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NASA NTRS2002

Algorithms and Sensors for Small Robot Path Following

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

path following↗

NASA NTRS2004

The Need for a Shear Stress Calibration Standard

By surveying current research of various micro-electro mechanical systems (MEMS) shear stress sensor development efforts we illustrate the wide variety of methods used to test and characterize these sensors. The different methods of testing these sensors make comparison of results difficult in some cases, and also this comparison is further complicated by the different formats used in reporting the results of these tests. The fact that making these comparisons can be so difficult at times clearly illustrates a need for standardized testing and reporting methodologies. This need indicates that the development of a national or international standard for the calibration of MEMS shear stress sensors should be undertaken. As a first step towards the development of this standard, two types of devices are compared and contrasted. The first type device is a laminar flow channel with two different versions considered: the first built with standard manufacturing techniques and the second with advanced precision manufacturing techniques. The second type of device is a new concept for creating a known shear stress consisting of a rotating wheel with the sensor mounted tangentially to the rim and positioned in close proximity to the rim. The shear stress generated by the flow at the sensor position is simply tau = (mu)r(omega)/h, where mu is the viscosity of the ambient gas, r the wheel radius, omega the angular velocity of the wheel, and h the width of the gap between the wheel rim and the sensor. Additionally, issues related to the development of a standard for shear stress calibration are identified and discussed.

Scott, Michael A.↗

NASA NTRS1977

Seasat-A and the commercial ocean community

The Seasat-A program has been initiated as a 'proof-of-concept' mission to evaluate the effectiveness of remotely sensing oceanology and related meteorological phenomena from a satellite platform in space utilizing sensors developed on previous space and aircraft test programs. The sensors include three active microwave sensors; a radar altimeter, a windfield scatterometer, and a synthetic aperture radar. A passive scanning multifrequency microwave radiometer, visual and infrared radiometer are also included. All weather, day-night measurements of sea surface temperature, surface wind speed/direction and sea state and directional wave spectra will be made. Two key programs are planned for data utilization with users during the mission. Foremost is a program with the commercial ocean community to test the utility of Seasat-A data and to begin the transfer of ocean remote sensing technology to the civil sector. A second program is a solicitation of investigations, led by NOAA, to involve the ocean science community in a series of scientific investigations.

Montgomery, D. R.↗

NASA NTRS1974

New development in high reliability strapdown platforms using TDF sensors

New development in high reliability strapdown navigation platform using two-degree-of-freedom sensors and redundancy concept is presented in this paper. The development is based on the assumption that each axis of the sensor can fail without affecting the remaining axis. The systems reliability is investigated, the optimum redundancy configurations are proposed, a technique of sensor performance management is developed for the proposed systems.

Tsuei, Y. D.↗

NASA NTRS1987

Overview of Fiber-Optical Sensors

Design, development, and sensitivity of sensors using fiber optics reviewed. State-of-the-art and probable future developments of sensors using fiber optics described in report including references to work in field. Serves to update previously published surveys. Systems incorporating fiber-optic sensors used in medical diagnosis, navigation, robotics, sonar, power industry, and industrial controls.

Depaula, Ramon P.↗

NASA NTRS2014

Oxygen Sensors Monitor Bioreactors and Ensure Health and Safety

In order to cultivate healthy bacteria in bioreactors, Kennedy Space Center awarded SBIR funding to Needham Heights, Massachusetts-based Polestar Technologies Inc. to develop sensors that could monitor oxygen levels. The result is a sensor now widely used by pharmaceutical companies and medical research universities. Other sensors have also been developed, and in 2013 alone the company increased its workforce by 50 percent.

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NASA NTRS2007

An Overview of Wide Bandgap Silicon Carbide Sensors and Electronics Development at NASA Glenn Research Center

A brief overview is presented of the sensors and electronics development work ongoing at NASA Glenn Research Center which is intended to meet the needs of future aerospace applications. Three major technology areas are discussed: 1) high temperature SiC electronics, 2) SiC gas sensor technology development, and 3) packaging of harsh environment devices. Highlights of this work include world-record operation of SiC electronic devices including 500?C JFET transistor operation with excellent properties, atomically flat SiC gas sensors integrated with an on-chip temperature detector/heater, and operation of a packaged AC amplifier. A description of the state-of-the-art is given for each topic. It is concluded that significant progress has been made and that given recent advancements the development of high temperature smart sensors is envisioned.

Hunter, Gary W.↗

NASA NTRS2013

Sensor Data Qualification Technique Applied to Gas Turbine Engines

This paper applies a previously developed sensor data qualification technique to a commercial aircraft engine simulation known as the Commercial Modular Aero-Propulsion System Simulation 40,000 (C-MAPSS40k). The sensor data qualification technique is designed to detect, isolate, and accommodate faulty sensor measurements. It features sensor networks, which group various sensors together and relies on an empirically derived analytical model to relate the sensor measurements. Relationships between all member sensors of the network are analyzed to detect and isolate any faulty sensor within the network.

control↗

NASA NTRS1994

Charge collection during hypervelocity penetrations of thin foils

The following represents trajectory sensor development work for the space-station-based Cosmic Dust Collection Facility (CDCF). This facility-class payload was to expose some 7 sq m of NASA-provided general-user instruments in addition to three instruments provided by formally selected principal investigators. The preferred trajectory sensor for this general-user instrument envisioned the detection of impact-triggered plasma for both velocity measurement and location instruments. Space station developments in late 1992/early 1993 lead to cancellation of this potential flight project, for both technical and fiscal reasons. This precipitated termination of all plasma detection work at JSC on behalf of CDCF's general-user instrument. The following comprises three informal reports that summarize the CDCF efforts regarding plasma sensing for trajectory determinations. The reports were initially written for internal CDCF use and were not widely distributed. Because no formal publications are envisioned at present, the three reports are included in full in this document. They not only demonstrate that substantial progress was accomplished in the development of plasma trajectory sensors during 1990-1992, but the results are hopefully of interest and use to others who may continue these developments. The chronological sequence of these three reports is reversed, with the first containing the latest information.

Peterson, Robert B.↗

NASA NTRS1989

Smart structures research program at Virginia Tech

A review of the smart structures and avionics research and teaching program that started in 1979 at Virginia Tech is described. Current smart structures research include major efforts in the development of embedded and attached optical fiber and acoustic fiber sensors for cure monitoring, in-service lifetime structural testing, nondestructive evaluation, and impact and damage detection and analysis; of gradual material degradation; sensor signal multiplexing, processing and data handling to achieve near real-time distributed structural analysis; and the integration of embedded sensors, actuators and control electronics to achieve controlled structural response. Special campus facilities used for this work include an optical fiber fabrication facility, an autoclave for composite structure fabrication and curing, and laboratories for optical fiber sensor development, materials response and nondestructive evaluation, structural control testing and computer engineering.

Claus, R. O.↗

NASA NTRS1977

Space station analysis study. Part 2, Volume 1: Executive summary

Objectives of the space station program requiring the support of man in space, either in the shuttle sortie mode or in extended duration facilities are identified and analyzed. A set of functional requirements was derived to identify specific technology advancement needs, tests to be conducted, and processes to be developed. Program options are summarized for: (1) satellite power system; (2) earth services; (3) space cosmological research and development; (4) space processing and manufacturing; (5) multidiscipline science laboratory; (6) sensor development facility; (7) living and working in space; and (8) orbital depot.

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NASA NTRS2008

In-Situ Measurement of Hall Thruster Erosion Using a Fiber Optic Regression Probe

Polzink, Kurt A.↗

NASA NTRS2009

In-Situ Measurement of Hall Thruster Erosion Using a Fiber Optic Regression Probe

One potential life-limiting mechanism in a Hall thruster is the erosion of the ceramic material comprising the discharge channel. This is especially true for missions that require long thrusting periods and can be problematic for lifetime qualification, especially when attempting to qualify a thruster by analysis rather than a test lasting the full duration of the mission. In addition to lifetime, several analytical and numerical models include electrode erosion as a mechanism contributing to enhanced transport properties. However, there is still a great deal of dispute over the importance of erosion to transport in Hall thrusters. The capability to perform an in-situ measurement of discharge channel erosion is useful in addressing both the lifetime and transport concerns. An in-situ measurement would allow for real-time data regarding the erosion rates at different operating points, providing a quick method for empirically anchoring any analysis geared towards lifetime qualification. Erosion rate data over a thruster s operating envelope would also be useful in the modeling of the detailed physics inside the discharge chamber. There are many different sensors and techniques that have been employed to quantify discharge channel erosion in Hall thrusters. Snapshots of the wear pattern can be obtained at regular shutdown intervals using laser profilometry. Many non-intrusive techniques of varying complexity and sensitivity have been employed to detect the time-varying presence of erosion products in the thruster plume. These include the use quartz crystal microbalances, emission spectroscopy, laser induced flourescence, and cavity ring-down spectroscopy. While these techniques can provide a very accurate picture of the level of eroded material in the thruster plume, it is more difficult to use them to determine the location from which the material was eroded. Furthermore, none of the methods cited provide a true in-situ measure of erosion at the channel surface while the thruster is in operation (i.e. none yield a continuous channel erosion measurement). A recent fundamental sensor development effort has led to a novel regression, erosion, and ablation sensor technology (REAST). The REAST sensor allows for measurement of real-time surface erosion rates at a discrete surface location. The sensor was tested using a linear Hall thruster geometry (see Fig. 1), which served as a means of producing plasma erosion of a ceramic discharge chamber. The mass flow rate, discharge voltage, and applied magnetic field strength could be varied, allowing for erosion measurements over a broad thruster operating envelope. Results are presented demonstrating the ability of the REAST sensor to capture not only the insulator erosion rates but also changes in these rates as a function of the discharge parameters.

Polzin, Kurt↗

NASA NTRS2012

Onboard Sensor Data Qualification in Human-Rated Launch Vehicles

The avionics system software for human-rated launch vehicles requires an implementation approach that is robust to failures, especially the failure of sensors used to monitor vehicle conditions that might result in an abort determination. Sensor measurements provide the basis for operational decisions on human-rated launch vehicles. This data is often used to assess the health of system or subsystem components, to identify failures, and to take corrective action. An incorrect conclusion and/or response may result if the sensor itself provides faulty data, or if the data provided by the sensor has been corrupted. Operational decisions based on faulty sensor data have the potential to be catastrophic, resulting in loss of mission or loss of crew. To prevent these later situations from occurring, a Modular Architecture and Generalized Methodology for Sensor Data Qualification in Human-rated Launch Vehicles has been developed. Sensor Data Qualification (SDQ) is a set of algorithms that can be implemented in onboard flight software, and can be used to qualify data obtained from flight-critical sensors prior to the data being used by other flight software algorithms. Qualified data has been analyzed by SDQ and is determined to be a true representation of the sensed system state; that is, the sensor data is determined not to be corrupted by sensor faults or signal transmission faults. Sensor data can become corrupted by faults at any point in the signal path between the sensor and the flight computer. Qualifying the sensor data has the benefit of ensuring that erroneous data is identified and flagged before otherwise being used for operational decisions, thus increasing confidence in the response of the other flight software processes using the qualified data, and decreasing the probability of false alarms or missed detections.

Wong, Edmond↗

NASA NTRS1993

Rugged, no-moving-parts windspeed and static pressure probe designs for measurements in planetary atmospheres

Instruments developed for making meteorological observations under adverse conditions on Earth can be applied to systems designed for other planetary atmospheres. Specifically, a wind sensor developed for making measurements within tornados is capable of detecting induced pressure differences proportional to wind speed. Adding strain gauges to the sensor would provide wind direction. The device can be constructed in a rugged form for measuring high wind speeds in the presence of blowing dust that would clog bearings and plug passages of conventional wind speed sensors. Sensing static pressure in the lower boundary layer required development of an omnidirectional, tilt-insensitive static pressure probe. The probe provides pressure inputs to a sensor with minimum error and is inherently weather-protected. The wind sensor and static pressure probes have been used in a variety of field programs and can be adapted for use in different planetary atmospheres.

Bedard, A. J., Jr.↗

NASA NTRS1973

Remote sensors - Prospects and limitations

Review of the history, present status, and future prospects and limitations of remote sensing systems for satellite-based earth resources surveys. The objectives and special areas of interest of ongoing sensor development experiments are summarized, and the measurement and performance goals of current potential sensor research is discussed.

Lehmann, J.↗

NASA NTRS1981

Development of advanced Czochralski Growth Process to produce low cost 150 KG silicon ingots from a single crucible for technology readiness

The goals in this program for advanced czochralski growth process to produce low cost 150 kg silicon ingots from a single crucible for technology readiness are outlined. To provide a modified CG2000 crystal power capable of pulling a minimum of five crystals, each of approximately 30 kg in weight, 150 mm diameter from a single crucible with periodic melt replenishment. Crystals to have: resistivity of 1 to 3 ohm cm, p-type; dislocation density below 1- to the 6th power per cm; orientation (100); after growth yield of greater than 90%. Growth throughput of greater than 2.5 kg per hour of machine operation using a radiation shield. Prototype equipment suitable for use as a production facility. The overall cost goal is $.70 per peak watt by 1986. To accomplish these goals, the modified CG2000 grower and development program includes: (1) increased automation with a microprocessor based control system; (2) sensors development which will increase the capability of the automatic controls system, and provide technology transfer of the developed systems.

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NASA NTRS2006

Chemical Sensors Based on Metal Oxide Nanostructures

This paper is an overview of sensor development based on metal oxide nanostructures. While nanostructures such as nanorods show significan t potential as enabling materials for chemical sensors, a number of s ignificant technical challenges remain. The major issues addressed in this work revolve around the ability to make workable sensors. This paper discusses efforts to address three technical barriers related t o the application of nanostructures into sensor systems: 1) Improving contact of the nanostructured materials with electrodes in a microse nsor structure; 2) Controling nanostructure crystallinity to allow co ntrol of the detection mechanism; and 3) Widening the range of gases that can be detected by using different nanostructured materials. It is concluded that while this work demonstrates useful tools for furt her development, these are just the beginning steps towards realizati on of repeatable, controlled sensor systems using oxide based nanostr uctures.

Hunter, Gary W.↗