the project focused on developing novel sensor technology that can be used for monitoring utility pole top distribution transformers. The sensors were designed with the objective of being low-cost, communicating with the GAMMA cloud using novel “delay-tolerant” networking using Bluetooth and a secure mobile application. They were non-intrusive in nature so that they can be installed quickly in the field, resulting in overall low cost of deployment and operations. Following the successful completion of Phase 1, the team manufactured 100 units for a field demonstration in Phase 2. The field demonstration was carried out on two real feeder systems with the local utility partner. In total, 100 sensors were installed and operated over a period of 6 months in the state of Georgia. The platform is operational end to end, with the cloud infrastructure deployed on a distributed, serverless environment that can serve multiple data streams, an analytics engine and a portal to securely view the data from multiple assets. The data collected through the GAMMA Mobile Phone app showcased the viability of the novel delay tolerant networking architecture, and the data processing algorithms developed through the course of the project, were successful in extracting important information about the overall network, improving the utility’s visibility and situational awareness in the distribution feeder.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

Unsupervised anomaly clustering via offset alignment in multivariate grid sensing data

Modern industries increasingly rely on multi-sensor technologies to acquire complex, high-dimensional data streams, enabling advanced monitoring and control systems. One critical application is online anomaly detection in electrical smart grids, where multivariate and multimodal sensing technologies play a vital role. However, detecting anomalies in such time-series data is challenging due to their inherent temporal dependencies and stochastic behavior. Traditional approaches based on supervised and semi-supervised learning methods depend on labeled datasets, which are often unavailable in real-world scenarios. While unsupervised methods have emerged as promising alternatives, these methods are highly susceptible to noise and outliers commonly present in sensing applications. Furthermore, deep learning-based anomaly detection methods, despite their performance, are often criticized for their black-box nature, limiting their applicability in safety-critical and online environments where interpretability and explainability are paramount. In this work, we propose an unsupervised anomaly clustering method leveraging a cyclic alignment-based offset detection algorithm for multivariate time-series signals. The proposed method is applied to multivariate data collected from vibrational, voltage, and magnetic field sensors deployed in a local grid substation. Our results demonstrate the robustness of the algorithm in accurately clustering various anomalies/events across different sensing modalities. Additionally, we compare the effectiveness of the proposed approach against a simple pattern-based anomaly detection method, which performs well for univariate data but fails to generalize to multivariate and multimodal time-series data.

Mukherjee, Subrata [ORNL] (ORCID:0000000309930338)↗

DOE OSTI2022

Microcam: A Low Power and Privacy Preserving Multi-modal Platform for Occupancy Detection (Final Report)

Heating, ventilation, and air conditioning (HVAC) consumes a significant portion of the energy used in buildings. Much of this is wasted energy, used when buildings are either not occupied at all, or occupied well under their maximum design conditions. This project has focused on residential occupancy detection to autonomously control HVAC systems and save energy. Limitations of existing occupancy sensors include one or more of the following: (i) they employ sensors or algorithms that are not able to detect stationary occupants; (ii) they cannot classify the source of the motion (such as a pet); (iii) depending on the camera resolution and employed algorithms, they do not allow for embedded or onboard computation, and require external or cloud-based processing; (iv) many algorithms developed for camera-based systems are sensitive to lighting changes, and thus prone to missed detections or false alarms; (v) Most existing systems depend on adjustment of settings for different scenarios, complicating self-commissioning; (vi) they cannot provide high enough accuracy; (vii) they are costly; (viii) they are not battery-powered, thus limiting ease of use and installation. In this project, Syracuse University and its partner SRI have developed a low-cost, high accuracy, standalone residential occupancy sensing platform, referred to as the MicroCam, to address all of the aforementioned challenges. MicroCam can operate on typical alkaline batteries without relying on the “cloud” or external computing resources, and consists of low-power, Artificial Intelligence (AI)-based, IoT platforms. Each platform has multi-modal sensors and can process motion, audio and video data, and send binary occupancy result to a lead platform. All sensor data is processed locally on platforms, and the only transmitted data is the binary occupancy state. In addition, preliminary work has been done on images wherein occupants are not discernable. Thus, MicroCam is a standalone solution preserving privacy of the occupants.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

Journey to Time-Variable Moment Tensors through Inversion of Acoustic and Seismoacoustic Data

We explore the capability of acoustic and seismoacoustic datasets to directly resolve a complex, time-variable source consisting of a buried mechanism, represented as a moment tensor, and a spall mechanism, represented as a vertical force at the surface. Traditionally, each component of a resolved moment tensor assumes one underlying source time function, which likely fails to capture the full evolution of a dynamic source, such as an explosion followed by slip on near-source joints or development of spallation. Specifically, we expand previous work to resolve a time-variable moment tensor using single-modality and joint-modality inversion frameworks through analysis of infrasound and seismoacoustic data recorded as part of the Source Physics Experiment Phase II: Dry Alluvium Geology (DAG). We investigate the impact of including signals from seismic-to-air coupling that are local to each infrasound sensor in comparison to mainly atmosphere-propagating acoustic signals, which occur from coupling of the wavefield from the subsurface to the atmosphere directly above the source. Additionally, we assess the ability of our inversion algorithm to fit observed infrasound data using a variety of time-variable source mechanisms. First, we consider the buried moment tensor source alone, which assumes that the determined Green’s functions incorporate effects from spallation or that the impact from spallation is minimal. Second, we examine the estimated buried moment tensor and vertical surface spallation as terms that must both be resolved in the inversion. Third, we assess the ability for an estimated vertical surface spallation source to fit the acoustic data on its own. Finally, we compare results from the joint inversion of both seismic geophone and infrasound acoustic data for the buried-only source compared to buried and spallation sources. Our results are a preliminary investigation into the applications of the inversion technique to recorded datasets and show the technique has limited capabilities using acoustic data alone. Instead, this method shows promise for seismic and seismoacoustic datasets to resolve the time-variable mechanisms of a buried source.

47 OTHER INSTRUMENTATION↗

DOE OSTI2019

Integrating Hybrid-Clustering and Localized Regression for Time Synchronization of a Hierarchical Underwater Acoustic Sensor Array

Time synchronization is a critical requirement for the application of underwater acoustic sensor network (UWSN). Although a number of time synchronization protocols have been proposed for UWSN, none of them can be directly applied to autonomous acoustic receivers due to lack of hardware platform to communicate with each other. In this paper, we propose a machine learning-based time synchronization framework for autonomous receiver arrays, using the Juvenile Salmon Acoustic Telemetry System as a case study. The proposed framework consists of array partition and time synchronization. Using detections of receiver attached beacons as input, this framework synchronizes all receiver clocks to a root receiver clock. The framework has been successfully used in a field study at Trevallyn Dam forebay in Tasmania, Australia.

Fu, Tao↗

NASA NTRS1975

Topics in programmable automation

Topics explored in the development of integrated programmable automation systems include: numerically controlled and computer controlled machining; machine intelligence and the emulation of human-like capabilities; large scale semiconductor integration technology applications; and sensor technology for asynchronous local computation without burdening the executive minicomputer which controls the whole system. The role and development of training aids, and the potential application of these aids to augmented teleoperator systems are discussed.

Rosen, C. A.↗

NASA NTRS1989

Planning robot actions under position and shape uncertainty

Geometric uncertainty may cause various failures during the execution of a robot control program. Avoiding such failures makes it necessary to reason about the effects of uncertainty in order to implement robust strategies. Researchers first point out that a manipulation program has to be faced with two types of uncertainty: those that might be locally processed using appropriate sensor based motions, and those that require a more global processing leading to insert new sensing operations. Then, they briefly describe how they solved the two related problems in the SHARP system: how to automatically synthesize a fine motion strategy allowing the robot to progressively achieve a given assembly relation despite position uncertainty, and how to represent uncertainty and to determine the points where a given manipulation program might fail.

Laugier, Christian↗

NASA NTRS1989

Thematic Mapper detection of changes in the leaf area of closed canopy pine plantations in central Massachusetts

Consideration is given to the possibility of using Landsat TM data to detect differences and changes in the leaf area index (LAI) of closed canopy pine plantations in central Massachusetts. Field measurements of the LAI were obtained using locally-derived allometric relationships between leaf area and trunk diameter. The relationship between the Landsat TM Band 3/Band 4 ratio and regional differences in LAI is examined. A thinning treatment was conducted to demonstrate the ability of TM to detect a known reduction in LAI. It is concluded that, for the detection of moderate changes and differences in the LAI of closed canopy pine plantations at local scales, the TM sensor is better than field measurements involving allometric equations.

Herwitz, Stanley R.↗

NASA NTRS1991

Closed-loop motor control using high-speed fiber optics

A closed-loop control system for controlling the operation of one or more servo motors or other controllable devices is described. The system employs a fiber optics link immune to electromagnetic interference, for transmission of control signals from a controller or controllers at a remote station to the power electronics located in proximity to the motors or other devices at the local station. At the remote station the electrical control signals are time-multiplexed, converted to a formatted serial bit stream, and converted to light signals for transmission over a single fiber of the fiber optics link. At the local station, the received optical signals are reconstructed as electrical control signals for the controlled motors or other devices. At the local station, an encoder sensor linked to the driven device generates encoded feedback signals which provide information as to a condition of the controlled device. The encoded signals are placed in a formatted serial bit stream, multiplexed, and transmitted as optical signals over a second fiber of the fiber optic link which closes the control loop of the closed-loop motor controller. The encoded optical signals received at the remote station are demultiplexed, reconstructed and coupled to the controller(s) as electrical feedback signals.

Dawson, Reginald↗