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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Integrating Terrain Maps Into a Reactive Navigation Strategy

An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.

Howard, Ayanna↗
NASA NTRS1992

Using qualitative maps to direct reactive robots

The principal advantage of mobile robots is that they are able to go to specific locations to perform useful tasks rather than have the tasks brought to them. It is important therefore that the robot be used to reach desired locations efficiently and reliably. A mobile robot whose environment extends significantly beyond its sensory horizon must maintain a representation of the environment, a map, in order to attain these efficiency and reliability requirements. We believe that qualitative mapping methods provide useful and robust representation schemes and that such maps may be used to direct the actions of a reactively controlled robot. In this paper we describe our experience in employing qualitative maps to direct, through the selection of desired control strategies, a reactive-behavior based robot. This mapping capability represents the development of one aspect of a successful deliberative/reactive hybrid control architecture.

Bertin, Randolph↗
NASA NTRS2016

Stereo Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Image Space Represntation

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for on-board obstacle avoidance for safe operation. Prior approaches can be divided between purely reactive approaches, mapping low-level visual features directly to headings to maneuver the vehicle around the obstacle, and deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image space representation, which supports very efficient motion planning and collision-checking. Configuration space expansion is done very efficiently on the egocylinder as an image processing function. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.

Micro air vehicles↗
NASA NTRS2006

NASA Tech Briefs, June 2006

Topics covered include: Magnetic-Field-Response Measurement-Acquisition System; Platform for Testing Robotic Vehicles on Simulated Terrain; Interferometer for Low-Uncertainty Vector Metrology; Rayleigh Scattering for Measuring Flow in a Nozzle Testing Facility; "Virtual Feel" Capaciflectors; FETs Based on Doped Polyaniline/Polyethylene Oxide Fibers; Miniature Housings for Electronics With Standard Interfaces; Integrated Modeling Environment; Modified Recursive Hierarchical Segmentation of Data; Sizing Structures and Predicting Weight of a Spacecraft; Stress Testing of Data-Communication Networks; Framework for Flexible Security in Group Communications; Software for Collaborative Use of Large Interactive Displays; Microsphere Insulation Panels; Single-Wall Carbon Nanotube Anodes for Lithium Cells; Tantalum-Based Ceramics for Refractory Composites; Integral Flexure Mounts for Metal Mirrors for Cryogenic Use; Templates for Fabricating Nanowire/Nanoconduit- Based Devices; Measuring Vapors To Monitor the State of Cure of a Resin; Partial-Vacuum-Gasketed Electrochemical Corrosion Cell; Theodolite Ring Lights; Integrating Terrain Maps Into a Reactive Navigation Strategy; Reducing Centroid Error Through Model-Based Noise Reduction; Adaptive Modeling Language and Its Derivatives; Stable Satellite Orbits for Global Coverage of the Moon; and Low-Cost Propellant Launch From a Tethered Balloon

Source record↗
NASA NTRS2004

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

autonomous↗
NASA NTRS2001

L-NAME, a nitric oxide synthase inhibitor, as a potential countermeasure to post-suspension hypotension in rats

A large number of astronauts returning from spaceflight experience orthostatic hypotension. This hypotension may be due to overproduction of vasodilatory mediators, such as nitric oxide (NO) and prostaglandins. To evaluate the role of the NO synthase inhibitor NG-nitro-L-arginine methyl ester (L-NAME) as a countermeasure against the post-suspension reduction in mean arterial pressure (MAP), we assessed the cardiovascular responses and vascular reactivity to 7-day 30 degrees tail-suspension and a subsequent 6 hr post-suspension period in conscious rats. After a pre-suspension reading, direct MAP and heart rate (HR) were measured daily and every 2 hrs post-suspension. The NO synthase inhibitor L-NAME (20 mg/kg, i.v.), or saline, were administered after the 7th day reading prior to release from suspension and at 2 and 4 hrs post-suspension. At 6 hrs post-suspension, vascular reactivity was assessed. While MAP did not change during the suspension period, it was reduced post-suspension. Heart rate was not significantly altered. L-NAME administration reversed the post-suspension reduction in MAP. In addition, the baroreflex sensitivity for heart rate was modified by L-NAME. Thus, the post-suspension reduction in MAP may be due to overproduction of NO and altered baroreflex activity.

NASA Discipline Cardiopulmonary↗
NASA NTRS1990

Catalytic ignition model in a monolithic reactor with in-depth reaction

Two transient models have been developed to study the catalytic ignition in a monolithic catalytic reactor. The special feature in these models is the inclusion of thermal and species structures in the porous catalytic layer. There are many time scales involved in the catalytic ignition problem, and these two models are developed with different time scales. In the full transient model, the equations are non-dimensionalized by the shortest time scale (mass diffusion across the catalytic layer). It is therefore accurate but is computationally costly. In the energy-integral model, only the slowest process (solid heat-up) is taken as nonsteady. It is approximate but computationally efficient. In the computations performed, the catalyst is platinum and the reactants are rich mixtures of hydrogen and oxygen. One-step global chemical reaction rates are used for both gas-phase homogeneous reaction and catalytic heterogeneous reaction. The computed results reveal the transient ignition processes in detail, including the structure variation with time in the reactive catalytic layer. An ignition map using reactor length and catalyst loading is constructed. The comparison of computed results between the two transient models verifies the applicability of the energy-integral model when the time is greater than the second largest time scale of the system. It also suggests that a proper combined use of the two models can catch all the transient phenomena while minimizing the computational cost.

Tien, Ta-Ching↗
NASA NTRS1989

Integrating planning and reactive control

Artificial intelligence research on planning is concerned with designing control systems that choose actions by manipulating explicit descriptions of the world state, the goal to be achieved, and the effects of elementary operations available to the system. Because planning shifts much of the burden of reasoning to the machine, it holds great appeal as a high-level programming method. Experience shows, however, that it cannot be used indiscriminately because even moderately rich languages for describing goals, states, and the elementary operators lead to computational inefficiencies that render the approach unsuitable for realistic applications. This inadequacy has spawned a recent wave of research on reactive control or situated activity in which control systems are modeled as reacting directly to the current situation rather than as reasoning about the future effects of alternative action sequences. While this research has confronted the issue of run-time tractability head on, in many cases it has done so by sacrificing the advantages of declarative planning techniques. Ways in which the two approaches can be unified are discussed. The authors begin by modeling reactive control systems as state machines that map a stream of sensory inputs to a stream of control outputs. These machines can be decomposed into two continuously active subsystems: the planner and the execution module. The planner computes a plan, which can be seen as a set of bits that control the behavior of the execution module. An important element of this work is the formulation of a precise semantic interpretation for the inputs and outputs of the planning system. They show that the distinction between planned and reactive behavior is largely in the eye of the beholder: systems that seem to compute explicit plans can be redescribed in situation-action terms and vice versa. They also discuss practical programming techniques that allow the advantages of declarative programming and guaranteed reactive response to be achieved simultaneously.

Rosenschein, Stanley J.↗
NASA NTRS1987

A test of the hypothesis that impact-induced fractures are preferred sites for later tectonic activity

Impact cratering has been an important process in the solar system. The cratering event is generally accompanied by faulting in adjacent terrain. Impact-induced faults are nearly ubiquitous over large areas on the terrestrial planets. The suggestion is made that these fault systems, particularly those associated with the largest impact features are preferred sites for later deformation in response to lithospheric stresses generated by other processes. The evidence is a perceived clustering of orientations of tectonic features either radial or concentric to the crater or basin in question. An opportunity exists to test this suggestion more directly on Earth. The terrestrial continents contain more than 100 known or probable impact craters, with associated geological structures mapped to varying levels of detail. Prime facie evidence for reactivation of crater-induced faults would be the occurrence of earthquakes on these faults in response to the intraplate stress field. Either an alignment of epicenters with mapped fault traces or fault plane solutions indicating slip on a plane approximately coincident with that inferred for a crater-induced fault would be sufficient to demonstrate such an association.

Solomon, Sean C.↗
NASA NTRS1994

The real-world navigator

The success of every mobile robot application hinges on the ability to navigate robustly in the real world. The problem of robust navigation is separable from the challenges faced by any particular robot application. We offer the Real-World Navigator as a solution architecture that includes a path planner, a map-based localizer, and a motion control loop that combines reactive avoidance modules with deliberate goal-based motion. Our architecture achieves a high degree of reliability by maintaining and reasoning about an explicit description of positional uncertainty. We provide two implementations of real-world robot systems that incorporate the Real-World Navigator. The Vagabond Project culminated in a robot that successfully navigated a portion of the Stanford University campus. The Scimmer project developed successful entries for the AIAA 1993 Robotics Competition, placing first in one of the two contests entered.

Balabanovic, Marko↗
NASA NTRS1999

Quantifying BRDF Effects in Comparing Landsat-7 and AVIRIS Near-Simultaneous Acquisitions for Studies of High Plains Vegetation Cover

Approximately 100,000 sq. km of the High Plains of the central United States are covered by sand dunes and sand sheets deposited during the Holocene. Soil-dating evidence shows that there were at least four periods of dune reactivation during major droughts in the last 10,000 years. The dunes in this region are anchored by vegetation. We have undertaken a study of land-use change in the High Plains from 1985 to the present using Landsat 5 TM and Landsat 7 ETM+ images to map variation in vegetation cover during wet and dry years. Mapping vegetation cover of less than 20% is important in modeling potential surface reactivation since at this level the vegetation no longer sufficiently shields sandy surfaces from movement by wind. Landsat TM data have both the spatial resolution and temporal coverage to facilitate vegetation cover analysis for model development and verification. However, there is still the question of how accurate TM data are for the measurement of both growing and senescent vegetation in and and semi-arid regions. AVIRIS provides both high spectral resolution as well as high signal-to-noise ratio and can be used to test the accuracy of Landsat TM and ETM+ data. We have analyzed data from AVIRIS flown nearly concurrently with a Landsat 7 overpass. The comparison between an AVIRIS image swath of 11 km width subtending a 30 deg. angle and the same area covered by a 0.8 deg. angle from Landsat required accounting for the BRDF. A normalization technique using the ratio of the reflectances from registered AVIRIS and Landsat data proved superior to the techniques of column averaging on AVIRIS data alone published previously by Kennedy et al. This technique can be applied to aircraft data covering a wider swath angle than AVIRIS to develop BRDF responses for a wide variety of surfaces more efficiently than from ground measurements.

Goetz, A. F. H.↗
NASA NTRS2017

Gaussian Mixture Models for Temporal Depth Fusion

Sensing the 3D environment of a moving robot is essential for collision avoidance. Most 3D sensors produce dense depth maps, which are subject to imperfections due to various environmental factors. Temporal fusion of depth maps is crucial to overcome those. Temporal fusion is traditionally done in 3D space with voxel data structures, but it can be approached by temporal fusion in image space, with potential benefits in reduced memory and computational cost for applications like reactive collision avoidance for micro air vehicles. In this paper, we present an efficient Gaussian Mixture Models based depth map fusion approach, introducing an online update scheme for dense representations. The environment is modeled from an ego-centric point of view, where each pixel is represented by a mixture of Gaussian inverse-depth models. Consecutive frames are related to each other by transformations obtained from visual odometry. This approach achieves better accuracy than alternative image space depth map fusion techniques at lower computational cost.

Matthies, Larry↗
NASA NTRS1971

Dynamics of heat-pipe reactors

A split-core heat pipe reactor, fueled with either U(233)C or U(235)C in a tungsten cermet and cooled by 7-Li-W heat pipes, was examined for the effects of the heat pipes on reactor while trying to safely absorb large reactivity inputs through inherent shutdown mechanisms. Limits on ramp reactivity inputs due to fuel melting temperature and heat pipe wall heat flux were mapped for the reactor in both startup and at-power operating modes.

Niederauer, G. F.↗
NASA NTRS1998

Head-down-tilt bed rest alters forearm vasodilator and vasoconstrictor responses

To test the hypothesis that head-down-tilt bed rest (HDBR) for 14 days alters vascular reactivity to vasodilatory and vasoconstrictor stimuli, the reactive hyperemic forearm blood flow (RHBF, measured by venous occlusion plethysmography) and mean arterial pressure (MAP, measured by Finapres) responses after 10 min of circulatory arrest were measured in a control trial (n = 20) and when sympathetic discharge was increased by a cold pressor test (RHBF + cold pressor test; n = 10). Vascular conductance (VC) was calculated (VC = RHBF/MAP). In the control trial, peak RHBF at 5 s after circulatory arrest (34.1 +/- 2.5 vs. 48.9 +/- 4.3 ml . 100 ml-1 . min-1) and VC (0.34 +/- 0.02 vs. 0.53 +/- 0.05 ml . 100 ml-1 . min-1 . mmHg-1) were reduced in the post- compared with the pre-HDBR tests (P < 0. 05). Total excess RHBF over 3 min was diminished in the post- compared with the pre-HDBR trial (84.8 vs. 117 ml/100 ml, P < 0.002). The ability of the cold pressor test to lower forearm blood flow was less in the post- than in the pre-HDBR test (P < 0.05), despite similar increases in MAP. These data suggest that regulation of vascular dilation and the interaction between dilatory and constrictor influences were altered with bed rest.

NASA Discipline Musculoskeletal↗
NASA NTRS1971

Dynamics of heat-pipe reactors.

A split-core heat-pipe reactor fueled with either 233-UC or 235-UC in a tungsten cermet and cooled by 7-Li-W heat pipes is examined for the effects of the heat pipes on this reactor in trying to safely absorb large reactivity inputs through inherent shutdown mechanisms. Limits on ramp reactivity inputs due to fuel-melting temperature and heat-pipe wall heat flux are mapped for the reactor in both startup and at-power operating modes.

Niederauer, G. F.↗
NASA NTRS2002

Mapping the Potential for Eolian Surface Activity in Grasslands of the High Plains using Landsat Images

There are over 100,000 square kilometers of eolian sand dunes and sand sheets in the High Plains of the central United States. These land-forms may be unstable and may reactivate again as a result of land-use, climate change, or natural climatic variability. The main goal of this thesis was to develop a model that could be used to map an estimate of future dune activity. Multi-temporal calibrated Landsats 5 Thematic Mapper (TM) and 7 Enhanced Thematic Map per Plus (ETM+) NDVI imagery were used in conjunction with the CENTURY vegetation model to correlate vegetation cover to climatic variability. This allows the creation of a predicted vegetation map which, combined with current wind and soil data, was used to create a potential sand transport map for range land in the High Plains under drought conditions.

Gutmann, Ethan Dain↗
NASA NTRS2002

Land and Land-use Change in the Climate Sensitive High Plains: An Automated Approach with Landsat

The High Plains is an economically important and climatologically sensitive region of the United States and Canada. The High Plains contain 100,000 sq km of Holocene sand dunes and sand sheets that are currently stabilized by natural vegetation. Droughts and the larger threat of global warming are climate phenomena that could cause depletion of natural vegetation and make this region susceptible to sand dune reactivation. The original proposal was directed toward the use of Landsat TM data to establish the state and ongoing changes of the surface in the 1.2 million sq. km, semi-arid High Plains region of the central US, A key objective was to develop a model to predict the reactivation of the 100,000 sq. km of Holocene dunes found on the High Plains during an extended drought. At least one Landsat 5 image per year for 1985, 1988 and 1996 was obtained for 32 scenes on the High Plains to coincide with wet and dry years. Additional Landsat 7 data were acquired for 1999 and 2000 primarily for Colorado and Nebraska. As luck would have it, there was no severe drought during the study period 1985-2000. Attention was focused on developing methods for mapping dry vs. green vegetation on sparsely vegetated rangelands in sandy soils, since these were the areas most susceptible to surface reactivation during a drought.

Goetz, Alexander F.↗
NASA NTRS1994

A reactive system for open terrain navigation: Performance and limitations

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

Langer, D.↗