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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 145 records · Page 8

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NASA NTRS2006

Cosmic Ray Mantle Visibility on Kuiper Belt Objects

Optically red objects constitute the dynamically cold, old component of the Classical Kuiper Belt (40 - 47 AU) with heliocentric orbits of low eccentricity and inclination. The red colors likely arise from primordial mixed ices processed by irradiation to meters in surface depth over the past four billion years, since the time of giant planet migration and Kuiper Belt stirring, at relatively moderate dosages of 60 gigarads provided by galactic cosmic ray protons and heavier ions. The red cosmic ray mantle is uniformly visible on the cold classical objects beneath a minimally thin eroded layer of more neutrally colored material arising from cumulative effects of heliospheric particle irradiation. The radiation fluxes are lowest in the middle heliospheric region containing the Classical Kuiper Belt and increase from there both towards and away from the Sun. Despite increasing irradiation at various times of solar system history from increases in solar and interstellar ion fluxes, the red object region has apparently never reached sufficiently high dosage levels to neutralize in color the red mantle material. Erosion processes, including plasma sputtering and micrometeroid impacts, act continuously to reduce thickness of the upper neutral crust and expose the cosmic ray mantle. A deeper layer at tens of meters and more may consist of relatively unprocessed ices that can erupt to the surface by larger impacts or cryovolcanism and account for brighter surfaces of larger objects such as 2003 UB313. Surface colors among the Kuiper Belt and other icy objects of the outer solar system are then a function, assuming uniform primordial composition, of relative thickness for the three layers and of the resurfacing age dependent on the orbital and impact history of each object.

Cooper, John F.↗

NASA NTRS1989

Apparatus and method for lapping an edge surface of an object

An apparatus for lapping an edge surface of an object comprises a block having a side adapted to engage a wide surface of an object, adjustable spacers disposed on the block and adapted to engage a lap plate, and a weighted spring disposed on the block for urging the spacers and the object edge surface towards the lap plate. A method for lapping comprises setting surfaces of adjustable spacers disposed on a block to be substantially the same distance from the block, affixing a wide surface of an object to the block, urging an edge surface of the object and the spacers towards a lap plate, lapping the edge of the object, inspecting the edge for parallelism to a reference line, resetting the spacers and relapping the edge surface.

Rossi, Vito N.↗

NASA NTRS2009

Sizing of "Mother Ship and Catcher" Missions for LEO Small Debris and for GEO Large Object Capture

Most LEO debris lies in a limited number of inclination "bands" associated with specific useful orbits. Objects in such narrow inclination bands have all possible Right Ascensions of Ascending Node (RAANs), creating a different orbit plane for nearly every piece of debris. However, a low-orbiting satellite will always phase in RAAN faster than debris objects in higher orbits at the same inclination, potentially solving the problem. Such a low-orbiting base can serve as a "mother ship" that can tend and then send small, disposable common individual catcher/deboost devices--one for each debris object--as the facility drifts into the same RAAN as each higher object. The dV necessary to catch highly-eccentric orbit debris in the center of the band alternatively allows the capture of less-eccentric debris in a wider inclination range around the center. It is demonstrated that most LEO hazardous debris can be removed from orbit in three years, using a single LEO launch of one mother ship--with its onboard magazine of freeflying low-tech catchers--into each of ten identified bands, with second or potentially third launches into only the three highest-inclination bands. The nearly 1000 objects near the geostationary orbit present special challenges in mass, maneuverability, and ultimate disposal options, leading to a dramatically different architecture and technology suite than the LEO solution. It is shown that the entire population of near-GEO derelict objects can be gathered and tethered together within a 3 year period for future scrap-yard operations using achievable technologies and only two earth launches.

Bacon, John B.↗

NASA NTRS2012

Method for Statically Checking an Object-oriented Computer Program Module

A method for statically checking an object-oriented computer program module includes the step of identifying objects within a computer program module, at least one of the objects having a plurality of references thereto, possibly from multiple clients. A discipline of permissions is imposed on the objects identified within the computer program module. The permissions enable tracking, from among a discrete set of changeable states, a subset of states each object might be in. A determination is made regarding whether the imposed permissions are violated by a potential reference to any of the identified objects. The results of the determination are output to a user.

Bierhoff, Kevin M.↗

NASA NTRS2017

Refinement of Objective Motion Cueing Criteria Investigation Based on Three Flight Tasks

The objective of this paper is to refine objective motion cueing criteria for commercial transport simulators based on pilots' performance in three flying tasks. Actuator hardware and software algorithms determine motion cues. Today, during a simulator qualification, engineers objectively evaluate only the hardware. Pilot inspectors subjectively assess the overall motion cueing system (i.e., hardware plus software); however, it is acknowledged that pinpointing any deficiencies that might arise to either hardware or software is challenging. ICAO 9625 has an Objective Motion Cueing Test (OMCT), which is now a required test in the FAA's part 60 regulations for new devices, evaluating the software and hardware together; however, it lacks accompanying fidelity criteria. Hosman has documented OMCT results for a statistical sample of eight simulators which is useful, but having validated criteria would be an improvement. In a previous experiment, we developed initial objective motion cueing criteria that this paper is trying to refine. Sinacori suggested simple criteria which are in reasonable agreement with much of the literature. These criteria often necessitate motion displacements greater than most training simulators can provide. While some of the previous work has used transport aircraft in their studies, the majority used fighter aircraft or helicopters. Those that used transport aircraft considered degraded flight characteristics. As a result, earlier criteria lean more towards being sufficient, rather than necessary, criteria for typical transport aircraft training applications. Considering the prevalence of 60-inch, six-legged hexapod training simulators, a relevant question is "what are the necessary criteria that can be used with the ICAO 9625 diagnostic?" This study adds to the literature as follows. First, it examines well-behaved transport aircraft characteristics, but in three challenging tasks. The tasks are equivalent to the ones used in our previous experiment, allowing us to directly compare the results and add to the previous data. Second, it uses the Vertical Motion Simulator (VMS), the world's largest vertical displacement simulator. This allows inclusion of relatively large motion conditions, much larger than a typical training simulator can provide. Six new motion configurations were used that explore the motion responses between the initial objective motion cueing boundaries found in a previous experiment and what current hexapod simulators typically provide. Finally, a sufficiently large pilot pool added statistical reliability to the results.

motion simulation↗

NASA NTRS2019

Estimating Drag and Heating Coefficients for Hollow Reentry Objects in Transitional Flow Using DSMC

In NASA’s Object Reentry Survival Analysis Tool (ORSAT), aerodynamic drag and aerothermal heating coefficients are computed for each of the free-molecular, continuum, and transitional flow regimes using analytical and semi-analytical methods. These methods are typically limited to convex, blunt objects (such as spheres) and are applied to other objects such as boxes and cylinders using multiplicative “shape factors” to account for the different behavior. Previous literature has analyzed the aerodynamic and aerothermodynamic properties of flow around sharp-edged objects like boxes and cylinders in transitional flow, though only those objects with solid external boundaries. However, many reentry objects we have encountered in real spacecraft have been hollow (i.e., with the potential to allow flow through them). We present here preliminary results from analyses performed using the NASA Direct Simulation Monte Carlo (DSMC) Analysis Code (DAC) on hollow cylinders and boxes (with varying wall thickness-diameter ratio).

Marichalar, Jeremiah J.↗

NASA NTRS2018

Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian

This work demonstrates dual-arm lifting of bulky objects based on inferred object properties (center of mass (COM) location, weight, and shape) using proprioception (i.e. force torque measurements). Data-driven Bayesian models describe these quantities, which enables subsequent behaviors to depend on conﬁdence of the learned models. Experiments were conducted using the NASA Jet Propulsion Laboratory’s (JPL) RoboSimian to lift a variety of cumbersome objects ranging in mass from 7kg to 25kg. The position of a supporting second manipulator was determined using a particle set and heuristics that were derived from inferred object properties. The supporting manipulator decreased the initial manipulator’s load and distributed the wrench load more equitably across each manipulator, for each bulky object. Knowledge of the objects came from pure proprioception (i.e. without reliance on vision or other exteroceptive sensors) throughout the experiments.

Backes, Paul↗

NASA NTRS2020

Object and Gas Source Detection with Robotic Platforms in Perceptually-Degraded Environments

In exploration-oriented robotic missions for disaster relief in unknown subterranean environments, it is of prime importance for a human supervisor to rapidly gain situational awareness of salient objects within the environment. In this paper we present an automated object detection pipeline that is adaptable to heterogeneous robots with arbitrary sensor configurations. It has been deployed in time-critical scenarios with multiple collaborative robots in a variety of demanding underground environments. For visually observable objects, detections are made in both the visible and thermal spectra using a state-of-the-art machine learning framework for object detection and classification. Our pipeline can be rapidly adapted to a specific task by using a small, structured dataset to fine-tune a pre-trained convolutional neural network (CNN). Relative localization is separated from the CNN for speed of operation. A robust architecture for localization is used with outlier rejection and a hierarchy of fall-back distance measurement methods. Point-source objects such as gas and WiFi hotspots can also be detected, by tracking signal strength over time and presenting an intuitive visualization on a map. Observations of each object types are presented to the operator in ranked confidence order for final evaluation.

Agha-mohammadi, Ali-akbar↗

NASA NTRS2022

Registering Articulated Objects With Human-in-the-loop Corrections

Remotely programming robots to execute tasks often relies on registering objects of interest in the robot’s environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing human-in-the-loop methods for registering objects do not consider articulations and the corresponding impact to the geometry of the object, which can cause the methods to fail. In this work, we present an approach where the registration system attempts to automatically determine the object model, pose, and articulation for user-selected points using a nonlinear iterative closest point algorithm. When the automated fitting is incorrect, the operator can iteratively intervene with corrections after which the system will refit the object. We present an implementation of our fitting procedure and evaluate it with a user study that shows that it can improve user performance, in measures of time on task and task load, ease of use, and usefulness compared to a manual registration approach. We also present a situated example that demonstrates the integration of our method in an end-to-end system for articulating a remote valve.

teleoperation↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS1994

Remote Objects Message Exchange (ROME)

The performance of a single program running on a single processor is limited by the character of the processor. Moreover, the cost and difficulty of developing and sustaining programs tend to increase as their size and complexity increase. Clearly there ought to be some advantage in partitioning powerful application software in relatively small and simple components that can run in parallel on multiple processors; the software should run faster and it should be cheaper and easier to deploy. Remote Objects Message Exchange (ROME) is an attempt to provide a single relatively simple, universally available abstraction for data communication among C++ objects. It aims to enable the C++ application developer to specify objects' interactions with other objects wholly in terms of the application domain, without concern for details of interprocess communication. Every ROME-compliant object is conceptually a network peer of every other, as if each one were (for example) a separate UNIX process.

processors application software data communication↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2004

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

moving object detection↗

NASA NTRS1993

The Cassini Spacecraft: Object Oriented Flight Control Software

The Cassini AACS object-oriented Flight Software is depicted in increasing levels of detail using a Context Diagram, Architecture Diagrams, an Object Diagram for each object, and a Statechart for each object. The detail contained in the diagrams is enhanced and refined during the Requirements and Design Phases of both Subsystem and Software Development. Examples of all the diagrams as well as the criteria for object selection, the advantages of statecharts, and the ease of modifying the design to accommodate changes in scope are described.

object-oriented↗

NASA NTRS2021

Compositional Study of Trans-Neptunian Objects at λ > 2.2 μm

Using data from the Infrared Array Camera on the Spitzer Space Telescope, we present photometric observations of a sample of 100 trans-Neptunian objects (TNOs) beyond 2.2 μm. These observations, collected with two broadband filters centered at 3.6 and 4.5 μm, were done in order to study the surface composition of TNOs, which are too faint to obtain spectroscopic measurements. With this aim, we have developed a method for the identification of different materials that are found on the surfaces of TNOs. In our sample, we detected objects with colors that are consistent with the presence of small amounts of water, and we were able to distinguish between surfaces that are predominantly composed of complex organics and amorphous silicates. We found that 86% of our sample have characteristics that are consistent with a certain amount of water ice, and the most common composition (73% of the objects) is a mixture of water ice, amorphous silicates, and complex organics. Twenty-three percent of our sample may include other ices, such as carbon monoxide, carbon dioxide, methane, or methanol. Additionally, only small objects seem to have surfaces dominated by silicates. This method is a unique tool for the identification of complex organics and to obtain the surface composition of extremely faint objects. Furthermore, this method will be beneficial when using the James Webb Space Telescope for differentiating groups within the trans-Neptunian population.

Trans-Neptunian objects↗

NASA NTRS2023

Science Objectives for Human Exploration of Mars Workshop Report

The Science Objectives for Human Exploration of Mars Workshop was held in Denver, Colorado on May 4–6, 2022. The workshop was co-sponsored by NASA’s Science Mission Directorate and the Exploration Systems Development Mission Directorate to actively engage the planetary science community to determine what planetary science should be done by human crews on the martian surface and how those science objectives can be achieved. Sessions at the Science Objectives for Human Exploration of Mars Workshop were organized around specific planetary science objectives and mission architecture concepts that were identified during the workshop as the highest priority for human exploration. The intent of this workshop was to synthesize a notional, integrated concept of operations for each scenario to aid in planning and refining the mission architecture for the first human mission to Mars. Results from the Planetary Decadal Survey Report were released xx days before the workshop and were briefed to workshop participants who incorporated the findings in the discussions. With the Artemis missions, humans will return to the Moon using innovative technologies to explore the lunar surface. We will apply what we learn about exploration architecture, surface infrastructure, and science and exploration operations on and around the Moon to conduct successful missions with the first astronauts to Mars. A human mission to Mars will be a landmark achievement and a golden opportunity to make groundbreaking scientific discoveries on Mars. The potential scope of the science activities and impact of achieving those objectives are extraordinary.

Mars↗

DOE OSTI2025

On the motion of compact objects in relativistic viscous fluids

We present a world-line effective field theory of compact objects moving relativistically through a viscous fluid. The theory is valid when velocity gradients are small compared to the inverse size of the object. Working within the EFT eliminates the need to solve a boundary value problem by turning all interactions between the fluid and the object into a source term in the action. We use the EFT to derive the relativistic equations of motion for a compact object immersed in a viscous fluid in a curved background, when the relative velocity of the object and the fluid is small compared to the speed of light.

astrophysical black holes↗

DOE OSTI2025

Year six photometric measurements of known Trans-Neptunian Objects and Centaurs by the Dark Energy Survey

ABSTRACT We identified known Trans-Neptunian Objects (TNOs) and Centaurs in the complete Dark Energy Survey (DES) year six catalogue (DES Y6) through the Sky Body Tracker (SkyBoT) tool. We classified our data set of 144 objects into a widely used 4-class taxonomic system of TNOs. No such previous classification was available in the literature for most of these objects. From absolute magnitudes and average albedos, an estimation of the diameters of all these objects is obtained. Correlations involving colours, orbital parameters, dynamical classes, and sizes are also discussed. In particular, our largest reddest object has a diameter of $390^{+68}_{-53}$ km and our largest cold classical, $255^{+19}_{-17}$ km. Also, a weak correlation between colour and inclination is found within the population of resonant TNOs in addition to weak correlations between colour and phase slope in different bands.

79 ASTRONOMY AND ASTROPHYSICS↗