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DOE OSTI2020

Interstate-24 MOTION: Closing the Loop on Smart Mobility

We introduce the I-24 Mobility Technology Interstate Observation Network (MOTION), a transportation cyber-physical systems testbed under development in Tennessee. It consists of a six-mile freeway segment instrumented with 400 4K resolution cameras, processed by a real-time compute system to enable continuous performance monitoring of freeway traffic. The testbed is being developed to support next generation connected and autonomous vehicle technologies and advanced traffic management. When complete, the testbed will be the longest continuously observed freeway segment in the world. This article introduces the testbed, discusses the core design choices, and outlines the preliminary work conducted to support the design.

Gloudemans, Derek↗

NASA NTRS1982

Mobility aid for the blind

A project to develop an effective mobility aid for blind pedestrians which acquires consecutive images of the scenes before a moving pedestrian, which locates and identifies the pedestrian's path and potential obstacles in the path, which presents path and obstacle information to the pedestrian, and which operates in real-time is discussed. The mobility aid has three principal components: an image acquisition system, an image interpretation system, and an information presentation system. The image acquisition system consists of a miniature, solid-state TV camera which transforms the scene before the blind pedestrian into an image which can be received by the image interpretation system. The image interpretation system is implemented on a microprocessor which has been programmed to execute real-time feature extraction and scene analysis algorithms for locating and identifying the pedestrian's path and potential obstacles. Identity and location information is presented to the pedestrian by means of tactile coding and machine-generated speech.

Source record↗

NASA NTRSDate not supplied

The Silfela Mission to the Aristarchus Plateau, Moon

Silfela is a low-cost lunar PRISM mission concept designed to study the regolith proper-ties of the Aristarchus Plateau on the Moon (Fig. 1). The mission will make use of the PRISM mobility capability (rover) to assess regoliths in different geo-logical units. The instrument suite consists of the SPARTA regolith sampling toolkit, the NIRVSS imager/spectrometer, the NSS neutron spectrometer [4], context cameras, and a high-resolution hand-lens imager. “Silfela” is a word from the fictional Qenya language which means “small lunar excavation.”

L. S. Sollitt↗

DOE OSTI2019

Snowflake Settling Speed Experiment Field Campaign Report

The goal of the Snowflake Settling Speed Experiment was to study the impacts of ambient turbulence on the average hydrometeor settling speed. The existing U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) third Mobile Facility (AMF3) deployed at Oliktok Point (OLI) on the North Slope of Alaska includes detailed measurements of air turbulence and ground-based measurements from the multi-angle snowflake camera (MASC) of hydrometeor size, type, orientation, and fallspeed. The existing MASC is surrounded by a double wind fence, which enables measurement of the terminal velocity in still air but limits the ability to study the correlation between ambient turbulence and hydrometeor fallspeed. The scientific objective of this campaign was to assess the impact of turbulence on hydrometeor fallspeed by placing a second MASC next to the DOE MASC and without a wind fence. The goal was to assess if the two instrument measured different fallspeeds as a function of ambient turbulence and winds that could be used to assess the impact of winds on MASC measurements and on hydrometeor settling speeds. The instrument used was the original University of Utah prototype built in 2011, and it was successfully deployed in November 2017. It appeared to run successfully for two weeks but then failed. Subsequent attempts by DOE Atmospheric System Research (ASR) personnel at OLI and later at Fairbanks did not find the cause of the failure and eventually the instrument was shipped back to Utah in July 2018.

North Slope of Alaska, Oliktok Point, multi-angle ↗

NASA NTRSDate not supplied

The Gandalf Staff: A Mobile Tool for Lunar Exploration (2nd year of development)

The Gandalf Staff is a mobile tool designed to be a flexible device supporting crewed and uncrewed operations on the lunar surface. The core of the device is a 24v battery with communications and data storage systems. Initial optional components supporting crewed Extra-Vehicular Activity (EVA) include a LiDAR and 360˚ camera. These provide 3D mapping of the traverse for documentation, and to aid future planning. The mapping also creates outreach opportunities for the public to “stand beside” the astronaut in Virtual Reality (VR). The staff provides external lighting for field site illumination in the south polar region low sun angle environment. Navigation instruments for crew position determination with Lunar Search and Rescue (LunaSAR) are also included. The staff itself can be used as a walking aid or as a splint for Incapacitated Crew Rescue (ICR). As a stand-alone device, the staff operates as a long duration untended science platform collecting environmental data and sending it to a lunar base station. The stand-alone mode requires connection to an auxiliary power source (e.g. solar array) and energy storage system (e.g. battery), so it could become an electrical recharging station. To make rapid progress in the 1st year, and also to demonstrate innovative project management techniques, NASA guided a private industry partner, T STAR, in leading Capstone Engineering student teams at Texas A&M University (TAMU) for proof-of-concept development and testing. These teams developed the power system and demonstrated successful integration of LiDAR, WiFi communications, and external lighting subsystems. Another industry team at Jacobs Technology prototyped a tripod to hold the staff upright. For the 2nd year (FY’22), NASA will again collaborate with partners to prototype enhanced power and lighting concepts. Year 2 will also add new capability for LunaSAR and geophysical science instrumentation using a heat probe. The heat probe is based upon Apollo heritage but modified to measure subsurface volatile ice regimes at the Artemis landing site. Components of the Gandalf Staff can be developed, tested, and deployed independently, or on the integrated staff, rovers, or utility trailers. The project supports crew safety, lunar sample curation, mission science, and public outreach goals of NASA. PLAIN TEST SUMMARY: Gandalf Staff is a 24v battery powered mobile tool for the lunar surface supporting crewed geologic field site exploration, or as a stand-alone science platform. As a tool assisting astronauts conducting field geology, the Gandalf Staff provides external lighting to illuminate shadowed regions on the surface. It also documents the process of collecting rocks and dust samples using a LiDAR (laser range instrument) and cameras. The staff provides a beacon for emergency location of astronauts and augments communications when the astronauts are blocked by large boulders. As a standalone science platform, the Gandalf Staff provides a power system for instruments and sensors to measure the lunar environment over long periods of time. The staff gathers data and sends the results to a lunar base station for analysis.

External Lighting↗

NASA NTRS1998

Autonomous Mobile Platform for Research in Cooperative Robotics

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Daemi, Ali↗

NASA NTRS2007

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗

NASA NTRS2018

Directional Reflectance Studies in Support of the Radiometric Calibration Test Site (RadCaTS) at Railroad Valley

The Radiometric Calibration Test Site (RadCaTS) is a suite of commercial and custom instruments used to make measurements of the surface reflectance and atmosphere throughout the day at Railroad Valley, Nevada. It was developed in response to the need for daily radiometric calibration data for the vast array of Earth-observing sensors on orbit, which is continuously increasing as more nations and private companies launch individual environmental satellites as well as large constellations. The current suite of instruments at RadCaTS includes five ground-viewing radiometers (GVRs), four of which view the surface in a nadir-viewing configuration. Many sensors such as those on Landsat-7 and Landsat-8 view Railroad Valley within 3° of nadir, while others such as those on Sentinel-2A and -2B, RapidEye, Aqua, Suomi NPP, and Terra can view Railroad Valley at off-nadir angles. Past efforts have shown that the surface bidirectional reflectance distribution function (BRDF) has minimal impact on vicarious calibration uncertainties for views <10°, but the desire to use larger view angles has prompted the effort to develop a BRDF correction for data from RadCaTS. The current work investigates the application of Railroad Valley BRDF data derived from a BRF camera developed at the University of Arizona in the 1990s (but is no longer in use) to the current RadCaTS surface reflectance measurements. Also investigated are early results from directional reflectance studies using a mobile spectro-goniometer system during a round-robin field campaign in 2018. This work describes the preliminary results, the effects on current measurements, and the approach for future measurements.

RadCalNet↗

NASA NTRSDate not supplied

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

As part of its research, NASA investigates concepts, aircraft, and operations related to Advanced Air Mobility (AAM). One of the most challenging scenarios for AAM will be enabling safe routine access near densely populated urban centers. AAM flight operations over a regional area require a moderately high-fidelity simulation capability to develop and evaluate autonomy technologies in the urban environment. This paper aims to describe a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (tens to hundreds of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to simulate all flight phases accurately. The simulation incorporates a detailed simulated urban environment and includes glass cockpit displays to monitor aircraft operations. Simulation models integrate to simulate air and ground-based sensors, such as Radar and LiDAR. As a commercially available rendering engine, X-Plane 11 is used as the renderer to simulate vision-based sensors (such as onboard and ground-based cameras) with a detailed graphical model of a city at different times of the day and weather conditions. This paper presents the simulation and software architecture used for simulating AAM traffic over this urban region. This system enables the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward flight test evaluation.

distributed sensing↗

NASA NTRSDate not supplied

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

Distributed sensing↗

NASA NTRS2008

Using Very Small Rovers to Explore the Surface of Primitive Bodies

This slide presentation reviews the use of very small roving vehicles to assist in exploration of various primitive bodies in the Solar System. It reviews the lessons learned from the mobility of the rovers on Mars, and the importance of the what we learned from these rovers. It also examines the core payload for the what would be a new class of rovers, that include a camera, and spectrometer. It also briefly reviews the MUSES-C (i.e., Hyabusa) mission for which a nano-rover had been planned. A prototype of the rover is shown, along with some of the characteristics.

Muses-C↗

NASA NTRS2006

Architecture for Control of the K9 Rover

Software featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan.

Bresina, John L.↗

NASA NTRS2005

Single-Command Approach and Instrument Placement by a Robot on a Target

AUTOAPPROACH is a computer program that enables a mobile robot to approach a target autonomously, starting from a distance of as much as 10 m, in response to a single command. AUTOAPPROACH is used in conjunction with (1) software that analyzes images acquired by stereoscopic cameras aboard the robot and (2) navigation and path-planning software that utilizes odometer readings along with the output of the image-analysis software. Intended originally for application to an instrumented, wheeled robot (rover) in scientific exploration of Mars, AUTOAPPROACH could be adapted to terrestrial applications, notably including the robotic removal of land mines and other unexploded ordnance. A human operator generates the approach command by selecting the target in images acquired by the robot cameras. The approach path consists of multiple legs. Feature points are derived from images that contain the target and are thereafter tracked to correct odometric errors and iteratively refine estimates of the position and orientation of the robot relative to the target on successive legs. The approach is terminated when the robot attains the position and orientation required for placing a scientific instrument at the target. The workspace of the robot arm is then autonomously checked for self/terrain collisions prior to the deployment of the scientific instrument onto the target.

Huntsberger, Terrance↗

NASA NTRS2011

Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures

A platform has been developed for two or more vehicles with one or more residing within the other (a marsupial pair). This configuration consists of a large, versatile robot that is carrying a smaller, more specialized autonomous operating robot(s) and/or mobile repeaters for extended transmission. The larger vehicle, which is equipped with a ramp and/or a robotic arm, is used to operate over a more challenging topography than the smaller one(s) that may have a more limited inspection area to traverse. The intended use of this concept is to facilitate the insertion of a small video camera and sensor platform into a difficult entry area. In a terrestrial application, this may be a bus or a subway car with narrow aisles or steep stairs. The first field-tested configuration is a tracked vehicle bearing a rigid ramp of fixed length and width. A smaller six-wheeled vehicle approximately 10 in. (25 cm) wide by 12 in. (30 cm) long resides at the end of the ramp within the larger vehicle. The ramp extends from the larger vehicle and is tipped up into the air. Using video feedback from a camera atop the larger robot, the operator at a remote location can steer the larger vehicle to the bus door. Once positioned at the door, the operator can switch video feedback to a camera at the end of the ramp to facilitate the mating of the end of the ramp to the top landing at the upper terminus of the steps. The ramp can be lowered by remote control until its end is in contact with the top landing. At the same time, the end of the ramp bearing the smaller vehicle is raised to minimize the angle of the slope the smaller vehicle has to climb, and further gives the operator a better view of the entry to the bus from the smaller vehicle. Control is passed over to the smaller vehicle and, using video feedback from the camera, it is driven up the ramp, turned oblique into the bus, and then sent down the aisle for surveillance. The demonstrated vehicle was used to scale the steps leading to the interior of a bus whose landing is 44 in. (.1.1 m) from the road surface. This vehicle can position the end of its ramp to a surface over 50 in. (.1.3 m) above ground level and can drive over rail heights exceeding 6 in. (.15 cm). Thus configured, this vehicle can conceivably deliver the smaller robot to the end platform of New York City subway cars from between the rails. This innovation is scalable to other formulations for size, mobility, and surveillance functions. Conceivably the larger vehicle can be configured to traverse unstable rubble and debris to transport a smaller search and rescue vehicle as close as possible to the scene of a disaster such as a collapsed building. The smaller vehicle, tethered or otherwise, and capable of penetrating and traversing within the confined spaces in the collapsed structure, can transport imaging and other sensors to look for victims or other targets.

Krasowski, Michael J.↗

NASA NTRS1976

0.4- to 10-GHz airborne electromagnetic-environment survey of United States urban areas

An airborne electromagnetic-environment survey of some U.S. metropolitan areas measured terrestrial emissions within the broad-frequency spectrum from 0.4 to 10 GHz. A Cessna 402 commercial aircraft was fitted with both nadir-viewing and horizon-viewing antennas and instrumentation, including a spectrum analyzer, a 35-mm continuous-film camera, and a magnetic-tape recorder. Most of the flights were made at a nominal altitude of 10,000 ft, and Washington, Baltimore, Philadelphia, New York, and Chicago were surveyed. The 450- to 470-MHz land-mobile UHF band is especially crowded, and the 400- to 406-MHz space bands are less active. Test measurements obtained up to 10 GHz are discussed. Sample spectrum-analyzer photographs were selected from a total of 5750 frames representing 38 hours of data.

Taylor, R. E.↗

NASA NTRSDate not supplied

Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.

sensor placement↗

NASA NTRS2025

Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

sensor placement↗

DOE OSTI2018

Gamma imaging and mapping advancements

The Savannah River National Lab (SRNL) in partnership with Los Alamos National Lab (LANL) developed an in-situ GrayQb™ radiation mapping device eliminating the need to remove the radiation sensitive phosphor storage plate (PSP) from the device for scanning between exposures. By incorporating a customized version of the LANL patented MiniMax camera-based PSP reader system into the GrayQb™ housing, the exposed PSP can now be read in-situ and digitally transmitted to a remote computer for viewing. The ability to generate radiation contour maps showing source locations and relative radiological levels present in an area has high utility for targeting clean-up efforts, maintaining worker ALARA, determining leak locations and radiological situational awareness. In-situ GrayQb™ reduces the number of required interactions with the device providing deployment cost savings, increasing personnel safety and removing human handling errors during the manual scan process. Additionally, by negating the need for an external scanner, the device becomes more mobile. Other upgrades to the device included identification of a more sensitive imaging medium and incorporation of a dual pinhole rendering the device physically capable of obtaining 3D images. Laboratory tests with Am-241 sources using a mockup of the in-situ GrayQ™, successfully demonstrated the ability to digitally capture radiation source information using the dual pinhole and camera-based PSP reader.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗