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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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NASA NTRS1993

Measures for simulator evaluation of a helicopter obstacle avoidance system

The U.S. Army Aeroflightdynamics Directorate (AFDD) has developed a high-fidelity, full-mission simulation facility for the demonstration and evaluation of advanced helicopter mission equipment. The Crew Station Research and Development Facility (CSRDF) provides the capability to conduct one- or two-crew full-mission simulations in a state-of-the-art helicopter simulator. The CSRDF provides a realistic, full field-of-regard visual environment with simulation of state-of-the-art weapons, sensors, and flight control systems. We are using the CSRDF to evaluate the ability of an obstacle avoidance system (OASYS) to support low altitude flight in cluttered terrain using night vision goggles (NVG). The OASYS uses a laser radar to locate obstacles to safe flight in the aircraft's flight path. A major concern is the detection of wires, which can be difficult to see with NVG, but other obstacles--such as trees, poles or the ground--are also a concern. The OASYS symbology is presented to the pilot on a head-up display mounted on the NVG (NVG-HUD). The NVG-HUD presents head-stabilized symbology to the pilot while allowing him to view the image intensified, out-the-window scene through the HUD. Since interference with viewing through the display is a major concern, OASYS symbology must be designed to present usable obstacle clearance information with a minimum of clutter.

Demaio, Joe↗

NASA NTRS1974

RPVs - Exploring civilian applications

Discussion of the civilian application possibilities for remotely piloted vehicle (RPV) systems. Following a listing of all possible desert, coastal, forest, agricultural, and urban RPV missions, a thorough examination is presented of such possible RPV aircraft applications as those of forest-fire detection and mapping. Some of the major obstacles to such civilian missions are also reviewed.

Gregory, T. J.↗

NASA NTRS2011

Single-Frame Terrain Mapping Software for Robotic Vehicles

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Rankin, Arturo L.↗

NASA NTRS1984

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.

Haley, D. C.↗

NASA NTRS1984

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.

Haley, D. C.↗

NASA NTRS2017

3D-Sonification for Obstacle Avoidance in Brownout Conditions

Helicopter brownout is a phenomenon that occurs when making landing approaches in dusty environments, whereby sand or dust particles become swept up in the rotor outwash. Brownout is characterized by partial or total obscuration of the terrain, which degrades visual cues necessary for hovering and safe landing. Furthermore, the motion of the dust cloud produced during brownout can lead to the pilot experiencing motion cue anomalies such as vection illusions. In this context, the stability and guidance control functions can be intermittently or continuously degraded, potentially leading to undetected surface hazards and obstacles as well as unnoticed drift. Safe and controlled landing in brownout can be achieved using an integrated presentation of LADAR and RADAR imagery and aircraft state symbology. However, though detected by the LADAR and displayed on the sensor image, small obstacles can be difficult to discern from the background so that changes in obstacle elevation may go unnoticed. Moreover, pilot workload associated with tracking the displayed symbology is often so high that the pilot cannot give sufficient attention to the LADAR/RADAR image. This paper documents a simulation evaluating the use of 3D auditory cueing for obstacle avoidance in brownout as a replacement for or compliment to LADAR/RADAR imagery.

3D audio↗

NASA NTRS1975

Classification of terrain models for Martian vehicle

This paper develops a procedure for an autonomous Martian rover to classify objects into obstacles and non-obstacles. These so called 'objects' are actually models generated by the Terrain Modeling and Edge Detection schemes. The classification process is performed using a set of object parameters which distinguish unobstructive objects from obstacles.

Leung, K. L.↗

NASA NTRS1988

Holographic particle detection

The feasibility was studied of developing a novel particle track detector based on the detection of 1p-1s emission radiation from electron bubbles in liquid helium. The principles, design, construction, and initial testing of the detection system have been described in previous reports. The main obstacle encountered was the construction of the liquid-helium tight infrared windows. Despite numerous efforts in testing and redesigning the windows, the problem of window leakage at low temperature persisted. Due to limited time and resources, attention was switched to investigating the possibility of using room-temperature liquid as the detection medium. A possible mechanism was the detection of de-excitation radiation emitted from localized electrons in common liquids where electrons exhibit low mobilities, as suggested in the previous report. The purity of the liquid is critical in this method as the dissolved impurities (such as oxygen), even in trace amounts, will act as scavengers of electrons. Another mechanism is discussed whereby the formation of the superoxide ions by electron scavenging behavior of dissolved oxygen is exploited to detect the track of ionizing particles. An experiment to measure the ionization current produced in a liquid by a pulsed X-ray beam in order to study propertiies of the ions is also reported.

Bowen, Theodore↗

NASA NTRS1992

Spectrum Modal Analysis for the Detection of Low-Altitude Windshear with Airborne Doppler Radar

A major obstacle in the estimation of windspeed patterns associated with low-altitude windshear with an airborne pulsed Doppler radar system is the presence of strong levels of ground clutter which can strongly bias a windspeed estimate. Typical solutions attempt to remove the clutter energy from the return through clutter rejection filtering. Proposed is a method whereby both the weather and clutter modes present in a return spectrum can be identified to yield an unbiased estimate of the weather mode without the need for clutter rejection filtering. An attempt will be made to show that modeling through a second order extended Prony approach is sufficient for the identification of the weather mode. A pattern recognition approach to windspeed estimation from the identified modes is derived and applied to both simulated and actual flight data. Comparisons between windspeed estimates derived from modal analysis and the pulse-pair estimator are included as well as associated hazard factors. Also included is a computationally attractive method for estimating windspeeds directly from the coefficients of a second-order autoregressive model. Extensions and recommendations for further study are included.

Kunkel, Matthew W.↗

NASA NTRS1996

Discrete Deterministic and Stochastic Petri Nets

Petri nets augmented with timing specifications gained a wide acceptance in the area of performance and reliability evaluation of complex systems exhibiting concurrency, synchronization, and conflicts. The state space of time-extended Petri nets is mapped onto its basic underlying stochastic process, which can be shown to be Markovian under the assumption of exponentially distributed firing times. The integration of exponentially and non-exponentially distributed timing is still one of the major problems for the analysis and was first attacked for continuous time Petri nets at the cost of structural or analytical restrictions. We propose a discrete deterministic and stochastic Petri net (DDSPN) formalism with no imposed structural or analytical restrictions where transitions can fire either in zero time or according to arbitrary firing times that can be represented as the time to absorption in a finite absorbing discrete time Markov chain (DTMC). Exponentially distributed firing times are then approximated arbitrarily well by geometric distributions. Deterministic firing times are a special case of the geometric distribution. The underlying stochastic process of a DDSPN is then also a DTMC, from which the transient and stationary solution can be obtained by standard techniques. A comprehensive algorithm and some state space reduction techniques for the analysis of DDSPNs are presented comprising the automatic detection of conflicts and confusions, which removes a major obstacle for the analysis of discrete time models.

MATHEMATICAL MODELS↗

NASA NTRS1986

Programable Pipelined-Image Processor

Computer serves as pipelined processor for imagery or other two-dimensional digital data. Processor does feature extraction, smoothing, edge detection, texture measurement, and stereoscoptic area correlation. Also plans routes for obstacle avoidance by robots and solves two-dimensional partial differential equations. Image processor consists of modular units: each includes set of computing elements of types particularly useful in pipelined-image processing. Flexible interconnection scheme used to route data to subsequent stages of pipeline.

Gennery, D. B.↗

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Towards Flight Autonomy: Vision-Based Horizon Detection for Micro Air Vehicles

Recently substantial progress has been made towards design building and testifying remotely piloted Micro Air Vehicles (MAVs). This progress in overcoming the aerodynamic obstacles to flight at very small scales has, unfortunately, not been matched by similar progress in autonomous MAV flight. Thus, we propose a robust, vision-based horizon detection algorithm as the first step towards autonomous MAVs. In this paper, we first motivate the use of computer vision for the horizon detection task by examining the flight of birds (biological MAVs) and considering other practical factors. We then describe our vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification, over terrain that includes roads, buildings large and small, meadows, wooded areas, and a lake. We conclude with some sample horizon detection results and preview a companion paper, where the work discussed here forms the core of a complete autonomous flight stability system.

Nechyba, Michael C.↗

DOE OSTI2026

ObstacleSense: Low-Power Neuromorphic Vision for Corridor Obstacle Awareness in Low-Level ADAS

The automotive industry’s pursuit of Level 5 autonomy is constrained by substantial perception-compute power requirements, often reaching 1, 000 + watts in full autonomy stacks. Reducing this energy burden requires rethinking perception not only at the high-end autonomy level, but also at the foundational Advanced Driver Assistance Systems (ADAS) level where low-power, safety-critical sensing can have broad impact. Neuromorphic vision provides a promising starting point: HD Dynamic Vision Sensors (DVS) can operate below 100 mW at the sensor level by reporting only asynchronous brightness changes. However, low-power sensing alone is insufficient if downstream perception reintroduces dense, energy-intensive computation. In particular, many event-driven object-detection pipelines still rely on CNN backbones, while purely spiking alternatives often trade away accuracy or ignore deployment constraints. We introduce ObstacleSense, a highly compact, CNN-free hybrid ANN–SNN framework for Level 0–1 forward-corridor obstacle awareness. Instead of performing full-scene object detection with a convolutional feature backbone, ObstacleSense targets the safety-critical question of whether the ego corridor is occupied and how far the nearest obstacle is. The architecture combines polarity-conditioned event encoding, lightweight temporal spiking dynamics, axial spatial mixing, and coarse-to-fine range estimation within a regular fixed-grid compute pattern. This design avoids the dense CNN backbone commonly used in event-based detection while maintaining a small state footprint suitable for eventual small-FPGA deployment. Before hardware mapping, we evaluate the software implementation using a model-side power proxy derived from MACs, weight and activation traffic, and spiking state updates under shared FP16 assumptions. On simulated CARLA event corpora, the deployment-oriented model achieves 0.9464 objectness F1, 0.9978 grid-level mAP, and 0.8987 m distance Mean Absolute Error at an estimated 1.92 mW proxy cost, while maintaining performance on unseen generalization test sequences.

Johnson-Scott, Zac [ORNL]↗

NASA NTRS1989

Learned navigation in unknown terrains: A retraction method

The problem of learned navigation of a circular robot R, of radius delta (is greater than or equal to 0), through a terrain whose model is not a-priori known is considered. Two-dimensional finite-sized terrains populated by an unknown (but, finite) number of simple polygonal obstacles are also considered. The number and locations of the vertices of each obstacle are unknown to R. R is equipped with a sensor system that detects all vertices and edges that are visible from its present location. In this context two problems are covered. In the visit problem, the robot is required to visit a sequence of destination points, and in the terrain model acquisition problem, the robot is required to acquire the complete model of the terrain. An algorithmic framework is presented for solving these two problems using a retraction of the freespace onto the Voronoi diagram of the terrain. Algorithms are then presented to solve the visit problem and the terrain model acquisition problem.

Rao, Nageswara S. V.↗

NASA NTRS1979

The quantum limit for gravitational-wave detectors and methods of circumventing it

The Heisenberg uncertainty principle prevents the monitoring of the complex amplitude of a mechanical oscillator more accurately than a certain limit value. This 'quantum limit' is a serious obstacle to the achievement of a 10 to the -21st gravitational-wave detection sensitivity. This paper examines the principles of the back-action evasion technique and finds that this technique may be able to overcome the problem of the quantum limit. Back-action evasion does not solve, however, other problems of detection, such as weak coupling, large amplifier noise, and large Nyquist noise.

Thorne, K. S.↗

NASA NTRS1979

Topoclimatological and snowhydrological survey of Switzerland

The author has identified the following significant results. The chosen time of overflight of HCMM seems to be ideal for the study of basic climatological events. Nocturnal temperature inversion zones are easily detectable and their dependency on the relief is clearly seen. Especially the alpine valleys show a very differentiated pattern of cold lakes, separated by warmer zones as a consequence of rock and forrest barriers or changes in the valley profile. Wet areas are usually colder than dry parts under comparable topographic conditions. Even very small topographic obstacles are able to block up the flow of cold air masses (or ground water flow). Urban areas are clearly detectable. Differences to the surface temperatures of surrounding rural land are much more significant during day-time (mainly during the summer months). Fog layers are clearly defined in the visible channel (day-time), but much more difficult to identify in the IR (mainly during the night). There is not a fundamental difference to NOAA-analysis of cloud systems. The most important advantage is the better detectability of convective cloud systems (small cumulus clouds).

Winiger, M.↗

NASA NTRS2017

UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-Based Geofences NASA Report on UTM Reference Mission Flights at Southern Company Flights November 2016

Flights at low altitudes in close proximity to electrical transmission infrastructure present serious navigational challenges: GPS and radio communication quality is variable and yet tight position control is needed to measure defects while avoiding collisions with ground structures. To advance unmanned aerial vehicle (UAV) navigation technology while accomplishing a task with economic and societal benefit, a high voltage electrical infrastructure inspection reference mission was designed. An integrated air-ground platform was developed for this mission and tested in two days of experimental flights to determine whether navigational augmentation was needed to successfully conduct a controlled inspection experiment. The airborne component of the platform was a multirotor UAV built from commercial off-the-shelf hardware and software, and the ground component was a commercial laptop running open source software. A compact ultraviolet sensor mounted on the UAV can locate 'hot spots' (potential failure points in the electric grid), so long as the UAV flight path adequately samples the airspace near the power grid structures. To improve navigation, the platform was supplemented with two navigation technologies: lidar-to-polyhedron preflight processing for obstacle demarcation and inspection distance planning, and trajectory management software to enforce inspection standoff distance. Both navigation technologies were essential to obtaining useful results from the hot spot sensor in this obstacle-rich, low-altitude airspace. Because the electrical grid extends into crowded airspaces, the UAV position was tracked with NASA unmanned aerial system traffic management (UTM) technology. The following results were obtained: (1) Inspection of high-voltage electrical transmission infrastructure to locate 'hot spots' of ultraviolet emission requires navigation methods that are not broadly available and are not needed at higher altitude flights above ground structures. (2) The sensing capability of a novel airborne UV detector was verified with a standard ground-based instrument. Flights with this sensor showed that UAV measurement operations and recording methods are viable. With improved sensor range, UAVs equipped with compact UV sensors could serve as the detection elements in a self-diagnosing power grid. (3) Simplification of rich lidar maps to polyhedral obstacle maps reduces data volume by orders of magnitude, so that computation with the resultant maps in real time is possible. This enables real-time obstacle avoidance autonomy. Stable navigation may be feasible in the GPS-deprived environment near transmission lines by a UAV that senses ground structures and compares them to these simplified maps. (4) A new, formally verified path conformance software system that runs onboard a UAV was demonstrated in flight for the first time. It successfully maneuvered the aircraft after a sudden lateral perturbation that models a gust of wind, and processed lidar-derived polyhedral obstacle maps in real time. (5) Tracking of the UAV in the national airspace using the NASA UTM technology was a key safety component of this reference mission, since the flights were conducted beneath the landing approach to a heavily used runway. Comparison to autopilot tracking showed that UTM tracking accurately records the UAV position throughout the flight path.

Moore, Andrew J.↗

DOE OSTI2025

SPECTER: an instrument concept for CMB spectral distortion measurements with enhanced sensitivity

Deviations of the cosmic microwave background (CMB) energy spectrum from a perfect blackbody uniquely probe a wide range of physics, ranging from fundamental physics in the primordial Universe (μ-distortion) to late-time baryonic feedback processes (y-distortion). While the y-distortion can be detected with a moderate increase in sensitivity over that of COBE/FIRAS, the ΛCDM-predicted μ-distortion is roughly two orders of magnitude smaller and requires substantial improvements, with foregrounds presenting a serious obstacle. Within the standard model, the dominant contribution to μ arises from energy injected via Silk damping, yielding sensitivity to the primordial power spectrum at wavenumbers k ≈ 1-10 4 Mpc -1 . Here, we present a new instrument concept, SPECTER, with the goal of robustly detecting μ. The instrument technology is similar to that of LiteBIRD, but with an absolute temperature calibration system. Using a Fisher approach, we optimize the instrument's configuration to target μ while marginalizing over foreground contaminants. Unlike Fourier-transform-spectrometer-based designs, the specific bands and their individual sensitivities can be independently set in this instrument, allowing significant flexibility. We forecast SPECTER to observe the ΛCDM-predicted μ-distortion at ≈ 5σ (10σ) assuming an observation time of 1 (4) year(s) (corresponding to mission duration of 2 (8) years), after foreground marginalization. Our optimized configuration includes 16 bands spanning 1–2000 GHz with ∼degree-scale angular resolution at ∼ 150 GHz and 1100 total detectors. SPECTER will additionally measure the y-distortion at sub-percent precision and its relativistic correction at percent-level precision, yielding tight constraints on the total thermal energy and mean temperature of ionized gas.

CMBR experiments↗