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NASA NTRS2003

GPS Position and Heading Circuitry for Ships

Circuit boards that contain radio-frequency (RF) and digital circuitry have been developed by NASA to satisfy a requirement of the Port of Houston Authority for relatively inexpensive Global Positioning System (GPS) receivers that indicate the azimuthal headings as well as the positions of ships. The receiver design utilizes the unique architecture of the Mitel commercial chip-set, which provides for an accurate GPS-based heading-determination device. The major components include two RF front ends (each connected to a separate antenna), a surface-acoustic-wave intermediate-frequency filter between second- and third-stage mixers, a correlator, and a reduced-instruction- set computer. One of the RF front ends operates as a master, the other as a slave. Both RF front ends share a 10-MHz sinusoidal clock oscillator, which provides for more accurate carrier phase measurements between the two antennas. The outputs of the RF front ends are subjected to conventional GPS processing. The commercial-based chip-set design approach provides an inexpensive open architecture GPS platform, which can be used in developing and implementing unique GPS-heading and attitude-determination algorithms for specific applications. The heading is estimated from the GPS position solutions of the two antennas by an algorithm developed specifically for this application. If a third (and preferably a fourth) antenna were added, it would be possible to estimate the attitude of the GPS receiver in three dimensions instead of only its heading in a horizontal plane.

Cooke, Michael P.↗

NASA NTRS1992

Experiments on active isolation using distributed PVDF error sensors

A control system based on a two-channel narrow-band LMS algorithm is used to isolate periodic vibration at low frequencies on a structure composed of a rigid top plate mounted on a flexible receiving plate. The control performance of distributed PVDF error sensors and accelerometer point sensors is compared. For both sensors, high levels of global reduction, up to 32 dB, have been obtained. It is found that, by driving the PVDF strip output voltage to zero, the controller may force the structure to vibrate so that the integration of the strain under the length of the PVDF strip is zero. This ability of the PVDF sensors to act as spatial filters is especially relevant in active control of sound radiation. It is concluded that the PVDF sensors are flexible, nonfragile, and inexpensive and can be used as strain sensors for active control applications of vibration isolation and sound radiation.

Lefebvre, S.↗

DOE OSTI2020

CSAPR2 CMAC 2.0 level c1 data.

Raw data from ARM precipitation radars must be corrected for atmospheric phenomena and instrument characteristics (e.g., attenuation, clutter) to retrieve precipitation properties. The Corrected Moments in Antenna Coordinates Version 2 (CMAC2) value-added product (VAP) is a set of algorithms and code that does such corrections, and it also retrieves precipitation quantities from the radar measurements. Similar to the X-SAPR radars at the ARM main site, C-SAPR2 radar data also needs corrections and improvements. CMAC 2.0 has been updated to work with the ARM C-SAPR 2 radar. Data and fields that have been processed to: correct for velocity aliasing, unfold and generate a cross-polarimetric phase difference that is monotonically increasing, removing impulses caused by non-uniform beam filling and phase shift on backscatter, recalculate specific differential phase using a 20-point Sobel filter on the aforementioned phase, correct for liquid path attenuation using the polarimetric signals, estimate rainfall rates at the gate using the specific attenuation. In addition, CMAC writes the data out into a community-standard format netCDF File using the CF/Radial conventions. The data are therefore compatible with new and existing National Center for Atmospheric Research (NCAR) tools such as RadXConvert for converting to a variety of popular file formats.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2011

Magnetospheric Multiscale (MMS) Mission Attitude Ground System Design

This paper presents an overview of the attitude ground system (AGS) currently under development for the Magnetospheric Multiscale (MMS) mission. The primary responsibilities for the MMS AGS are definitive attitude determination, validation of the onboard attitude filter, and computation of certain parameters needed to improve maneuver performance. For these purposes, the ground support utilities include attitude and rate estimation for validation of the onboard estimates, sensor calibration, inertia tensor calibration, accelerometer bias estimation, center of mass estimation, and production of a definitive attitude history for use by the science teams. Much of the AGS functionality already exists in utilities used at NASA's Goddard Space Flight Center with support heritage from many other missions, but new utilities are being created specifically for the MMS mission, such as for the inertia tensor, accelerometer bias, and center of mass estimation. Algorithms and test results for all the major AGS subsystems are presented here.

Sedlak, Joseph E.↗

DOE OSTI2022

Data augmentation for disruption prediction via robust surrogate models

The goal of this work is to generate large statistically representative data sets to train machine learning models for disruption prediction provided by data from few existing discharges. Such a comprehensive training database is important to achieve satisfying and reliable prediction results in artificial neural network classifiers. Here, we aim for a robust augmentation of the training database for multivariate time series data using Student t process regression. We apply Student t process regression in a state space formulation via Bayesian filtering to tackle challenges imposed by outliers and noise in the training data set and to reduce the computational complexity. Thus, the method can also be used if the time resolution is high. We use an uncorrelated model for each dimension and impose correlations afterwards via colouring transformations. We demonstrate the efficacy of our approach on plasma diagnostics data of three different disruption classes from the DIII-D tokamak. To evaluate if the distribution of the generated data is similar to the training data, we additionally perform statistical analyses using methods from time series analysis, descriptive statistics and classic machine learning clustering algorithms.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2022

Data augmentation for disruption prediction via robust surrogate models

The goal of this work is to generate large statistically representative datasets to train machine learning models for disruption prediction provided by data from few existing discharges. Such a comprehensive training database is important to achieve satisfying and reliable prediction results in artificial neural network classifiers. Here, we aim for a robust augmentation of the training database for multivariate time series data using Student-t process regression. We apply Student-t process regression in a state space formulation via Bayesian filtering to tackle challenges imposed by outliers and noise in the training data set and to reduce the computational complexity. Thus, the method can also be used if the time resolution is high. We use an uncorrelated model for each dimension and impose correlations afterwards via coloring transformations. We demonstrate the efficacy of our approach on plasma diagnostics data of three different disruption classes from the DIII-D tokamak. To evaluate if the distribution of the generated data is similar to the training data, we additionally perform statistical analyses using methods from time series analysis, descriptive statistics, and classic machine learning clustering algorithms.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1987

Sensitivity method for integrated structure/active control law design

The development is described of an integrated structure/active control law design methodology for aeroelastic aircraft applications. A short motivating introduction to aeroservoelasticity is given along with the need for integrated structures/controls design algorithms. Three alternative approaches to development of an integrated design method are briefly discussed with regards to complexity, coordination and tradeoff strategies, and the nature of the resulting solutions. This leads to the formulation of the proposed approach which is based on the concepts of sensitivity of optimum solutions and multi-level decompositions. The concept of sensitivity of optimum is explained in more detail and compared with traditional sensitivity concepts of classical control theory. The analytical sensitivity expressions for the solution of the linear, quadratic cost, Gaussian (LQG) control problem are summarized in terms of the linear regulator solution and the Kalman Filter solution. Numerical results for a state space aeroelastic model of the DAST ARW-II vehicle are given, showing the changes in aircraft responses to variations of a structural parameter, in this case first wing bending natural frequency.

Gilbert, Michael G.↗

NASA NTRS1999

Autonomous Formation Flying from Ground to Flight

The cost of on-orbit operations remains a significant and increasingly visible concern in the support of satellite missions. Headway has been made in automating some ground operations; however, increased mission complexity and more precise orbital constraints have compelled continuing human involvement in mission design and maneuver planning operations. AI Solutions, Inc. in cooperation with the National Aeronautics and Space Administration's (NASA) Goddard Space Flight Center (GSFC) has tackled these more complex problems through the development of AutoCon as a tool for an automated solution. NASA is using AutoCon to automate the maneuver planning for the Earth Orbiter-1 (EO-1) mission. AutoCon was developed originally as a ground system tool. The EO-1 mission will be using a scaled version of AutoCon on-board the EO-1 satellite to command orbit adjustment maneuvers. The flight version of AutoCon plans maneuvers based on formation flying algorithms developed by GSFC, JPL, and other industry partners. In its fully autonomous mode, an AutoCon planned maneuver will be executed on-board the satellite without intervention from the ground. This paper describes how AutoCon automates maneuver planning for the formation flying constraints of the EO-1 mission. AutoCon was modified in a number of ways to automate the maneuver planning on-board the satellite. This paper describes how the interface and functionality of AutoCon were modified to support the on-board system. A significant component of this modification was the implementation of a data smoother, based on a Kalman filter, that ensures that the spacecraft states estimated by an on-board GPS receiver are as accurate as possible for maneuver planning. This paper also presents the methodology use to scale the AutoCon functionality to fit and execute on the flight hardware. This paper also presents the modes built that allow the incremental phasing in of autonomy. New technologies for autonomous operations are usually received with significant, and probably appropriate trepidation. A number of safeguards have been designed in both AutoCon and the interfacing systems to alleviate the potential of mission-impacting anomalies from the on-board autonomous system. This paper describes the error checking, input data integrity validation and limits set on maneuvers in AutoCon and the on-board system.

Chapman, Keith B.↗

NASA NTRS2014

A Spatially Coherent Global Soil Moisture Product with Improved Temporal Resolution

Global soil moisture products that are completely independent of any type of ancillary data and solely rely on satellite observations are presented. Additionally, we further develop an existing downscaling technique that enhances the spatial resolution of such products to approximately 11 km. These products are based on internal modules of the Land Parameter Retrieval Model (LPRM), an algorithm that uses the radiative transfer equation to link soil moisture, vegetation optical depth and land surface temperature to observed brightness temperatures. The soil moisture product that is independent of any type of ancillary data uses the internally calculated dielectric constant as a soil moisture proxy. This data product is not influenced by errors associated with coarse-scale global soil property maps or by any other type of forcing (e.g. re-analysis) data and is therefore solely based on satellite microwave observations. The second step builds upon recent developments to increase the spatial resolution of the LPRM retrievals using a smoothing filter downscaling method. With this method we can attain a spatial resolution that can be more useful at the scale of local and regional hydrological studies as well. The steps presented in this paper were applied to observations from the Advanced Microwave Scanning Radiometer-Earth Observing System (AMSR-E). The newly derived data sets were validated using ground-based observations from the International Soil Moisture Network (ISMN). The internally calculated dielectric constant product results in significantly more days with valid retrievals than the original soil moisture data products, in particular over arid regions. The dielectric constant product resulted in similar correlations with in situ data as the original soil moisture data product. Together, these findings demonstrate the usefulness of this new dielectric constant product for the hydrological modeling community and climate studies. A case study on the Australian Fitzroy catchment demonstrated that the downscaled data product has a more detailed spatial description of soil moisture, especially during wet and dry conditions with more pronounced dry and wet regions within the catchment. The increased resolution data products could therefore improve runoff predictions and this study demonstrated the potential added value of a transitioning from a spatial resolution of 56 km toward a higher resolution of 11 km. The hydrological implications of these newly developed data records are not only linked to AMSR-E satellite data, but also to the next generation Soil Moisture Active and Passive (SMAP) mission where a 9 km spatial resolution is the target resolution for satellite soil moisture products. The new data products will not replace the current LPRM products, but will be added to the existing array of data products and will become publicly available through our data portals.

spatial↗

DOE OSTI2022

Nanoindentation mapping defects filtration for heterogeneous materials using generative adversarial networks

Advanced composite materials with multiple phases and heterogeneous microstructure necessitate spatial mapping characterization of elastic modulus to develop constitutive relations and overall mechanical response. Such modulus mapping can be obtained using the nanoindentation technique, where the indenter tip raster over the selected microstructure region. Typically, a surface preparation procedure is done in the specimens to ensure proper contact between the indenter tip and sample surface. However, a near-perfect surface finish is unachievable in heterogeneous materials, primarily with ceramic reinforcements, due to the differential material removal rate during polishing. Thus, the nanoindenter records localized erroneous measurements due to differences in surface roughness and corresponding force response. This study establishes a novel deep learning-based strategy to rectify incorrect experimental spatial measurements acquire during nanoindentation modulus mapping. Here, the integrated bicubic interpolation and generative adversarial networks (GANs) model was trained using 14 ceramic and 18 metallic data sets, each comprising 65,536 measurements. The developed algorithm was validated against experimental measurements on four unknown specimens. The standard deviation in measured elastic modulus reduces by ~50% in ceramics and ~72% in metallic samples. This computational framework proposes a novel approach to reducing uncertainty in materials’ properties using state-of-the-art computer vision techniques.

36 MATERIALS SCIENCE↗

DOE OSTI2019

ALTSched: Improved Scheduling for Time-domain Science with LSST

Abstract Telescope scheduling is the task of determining the best sequence of observations (pointings and filter choices) for a survey system. Because it is computationally intractable to optimize over all possible multiyear sequences of observations, schedulers use heuristics to pick the best observation at a given time. A greedy scheduler selects the next observation by choosing whichever one maximizes a scalar merit function, which serves as a proxy for the scientific goals of the telescope. This sort of bottom-up approach for scheduling is not guaranteed to produce a schedule for which the sum of merit over all observations is maximized. As an alternative to greedy schedulers, we introduce ALTS ched, which takes a top-down approach to scheduling. Instead of considering only the next observation, ALTS ched makes global decisions about which area of sky and which filter to observe in, and then refines these decisions into a sequence of observations taken along the meridian to minimize airmass. We implement ALTS ched for the Large Synoptic Survey Telescope (LSST) and show that it equals or outperforms the baseline greedy scheduler in essentially all quantitative performance metrics. Due to its simplicity, our implementation is considerably faster than O p S im , the simulated greedy scheduler currently used by the LSST Project: a full 10-yr survey can be simulated in 4 minutes, as opposed to tens of hours for O p S im . LSST’s hardware is fixed, so improving the scheduling algorithm is one of the only remaining ways to optimize LSST’s performance. We see ALTS ched as a prototype scheduler that gives a lower bound on the performance achievable by LSST.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1986

Constructing a coherent long-term global total ozone climatology from the BUV, MFR, and SBUV/TOMS data sets

Multichannel Filter Radiometer (MFR) data are intercompared with Solar Backscattered Ultraviolet (SBUV) and Total Ozone Mapping Spectrometer (TOMS) data during a five-month period of their data overlap in order to determine the usefulness of MFR data to represent the SBUV/TOMS and backscatter ultraviolet spectrometer data during their data gap period. Total ozone differences found were latitudinally and monthly dependent. Average differences between the TOMS and the MFR ozone data vary from -12.4 to +13.3 percent, with differences in the tropical to middle latitudes generally between + or - 4 percent. Biases between the data sets can be removed for certain latitude zones by applying an appropriate algorithm to the MFR ozone data.

Ellis, J. S.↗

DOE OSTI2018

Advanced trust region optimization strategies for glass box / black box models

We present an improved trust region filter (TRF) method for optimization of combined glass box/black box systems. Glass box systems refer to models that are easily expressed in an algebraic modeling language, providing cheap and accurate derivative information. By contrast, black box systems may be computationally expensive and derivatives are unavailable. The TRF method, as first introduced in our previous work (Eason and Biegler, AIChE J . 2016; 62:3124–3136), is able to handle hybrid systems containing both glass and black box components, which can frequently arise in chemical engineering, for example, when a multiphase reactor model is included in a flow sheet optimization problem. We discuss several recent modifications in the algorithm such as the sampling region, which maintains the algorithm's global convergence properties without requiring the trust region to shrink to zero in the limit. To benchmark the development of this optimization method, a test set of problems is generated based on modified problems from the CUTEr and COPS sets. The modified algorithm demonstrates improved performance using the test problem set. Finally, the algorithm is implemented within the Pyomo environment and demonstrated on a rigorous process optimization case study for carbon capture. © 2018 American Institute of Chemical Engineers AIChE J , 64: 3934–3943, 2018

Eason, John P.↗

NASA NTRS1999

Hybrid Active-Passive Systems for Control of Aircraft Interior Noise

Previous work has demonstrated the large potential for hybrid active-passive systems for attenuating interior noise in aircraft fuselages. The main advantage of an active-passive system is, by utilizing the natural dynamics of the actuator system, the control actuator power and weight is markedly reduced and stability/robustness is enhanced. Three different active-passive approaches were studied in the past year. The first technique utilizes multiple tunable vibration absorbers (ATVA) for reducing narrow band sound radiated from panels and transmitted through fuselage structures. The focus is on reducing interior noise due to propeller or turbo fan harmonic excitation. Two types of tunable vibration absorbers were investigated; a solid state system based upon a piezoelectric mechanical exciter and an electromechanical system based upon a Motran shaker. Both of these systems utilize a mass-spring dynamic effect to maximize tile output force near resonance of the shaker system and so can also be used as vibration absorbers. The dynamic properties of the absorbers (i.e. resonance frequency) were modified using a feedback signal from an accelerometer mounted on the active mass, passed through a compensator and fed into the drive component of the shaker system (piezoelectric element or voice coil respectively). The feedback loop consisted of a two coefficient FIR filter, implemented on a DSP, where the input is acceleration of tile ATVA mass and the output is a force acting in parallel with the stiffness of the absorber. By separating the feedback signal into real and imaginary components, the effective natural frequency and damping of the ATVA can be altered independently. This approach gave control of the resonance frequencies while also allowing the simultaneous removal of damping from the ATVA, thus increasing the ease of controllability and effectiveness. In order to obtain a "tuned" vibration absorber the chosen resonant frequency was set to the excitation frequency. In order to minimize sound radiation a gradient descent algorithm was developed which globally adapted the resonance frequencies of multiple ATVA's while minimizing a cost based upon the radiated sound power or sound energy obtained from an array of microphones.

Fuller, Chris R.↗

NASA NTRS1999

Autonomous Formation Flying from the Ground to Flight

The cost of on-orbit operations remains a significant and increasingly visible concern in the support of satellite missions. Headway has been made in automating some ground operations; however, increased mission complexity and more precise orbital constraints have compelled continuing human involvement in mission design and maneuver planning operations. AI Solutions, Inc. in cooperation with the National Aeronautics and Space Administration's (NASA) Goddard Space Flight Center (GSFC) has tackled these more complex problems through the development of AutoCon(TM) as a tool for an automated solution. NASA is using AutoCon(TM) to automate the maneuver planning for the Earth Orbiter-1 (EO-1) mission. AutoCon(TM) was developed originally as a ground system tool. The EO-1 mission will be using a scaled version of AutoCon(TM) on-board the EO-1 satellite to command orbit adjustment maneuvers. The flight version of AutoCon(TM) plans maneuvers based on formation flying algorithms developed by GSFC, JPL, and other industry partners. In its fully autonomous mode, an AutoCon(TM) planned maneuver will be executed on-board the satellite without intervention from the ground. This paper describes how AutoCon(TM) automates maneuver planning for the formation flying constraints of the EO-1 mission. AutoCon(TM) was modified in a number of ways to automate the maneuver planning on-board the satellite. This paper describes how the interface and functionality of AutoCon(TM) were modified to support the on-board system. A significant component of this modification was the implementation of a data smoother, based on a Kalman filter, that ensures that the spacecraft states estimated by an on-board GPS receiver are as accurate as possible for maneuver planning. This paper also presents the methodology used to scale the AutoCon(TM) functionality to fit and execute on the flight hardware. This paper also presents the modes built into the system that allow the incremental phasing in of autonomy. New technologies for autonomous operations are usually received with significant, and probably appropriate, trepidation. A number of safeguards have been designed in both AutoCon(TM) and the interfacing systems to alleviate the potential of mission-impacting anomalies from the on-board autonomous system. This paper describes the error checking, input data integrity validation, and limits set on maneuvers in AutoCon(TM) and the on-board system.

Chapman, Keith B.↗

DOE OSTI2023

ORNL_AISD_NiPt

This dataset describes the nickel-platinum (NiPt) solid solution binary alloy, where the two constituent elements nickel (Ni) and platinum (Pt) are randomly placed on the face centered cubic (FCC) crystal structure, with the lattice constant of 3.840 angstroms. The dataset comprises data for three different sizes of the crystal structure: 256 atoms, 864 atoms, and 2,048 atoms, each of which contains 1900 configurations. For each size of the crystal structure, the data set was generated for concentrations ranging from 0at% of Pt to 100at% of Pt in the NiPt binary system, with increasing the concentration of Pt in the system every 5at%. For each one of the chemical compositions, 100 random configurations were generated, each with a different random seed. Each of the output files contains the mass, type, atomic coordinates, energy per atom, and forces in x, y, and z directions respectively. For each atomic configuration, the output was collected every 150 steps during the minimization stage and every 1000 steps during the replica exchange stage. Large-scale Atomic/Molecular Massively Parallel Simulator (LAMMPS) [1], which is a molecular dynamics code, was used to generate data for NiPt alloy. The simulation used the interatomic potential for NiPt binary system MEAM_LAMMPS_KimSeolJi_2017_PtNi__MO_020840179467_001 [3] from the OpenKIM library (Open Knowledgebase of Interatomic Models) [2]. This potential was developed based on the second nearest-neighbor modified embedded-atom method (2NN MEAM). The simulation process begins with the generation of the random NiPt structure and follows with the short minimization and replica exchange simulation. The minimization procedure adjusts atomic coordinates and performs energy minimization, which typically leads to a local potential energy minimum. The method used for the minimization was the conjugate gradient algorithm. A short replica exchange (parallel tempering) simulation involves four replicas (ensembles) of a system and follows the minimization stage. Multiple snapshots of the configuration were collected during the minimization and replica exchange stages. NiPt alloy is interesting due to its magnetic and charge transfer properties [4]. The data is provided in three compressed zipped folders: atoms256.zip, atoms864.zip, atoms2048.zip Each zipped folder contains the data that describes crystals of size 256 atoms, 864 atoms, and 2,048 atoms respectively. Each one of the three zipped folders contains the data structured in the following way: -Ni_ground_state.cfg --> atomic configuration for the pure nickel -Pt_ground_state.cfg --> atomic configuration for the pure platinum -Pt#_filtered --> folders containing atomic configurations for #at% concentration of platinum. The folder contains 100 atomic configurations, each saved in a subfolder. Each subfolder named config* is associated with a specific atomic configuration. Each of these subfolders contains files with .cfg format, corresponding to outputs for each atomic configuration The total number of atomic configurations contained in atoms256.zip is 65,046. The total number of atomic configurations contained in atoms864.zip is 63,936. The total number of atomic configurations contained in atoms2048.zip is 61,997. The total number of atomic configurations spanned by the entire dataset is 190,979. References [1] https://www.lammps.org/ [2] https://openkim.org/ [3] https://openkim.org/id/MEAM_LAMMPS_KimSeolJi_2017_PtNi__MO_020840179467_001 [4] El-Gendy, Ahmed A. and Hampel, Silke and Büccchner, Bernd and Klingeler, Rüdiger, Tuneable magnetic properties of carbon-shielded NiPt-nanoalloys, RSC Adv., volume 6, issue 57, pages 52427-52433, 2016, The Royal Society of Chemistry, doi:10.1039/C6RA05910D

36 MATERIALS SCIENCE↗

NASA NTRS2002

Spectral Re-Growth Reduction for CCSDS 8-D 8-PSK TCM

This report presents a study on the CCSDS recommended 8-dimensional 8 PSK Trellis Coded Modulation (TCM) scheme. The important steps of the CCSDS scheme include: conversion of serial data into parallel form, differential encoding, convolutional encoding, constellation mapping, and filtering the 8-PSK symbols using the square root raised cosine (SRRC) pulses. The last step, namely the filtering of the 8 PSK symbols using SRRC pulses, significantly affects the bandwidth of the signal. If a nonlinear power amplifier is used, the SRRC filtered signal creates spectral regrowth. The purpose of this report is to investigate a technique, called the smooth phase interpolated keying (SPIK), that can provide an alternative to SRRC filtering so that good spectral as well as power efficiencies can be obtained with the CCSDS encoder. The results of this study show that the CCSDS encoder does not affect the spectral shape of the SRRC filtered signal or the SPIK signal. When a nonlinear traveling wave tube amplifier (TWTA) is used, the spectral performance of the SRRC signal degrades significantly while the spectral performance of SPIK remains unaffected. The degrading effect of a nonlinear solid state power amplifier (SSPA) on SRRC is found to be less than that due to a nonlinear TWTA. However, in both cases, the spectral performance of the SRRC modulated signal is worse than that of the SPIK signal. The bit error rate (BER) performance of the SRRC signal in a linear amplifier environment is about 2.5 dB better than that of the SPIK signal when both the receivers use algorithms of similar complexity. In a nonlinear TWTA environment, the SRRC signal requires accurate phase tracking since the TWTA introduces additional phase distortion. This problem does not arise with SPIK signal due to its constant envelope property. When a nonlinear amplifier is used, the SRRC method loses nearly 1 dB in the bit error rate performance. The SPIK signal does not lose any performance. Thus the performance gap between SRRC and SPIK reduces. The BER performance of SPIK can be improved even further by using a more optimal receiver. A similar optimal receiver for SRRC is quite complex since the amplifier distorts the pulse shape. However, this requires further investigation and is not covered in this report.

Borah, Deva K.↗

NASA NTRS2003

EVA Robotic Assistant Project: Platform Attitude Prediction

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Nickels, Kevin M.↗