SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
This paper presents an new strategy for autonomous navigation of planetary rovers using the fuzzy logic framework and novel on-board measure of terrain traversability.
Recent advances in spacecraft tracking, chronometry, ephemerides, and orbit and trajectory determinations are reviewed. Improvements in timekeeping are reviewed, as well as precision distance and range measurements; orbit determinations, trajectory-correction maneuvers, flight path optimization, and information provided by rotation of the tracking station with the earth's surface. Doppler and tropospheric wave propagation effects are dealt with. Nongravitational perturbations (solar radiation pressure, release of gases from the spacecraft, stochastic unmodeled accelerations and sequential estimation to cope with them), the effect of the target planet's gravitational field upon close approach, and navigation problems in the outer reaches of the solar system (TV data telemetered back for inertial navigation) are covered. By-products of the research include: refined data on the mass of planets, on planetary mass distributions, planet configurations, on physical properties of the atmospheres and ionospheres of planets, and opportunities for refined tests of gravitation and relativity theories and models.
An integrated approach to surface relative optical landmark tracking for spacecraft is being developed. Landmarks are defined as full digital topography/albedo maps and are determined from previous imaging and navigation data. Initially, this technique will speed up ground based optical navigation. Ultimately, it will enable on-board trajectory determination during orbital and landing maneuvers.
An approach to autonomous navigation and attitude reference for earth observing spacecraft is described along with the landmark identification technique based on a sequential similarity detection algorithm (SSDA). Laboratory experiments undertaken to determine if better than one pixel accuracy in registration can be achieved consistent with onboard processor timing and capacity constraints are included. The SSDA is implemented using a multi-microprocessor system including synchronization logic and chip library. The data is processed in parallel stages, effectively reducing the time to match the small known image within a larger image as seen by the onboard image system. Shared memory is incorporated in the system to help communicate intermediate results among microprocessors. The functions include finding mean values and summation of absolute differences over the image search area. The hardware is a low power, compact unit suitable to onboard application with the flexibility to provide for different parameters depending upon the environment.
Navigating and analyzing large chemical spaces are necessary to accelerate the design and discovery of new molecules and chemical processes. In this work, we introduce a computational framework that integrates graph theory and integer programming to enable the efficient navigation of large chemical spaces. Our framework represents the chemical space as a graph, wherein nodes represent molecules and edges represent the degree of similarity or connectivity based on domain-specific information. Using the graph representation, we identify representative molecules by computing the so-called minimum dominating set (MDS), which in our context is the minimum set of molecules that is connected to all other molecules. We present a suite of solution strategies for the MDS problem including heuristic and rigorous integer programming (IP) approaches. We show that these approaches allow us to capture physicochemical properties and domain-specific logic and constraints, facilitating the identification of molecules with the target properties. We demonstrate the effectiveness of the proposed approach by navigating the chemical space of per- and polyfluoroalkyl substances (PFAS); this comprises approximately 15,000 molecular structures. We compare our framework against traditional dimensionality reduction and clustering methods such as t-SNE and K-means clustering.
Improved navigational technology (such as the Microwave Landing System and the Global Positioning System) installed in modern aircraft will enable air traffic controllers to better utilize available airspace. Consequently, arrival traffic can fly approaches to parallel runways separated by smaller distances than are currently allowed. Previous simulation studies of advanced navigation approaches have found that controller workload is increased when there is a combination of aircraft that are capable of following advanced navigation routes and aircraft that are not. Research into Air Traffic Control automation at Ames Research Center has led to the development of the Center-TRACON Automation System (CTAS). The Final Approach Spacing Tool (FAST) is the component of the CTAS used in the TRACON area. The work in this paper examines, via simulation, the effects of FAST used for aircraft landing on closely spaced parallel runways. The simulation contained various combinations of aircraft, equipped and unequipped with advanced navigation systems. A set of simulations was run both manually and with an augmented set of FAST advisories to sequence aircraft, assign runways, and avoid conflicts. The results of the simulations are analyzed, measuring the airport throughput, aircraft delay, loss of separation, and controller workload.
Unpowered automatic approaches and landings were conducted to study navigation, guidance, and control problems associated with terminal area approach and landing for the space shuttle vehicle. The flight tests were performed in a Convair 990 aircraft equipped with a digital flight control computer connected to the aircraft control system and displays. The tests were designed to evaluate the performance of a navigation and guidance concept that utilized blended radio/inertial navigation with VOR, DME, and ILS as the ground navigation aids. Results from 36 automatic approaches and landings from 11,300 m (37,000 ft) to touchdown are presented. Preliminary results indicate that this concept may provide sufficient accuracy to accomplish automatic landing of the shuttle orbiter without air-breathing engines.
A description of work whose broad objective is to attain improved aircraft navigation performance through exploitation of the concept of combining navigation data from several sources in an optimum manner is presented. The system developed as a result of the work, called RAINPAL (Recursive Aided Inertial Navigation for Precision Approach and Landing) is designed to combine precision radio range measurements with data from on-board inertial sensors to achieve precision navigation for approach and landing. The paper describes RAINPAL and the rationale of its design, and also serves as a sort of planning document, including a progress report, a summary of objectives past and present, and an exposition of reasons for doing the work.
Techniques for obtaining time synchronized (4D) approach control in the VALT research helicopter is described. Various 4D concepts and their compatibility with the existing VALT digital computer navigation and guidance system hardware and software are examined. Modifications to various techniques were investigated in order to take advantage of the unique operating characteristics of the helicopter in the terminal area. A 4D system is proposed, combining the direct to maneuver with the existing VALT curved path generation capability.
Establishing viable solid-state synthesis pathways for novel inorganic materials remains a major challenge in materials science. Previous pathway design methods using pairwise reaction approaches have navigated the thermodynamic landscape with first-principles data but lack kinetic information, limiting their effectiveness. This gap leads to suboptimal precursor selection and predictions, especially for reactions forming competing phases with similar formation energies, where ion diffusion is a critical influence. Here we demonstrate an inorganic synthesis framework by incorporating machine learning-derived transport properties through ‘liquid-like’ product layers into a thermodynamic cellular reaction model. In the Ba–Ti–O system, known for its competitive polymorphism, we obtain accurate predictions of phase formation with varying BaO:TiO2 ratios as a function of time and temperature. We find that diffusion–thermodynamics interplay governs phase compositions, with cross-ion transport coefficients critical for predicting diffusion-limited selectivity. This work bridges length scales and timescales by integrating solid-state reaction kinetics with first-principles thermodynamics and spatial reactivity.
Materials design from first principles enables exploration of uncharted chemical spaces. Extensive computational searches have been performed for mixed-cation ternary compounds, but mixed-anion systems are gaining increased interest as well. Central to computational discovery is the crystal structure prediction, where the trade-off between reliance on prototype structures and size limitations of unconstrained sampling has to be navigated. We approach this challenge by letting two complementary structure sampling approaches compete. We use the kinetically limited minimization approach for high-throughput unconstrained crystal structure prediction in smaller cells up to 21 atoms. On the other hand, ternary—and, more generally, multinary—systems often assume structures formed by atomic ordering on a lattice derived from a binary parent structure. Thus, we additionally sample atomic configurations on prototype lattices with cells up to 56 atoms. Using this approach, we searched 65 different charge-balanced oxide–nitride stoichiometries, including six known systems as the control sample. The convex hull analysis is performed both for the thermodynamic limit and for the case of synthesis with activated nitrogen sources. We identified 34 phases that are either on the convex hull or within a viable energy window for potentially metastable phases. We further performed structure sampling for “missing” binary nitrides whose energies are needed for the convex hull analysis. Among these, we discovered metastable Ce3N4 as a nitride analog of the tetravalent cerium oxide, which becomes stable under slightly activated nitrogen condition µN > +0.07 eV. Given the outsize role of CeO2 in research and application, Ce3N4 is a potentially important discovery.
Trajectory control and optimization for space shuttle approach and landing
The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.
Voyager images of the icy satellites of Saturn, Dione and Enceladus, suggest they have been geologically active and are not only composed of ice. Recent observations by HST have shown the presence of ozone at both Dione and Rhea which also implies the presence of molecular oxygen at these bodies. The Cassini Plasma Spectrometer (CAPS) will provide the capability to determine the global composition of these bodies by measuring the pickup ions produced by the ionization of their sputter produced atmospheres. We will present a model of these atmospheres and associated pickup ions and demonstrate CAPS ability to distinguish the freshly produced picked up ions from the ambient plasma. Such ions are expected to form a ring distribution that will have a uniquely different energy-angle dependence than the ambient plasma ions. In the case of Dione we expect the potential for a moderate strength interaction for which both Voyager 1 and Pioneer 11 spacecraft measured ion cyclotron waves centered on the Dione L shell and near the equatorial plane. Since Enceladus may be the source of the E-ring, some surprises may be encountered during its close encounter with the Cassini spacecraft. In the case of Dione we will show that a wake pass at 500 km altitude is more than an order of magnitude better than an upstream pass at 500 km altitude. Pickup ion detection for minor ion species such as NH3+ is possible for 500 km altitude wake pass but not for a 500 km altitude upstream pass at closest approach. For navigation reasons a 100 km pass is not allowed and therefore it is essential to have a wake pass to maximize the science return for a targeted flyby with Dione. The CAPS observations when combined with magnetometer, plasma wave and energetic particle observations will allow us to estimate the source of ions into Saturn's magnetosphere due to these two bodies and to characterize the nature of the interaction with Saturn's magnetosphere.
After nearly seven years of interplanetary cruise and four planetary gravity assists, the Cassini spacecraft was successfully captured into orbit around Saturn on 1 July 2004.
Previous searches for moons around Vesta have found nothing to an upper limit of 22.5 magnitude, that corresponds to 44 +/- 4 m diameter assuming the same albedo as Vesta. The Dawn mission's approach phase has dedicated satellite search observations consisting of two mosaic sequences bracketing the first observations of a complete rotation of Vesta scheduled for early July, 2011. In addition, we use the approach optical navigation image sequences for initial satellite searches. We will report any findings from these observations, and upper limits of magnitude and size.
The Optical Navigation Camera (ONC) is a technical demonstration slated to fly on NASA"s Mars Reconnaissance Orbiter in 2005. Conventional navigation methods have reduced accuracy in the days immediately preceding Mars orbit insertion. The resulting uncertainty in spacecraft location limits rover landing sites to relatively safe areas, away from interesting features that may harbor clues to past life on the planet. The ONC will provide accurate navigation on approach for future missions by measuring the locations of the satellites of Mars relative to background stars. Because Mars will be a bright extended object just outside the camera"s field of view, stray light control at small angles is essential. The ONC optomechanical design was analyzed by stray light experts and appropriate baffles were implemented. However, stray light testing revealed significantly higher levels of light than expected at the most critical angles. The primary error source proved to be the interface between ground glass surfaces (and the paint that had been applied to them) and the polished surfaces of the lenses. This paper will describe troubleshooting and correction of the problem, as well as other lessons learned that affected stray light performance.
As the number of Lunar and Martian surface-exploration missions increases, precise surface navigation is becoming critical. Of most interest is navigation techniques that can generate an absolute state without reliance on Earth-based tracking. One such navigation technique is the Stellar Positioning System. Based on the practice of celestial navigation, this approach combines measurements of the body, star field orientation, and time, to calculate an absolute position on the surface of any planetary body with a known gravity field and known orientation in celestial space. A hardware prototype consisting of an inertial measurement unit, star tracker, and accurate time keeping was developed to demonstrate this concept. The stellar positioning system model was refined to fit this hardware, and was demonstrated by conducting live-sky tests in multiple locations around Marshall Space Flight Center in Huntsville, AL. This effort discusses the preliminary testing results, improvements of the stellar positioning system, feasibility for surface exploration missions, and planned further refinements that will improve the performance.