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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 163 records · Page 9

Foliage discrimination using a rotating ladar

We present a real time algorithm that detects foliage using range from a rotating laser. Objects not classified as foliage are conservatively labeled as non-driving obstacles. In contrast to related work that uses range statistics to classify objects, we exploit the expected localities and continuities of an obstacle, in both space and time. Also, instead of attempting to find a single accurate discriminating factor for every ladar return, we hypothesize the class of some few returns and then spread the confidence (and classification) to other returns using the locality constraints. The Urbie robot is presently using this algorithm to descriminate drivable grass from obstacles during outdoor autonomous navigation tasks.

Autonomous navigation range robots↗

Observations at Mercury encounter by the plasma science experiment on Mariner 10

A fully developed bow shock and magnetosheath were observed near Mercury, providing unambiguous evidence for a strong interaction between Mercury and the solar wind. Inside the sheath there is a distinct region analogous to the magnetosphere or magnetotail of earth, populated by electrons with lower density and higher temperature than the electrons observed in the solar wind or magnetosheath. At the time of encounter, conditions were such that a perpendicular shock was observed on the inbound leg and a parallel shock was observed on the outbound leg of the trajectory, and energetic plasma electron events were detected upstream from the outbound shock crossing. The interaction is most likely not atmospheric, but the data clearly indicate that the obstacle to solar wind flow is magnetic, either intrinsic or induced.

Ogilvie, K. W.↗

Flexible Wing Base Micro Aerial Vehicles: Vision-Guided Flight Stability and Autonomy for Micro Air Vehicles

Substantial progress has been made recently towards design building and test-flying remotely piloted Micro Air Vehicle's (MAVs). We seek to complement this progress in overcoming the aerodynamic obstacles to.flight at very small scales with a vision stability and autonomy system. The developed system based on a robust horizon detection algorithm which we discuss in greater detail in a companion paper. In this paper, we first motivate the use of computer vision for MAV autonomy arguing that given current sensor technology, vision may he the only practical approach to the problem. We then briefly review our statistical vision-based horizon detection algorithm, which has been demonstrated at 30Hz with over 99.9% correct horizon identification. Next we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feed-back controller for self-stabilized flight, and report results on vision autonomous flights of duration exceeding ten minutes.

Ettinger, Scott M.↗

Space Invariant Independent Component Analysis and ENose for Detection of Selective Chemicals in an Unknown Environment

In this paper, we present a space invariant architecture to enable the Independent Component Analysis (ICA) to solve chemical detection from two unknown mixing chemical sources. The two sets of unknown paired mixture sources are collected via JPL 16-ENose sensor array in the unknown environment with, at most, 12 samples data collected. Our space invariant architecture along with the maximum entropy information technique by Bell and Sejnowski and natural gradient descent by Amari has demonstrated that it is effective to separate the two mixing unknown chemical sources with unknown mixing levels to the array of two original sources under insufficient sampled data. From separated sources, they can be identified by projecting them on the 11 known chemical sources to find the best match for detection. We also present the results of our simulations. These simulations have shown that 100% correct detection could be achieved under the two cases: a) under-completed case where the number of input (mixtures) is larger than number of original chemical sources; and b) regular case where the number of input is as the same as the number of sources while the time invariant architecture approach may face the obstacles: overcomplete case, insufficient data and cumbersome architecture.

ENose↗

An Evaluation of a Passively Cooled Cylindrical Spectrometer Array in Lunar Orbit

This thesis will evaluate a passively cooled cylindrical spectrometer array in lunar orbit characterizing the thermal response in order to provide context for decision-making to scientists and engineers. To provide perspective on thermal issues and controls of space science instruments, a background search of historical lunar missions is provided. Next, a trial science mission is designed and analyzed which brings together the elements of the background search, lunar orbit environment and passive cooling. Finally, the trial science mission analysis results are provided along with the conclusions drawn. Scintillators are materials that when struck by particle radiation, absorb the particle energy which is then reemitted as light in or near the visible range. Nuclear astrophysics utilizes scintillating materials for observation of high-energy photons which are generated by sources such as solar flares, supernovae and neutron stars. SPMs are paired with inorganic scintillators to detect the light emitted which is converted into electronic signals. The signals are captured and analyzed in order to map the number and location of the high-energy sources. The SPM is utilized as it has single photon sensitivity, low voltage requirements and a fast response. SPMs are also compact, relatively inexpensive and allow the usage of lower-cost scintillating materials within the spectrometer. These characteristics permit large-area arrays while lowering cost and power requirements. The ability of a spectrometer to record and identify the interaction of high-energy photons for scientific return is not a trivial matter. Background noise is generated when particles that have not originated from the desired distant source impact the spectrometer. Additionally, thermally induced electrical signals are randomly generated within the SPM even in the absence of light which is referred to as dark current. Overcoming these obstacles requires greater light emittance and energy resolution with reduced dark current. Strong scintillation photon emittance ensures that low energy impacts will produce enough visible photons to be detected by the SPM. Higher energy resolution will ensure that single photon impacts can be distinguished from others of similar wavelength and energy; reduced dark current decreases the generation of random signals not associated with a photon impact. Increasing efficiency in each of these properties in a spectrometer comprised of inorganic scintillators and SPMs requires low temperatures. Low temperature maintenance in a lunar environment presents many unique challenges of its own. Even with the accumulated successes of past missions, the lunar environment remains a thermal challenge for engineers. The lunar orbit thermal environment is driven by radiation from three sources, direct solar radiation, reflected solar radiation from the lunar surface (albedo) and lunar radiation (Clawson 2002). Direct solar radiation values are consistent with those seen in Earth orbit (1325 W/m2) (Clawson 2002). The percentage of solar radiation reflected from the moon is consistently very low with the moon's dark regolith covered surface absorbing nearly 90% of the incident light (Clawson 2002). Yet, it is this absorption that gives the lunar orbit environment one of its most difficult thermal attributes as the absorbed solar radiation is released from the lunar surface as infrared radiation (IR). IR is of a wavelength that is readily absorbed by surfaces designed to function as radiation emitters. It is practical to therefore "choose radiator locations and spacecraft attitude to minimize radiator views to the lunar surface, when possible...pointing the radiator towards the sun to some extent, to minimize its view to the lunar surface, is frequently preferable. (Clawson 2002)" Additionally, the amount of direct solar radiation, lunar IR and albedo an orbiting satellite receives varies from one side of the moon to the other as the moon blocks the sun from view. This environment produces large temperature variations in a satellite's instrumentation, control electronics and propulsion systems which must be understood to characterize operating temperature envelopes.

Waggoner, Jason↗

Light-Matter Interaction in Ultrastable Tunneling Nanogaps

Light emission and detection through tunnel junctions have emerged as a promising platform for studying nanoscale light–matter interactions, including electroluminescence and photoassisted transport. However, controlling these interactions in the tunneling regime has been challenging due to complex underlying mechanisms that remain poorly understood. A major obstacle is the difficulty in forming stable junctions that can function reliably over extended periods. In this study, we fabricate ultrastable tunneling junctions consisting of epitaxial indium–tin-oxide, epitaxial lutetium oxide, and gold. With their stable and consistent tunneling currents, we investigate photon-assisted transport phenomena using simple direct-current detection. Our results demonstrate that optical rectification is the primary contributor to the laser-induced current, alongside thermal effects and hot-electron currents. Furthermore, owing to their epitaxial nature and high breakdown threshold, this ultrastable platform holds promise for future real-world applications, including nanoscale light sources and multifunctional photodetectors.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Fast, accurate rangefinder

Computer-controlled optical ranging system detects objects as close as 1m and as distant as 30m. Originally developed for robot planetary-surface exploration, system is applicable to vehicular obstacle avoidance, surveying, remote manipulator operation, and other applications.

Johnston, A. R.↗

Thermal and Hydrologic Signatures of Soil Controls on Evaporation: A Combined Energy and Water Balance Approach with Implications for Remote Sensing of Evaporation

The overall goal of this research is to examine the feasibility of applying a newly developed diagnostic model of soil water evaporation to large land areas using remotely sensed input parameters. The model estimates the rate of soil evaporation during periods when it is limited by the net transport resulting from competing effects of capillary rise and drainage. The critical soil hydraulic properties are implicitly estimated via the intensity and duration of the first stage (energy limited) evaporation, removing a major obstacle in the remote estimation of evaporation over large areas. This duration, or "time to drying" (t(sub d)), is revealed through three signatures detectable in time series of remote sensing variables. The first is a break in soil albedo that occurs as a small vapor transmission zone develops near the surface. The second is a break in either surface to air temperature differences or in the diurnal surface temperature range, both of which indicate increased sensible heat flux (and/or storage) required to balance the decrease in latent heat flux. The third is a break in the temporal pattern of near surface soil moisture. Soil moisture tends to decrease rapidly during stage 1 drying (as water is removed from storage), and then become more or less constant during soil limited, or "stage 2" drying (as water is merely transmitted from deeper soil storage). The research tasks address: (1) improvements in model structure, including extensions to transpiration and aggregation over spatially variable soil and topographic landscape attributes; and (2) applications of the model using remotely sensed input parameters.

Salvucci, Guido D.↗

Thermal and Hydrologic Signatures of Soil Controls on Evaporation: A Combined Energy and Water Balance Approach with Implications for Remote Sensing of Evaporation

The overall goal of this research is to examine the feasibility of applying a newly developed diagnostic model of soil water evaporation to large land areas using remotely sensed input parameters. The model estimates the rate of soil evaporation during periods when it is limited by the net transport resulting from competing effects of capillary rise and drainage. The critical soil hydraulic properties are implicitly estimated via the intensity and duration of the first stage (energy limited) evaporation, removing a major obstacle in the remote estimation of evaporation over large areas. This duration, or 'time to drying' (t(sub d)) is revealed through three signatures detectable in time series of remote sensing variables. The first is a break in soil albedo that occurs as a small vapor transmission zone develops near the surface. The second is a break in either surface to air temperature differences or in the diurnal surface temperature range, both of which indicate increased sensible heat flux (and/or storage) required to balance the decrease in latent heat flux. The third is a break in the temporal pattern of near surface soil moisture. Soil moisture tends to decrease rapidly during stage I drying (as water is removed from storage), and then become more or less constant during soil limited, or 'stage II' drying (as water is merely transmitted from deeper soil storage). The research tasks address: (1) improvements in model structure, including extensions to transpiration and aggregation over spatially variable soil and topographic landscape attributes; and (2) applications of the model using remotely sensed input parameters.

Salvucci, Guido D.↗

Detection of Cracks at Welds in Steel Tubing Using Flux Focusing Electromagnetic Probe

The inspection of weldments in critical pressure vessel joints is a major concern in the nuclear power industry. Corrosive environments can speed the fatigue process and access to the critical area is often limited. Eddy current techniques have begun to be used to help overcome these obstacles [1]. As direct contact and couplants are not required, remote areas can be inspected by simply snaking an eddy current coil into the intake tube of the vessel. The drawback of the eddy current method has been the high sensitivity to small changes in the conductivity and permeability of the test piece which are known to vary at weldments [1]. The flaw detection mechanism of the flux focusing electromagnetic probe can help alleviate these difficulties and provide a unique capability for detecting longitudinal fatigue cracks in critical tube structures. The Flux Focusing Electromagnetic Flaw Detector, originally invented for the detection of fatigue and corrosion damage in aluminum plates [2-3], has been adapted for use in testing steel tubing for longitudinal fatigue cracks. The modified design allows for the probe to be placed axisymmetrically into the tubing, inducing eddy currents in the tube wall. The pickup coil of the probe is fixed slightly below the primary windings and is rotated 90 so that its axis is normal to the tube wall. The magnetic flux of the primary coil is focused through the use of ferromagnetic material so that in the absence of fatigue damage there will be no flux linkage with the pickup coil. The presence of a longitudinal fatigue crack will cause the eddy currents induced in the tube wall to flow around the flaw and directly under the pickup coil. The magnetic field associated with these currents will then link the pickup coil and an unambiguous increase in the output voltage of the probe will be measured. The use of the flux focusing electromagnetic probe is especially suited for the detection of flaws originating at or near tube welds. The probe is shown to discriminate against signals due solely to the weld joint so that flaw signals are not hidden in the background in these locations. Experimental and finite element modeling results are presented for the flaw detection capabilities of the probe in stainless steel tubes.

Wincheski, Buzz↗

Near-infrared emission-line images of three Herbig-Haro objects

Flux-calibrated imagery in five emission-line and four narrow-band continuum filters are presented for three classical Herbig-Haro (HH) objects, HH 7-11, HH 12, and HH 34. 1.64 micron forbidden Fe II emission is detected in all three objects whose intensity is typically 20 percent. This line should be an excellent tracer of shocked ionized gas in highly obscured regions. Extinction appears to be unimportant in determining the morphology of these HH object systems. No near-IR continuum emission was detected from any of the HH objects, implying that these regions do not contain embedded stars. At positions where the flow terminates against a large obstacle, there are significant offsets between the shocked flow material and the shocked ambient medium.

Stapelfeldt, Karl R.↗

Horizon Based Orientation Estimation for Planetary Surface Navigation

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

localization↗

An energy analysis of crack-initiation and arrest in epoxy

The objective of this work is to study fracture processes such as crack initiation and arrest in epoxy. A compact tension specimen with displacement-controlled loading is employed to observe multiple crack initiations and arrests. The energy release rate at crack initiation is significantly higher than that at crack arrest, as has been observed elsewhere. In this study, the difference between these energy release rates is found to depend on specimen size (scale effect), and is quantitatively related to the fracture surface morphology. The scale effect, similar to that in strength theory, is conventionally attributed to the statistics of defects which control the fracture process. Triangular shaped ripples, deltoids, are formed on the fracture surface of the epoxy during the slow sub-critical crack growth, prior to the smooth mirrorlike surface characteristic of fast cracks. The deltoids are complimentary on the two crack faces which excludes any inelastic deformation from consideration. The deltoids are analogous to the ripples created on a river surface downstream from a small obstacle. However, in spite of the expectation based on this analogy and the observed scale effect, there are no 'defects' at the apex of the deltoids detectable down to the 0.1 micron level. This suggests that the formation of deltoids during the slow process of subcritical crack growth is an intrinsic feature of the fracture process itself, triggered by inhomogeneity of material on a submicron scale. This inhomogeneity may be related to a fluctuation in the cross-link density of the epoxy.

Chudnovsky, A.↗

Plant Disease Detection: Exploring Applications in Hyperspectral Imaging and Machine Learning for Agriculture

The threat of crop disease on food security and agriculture is projected to escalate, leading to reduced crop yields, global economic loss, and endangered food availability to vulnerable populations. Early identification of plant disease is crucial to combatting the crisis but traditional manual methods for disease detection are laborious and may miss early signs of infection. The proposed solution suggests equipping a drone with a hyperspectral camera to collect images and analyzing the data with neural networks trained to flag and classify infected plants. This approach offers a faster, more accurate, and potentially more cost-effective alternative to current practices. While the expensive and complex nature of hyperspectral imaging (HSI) may be an obstacle to the adoption of the drone, rapidly advancing technologies compounded with rental-based usage may make these tools simpler, cheaper, and more accessible to a wider audience. The research further discusses the potential for automated flight paths and the expansion of disease detection to a broader range of crops.

plant disease detection↗

The MITy micro-rover: Sensing, control, and operation

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

Malafeew, Eric↗

Insect-Inspired Optical-Flow Navigation Sensors

Integrated circuits that exploit optical flow to sense motions of computer mice on or near surfaces ( optical mouse chips ) are used as navigation sensors in a class of small flying robots now undergoing development for potential use in such applications as exploration, search, and surveillance. The basic principles of these robots were described briefly in Insect-Inspired Flight Control for Small Flying Robots (NPO-30545), NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 61. To recapitulate from the cited prior article: The concept of optical flow can be defined, loosely, as the use of texture in images as a source of motion cues. The flight-control and navigation systems of these robots are inspired largely by the designs and functions of the vision systems and brains of insects, which have been demonstrated to utilize optical flow (as detected by their eyes and brains) resulting from their own motions in the environment. Optical flow has been shown to be very effective as a means of avoiding obstacles and controlling speeds and altitudes in robotic navigation. Prior systems used in experiments on navigating by means of optical flow have involved the use of panoramic optics, high-resolution image sensors, and programmable imagedata- processing computers.

Thakoor, Sarita↗

Planning for execution monitoring on a planetary rover

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.

Gat, Erann↗

Implicitly Coordinated Detect and Avoid Capability for Safe Autonomous Operation of Small UAS

As the airspace becomes increasingly shared by autonomous small Unmanned Aerial Systems (UAS), there would be a pressing need for coordination strategies so that aircraft can safely and independently maneuver around obstacles, geofences, and traffic aircraft. Explicitly coordinating resolution strategies for small UAS would require additional components such as a reliable vehicle-to-vehicle communication infrastructure and standardized protocols for information exchange that could significantly increase the cost of deploying small UAS in a shared airspace. This paper explores a novel approach that enables multiple aircraft to implicitly coordinate their resolution maneuvers. By requiring all aircraft to execute the proposed approach deterministically, it is possible for all of them to implicitly agree on the region of airspace each will be occupying in a given time interval. The proposed approach lends itself to the construction of a suitable feedback mechanism that enables the real-time execution of an implicitly conflict-free path in a closed-loop manner dealing with uncertainties in aircraft speed. If a network infrastructure is available, the proposed approach can also exploit the benefits of explicit information.

Balachandran, Swee↗