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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 NTRS2016

Avoiding Stair-Step Artifacts in Image Registration for GOES-R Navigation and Registration Assessment

In developing software for independent verification and validation (IVV) of the Image Navigation and Registration (INR) capability for the Geostationary Operational Environmental Satellite R Series (GOES-R) Advanced Baseline Imager (ABI), we have encountered an image registration artifact which limits the accuracy of image offset estimation at the subpixel scale using image correlation. Where the two images to be registered have the same pixel size, subpixel image registration preferentially selects registration values where the image pixel boundaries are close to lined up. Because of the shape of a curve plotting input displacement to estimated offset, we call this a stair-step artifact. When one image is at a higher resolution than the other, the stair-step artifact is minimized by correlating at the higher resolution. For validating ABI image navigation, GOES-R images are correlated with Landsat-based ground truth maps. To create the ground truth map, the Landsat image is first transformed to the perspective seen from the GOES-R satellite, and then is scaled to an appropriate pixel size. Minimizing processing time motivates choosing the map pixels to be the same size as the GOES-R pixels. At this pixel size image processing of the shift estimate is efficient, but the stair-step artifact is present. If the map pixel is very small, stair-step is not a problem, but image correlation is computation-intensive. This paper describes simulation-based selection of the scale for truth maps for registering GOES-R ABI images.

stair-step artifact↗
NASA NTRS2016

Avoiding Stair-Step Artifacts in Image Registration for GOES-R Navigation and Registration Assessment

In developing software for independent verification and validation (IVV) of the Image Navigation and Registration (INR) capability for the Geostationary Operational Environmental Satellite R Series (GOES-R) Advanced Baseline Imager (ABI), we have encountered an image registration artifact which limits the accuracy of image offset estimation at the subpixel scale using image correlation. Where the two images to be registered have the same pixel size, subpixel image registration preferentially selects registration values where the image pixel boundaries are close to lined up. Because of the shape of a curve plotting input displacement to estimated offset, we call this a stair-step artifact. When one image is at a higher resolution than the other, the stair-step artifact is minimized by correlating at the higher resolution. For validating ABI image navigation, GOES-R images are correlated with Landsat-based ground truth maps. To create the ground truth map, the Landsat image is first transformed to the perspective seen from the GOES-R satellite, and then is scaled to an appropriate pixel size. Minimizing processing time motivates choosing the map pixels to be the same size as the GOES-R pixels. At this pixel size image processing of the shift estimate is efficient, but the stair-step artifact is present. If the map pixel is very small, stair-step is not a problem, but image correlation is computation-intensive. This paper describes simulation-based selection of the scale for truth maps for registering GOES-R ABI images.

image registration↗
NASA NTRS1989

Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.

Slack, Marc G.↗
NASA NTRS2016

Stair-Step Particle Flux Spectra on the Lunar Surface: Evidence for Nonmonotonic Potentials?

We present examples of unusual "stair‐step" differential flux spectra observed by the Apollo 14 Suprathermal Ion Detector Experiment on the lunar dayside surface in Earth's magnetotail. These spectra exhibit a relatively constant differential flux below some cutoff energy and then drop off precipitously, by about an order of magnitude or more, at higher energies. We propose that these spectra result from photoions accelerated on the lunar dayside by nonmonotonic potentials (i.e.,potentials that do not decay to zero monotonically) and present a model for the expected differential flux. The energy of the cutoff and the magnitude of the differential flux are related to the properties of the local space environment and are consistent with the observed flux spectra. If this interpretation is correct, these surface‐based ion observations provide a unique perspective that both complements and enhances the conclusions obtained by remote‐sensing orbiter observations on the Moon's exospheric and electrostatic properties.

Stair-step↗
NASA NTRS2000

Vision-Guided Autonomous Stair Climbing

The Tactical Mobile Robot (TMR) program calls for autonomous mobility in an urban environment. Among all man-made structures which pose as barriers for a mobile robot, stairs are the most obvious and ubiquitous structure an autonomous urban robot needs to be able to handle.

Mobile↗
NASA NTRS2002

Multi-sensor, high speed autonomous stair climbing

In this paper we present the design and implementation of a new set of estimation and control algorithms that increase the speed and effectiveness of stair climbing.

mobile robotics estimation control machine vision↗
NASA NTRS1967

STAIR program

Structural Analysis Interpretative Routine /STAIR/ 7094 program for advanced antenna system reflector assembly

REFLECTOR↗
NASA NTRS1976

Wind tunnel measurements of the tower shadow on models of the ERDA/NASA 100 KW wind turbine tower

Detailed wind speed profile measurements were made in the wake of 1/25 scale and 1/48 scale tower models to determine the magnitude of the speed reduction (the tower shadow). The 1/25 scale tower modeled closely the actual wind turbine including the service stairway and the equipment elevator rails on one face. The 1/48 scale model was made of all tubular members. Measurements were made on the 1/25 scale model with and without the stairway and elevator rails, and on the 1/48 all tube model without stairs and rails. The test results show that the stairs and rails were a major source of wind flow blockage. The all tubular 1/48 scale tower was found to offer less resistance to the wind than the 1/25 scale model that contained a large number of square sections. Shadow photos are included to show the extent of the blockage offered to the wind from various directions.

Savino, J. M.↗
NASA NTRS1997

Quasi-Static Viscoelasticity Loading Measurements of an Aircraft Tire

Stair-step loading, cyclic loading, and long-term relaxation tests were performed on an aircraft tire to observe the quasi-static viscoelastic response of the tire. The data indicate that the tire continues to respond viscoelastically even after it has been softened by deformation. Load relaxation data from the stair-step test at the 15,000-lb loading was fit to a monotonically decreasing Prony series.

Mason, Angela J.↗
NASA NTRS1979

Foldable Walker

Paraplegics, who number about 100,000 in the United States, depend on crutches for their mobility on level ground. But crutches are ineffective on stairways; for climbing or descending, the paraplegic needs a stable pair of rails to push against. Aluminum metal walkers are designed for use on level surfaces, hence they have little utility on stairs; and, although lightweight, they are too heavy to be carried by the paraplegic while walking on crutches. There exists a need for a walker specifically designed for stair use and made of material much lighter than aluminum.

Source record↗
NASA NTRS1975

Modern mechanisms make manless Martian mission mobile: Spin-off spells stairclimbing self-sufficiency for earthbound handicapped

Concepts were developed for three wheel chairs from progressively improving designs of a proposed unmanned roving vehicle for the surface exploration of Mars; as a spin-off, a concept for a stair-climbing wheel chair was generated. The mechanisms employed in these are described. The Mars mission is envisioned using the booster rockets and aeroshell of the Viking missions.

Sandor, G. N.↗
NASA NTRS1979

Choice of method for discretization of continuous systems

The paper discusses and compares several common methods of discretizing the transfer function of a continuous control system so that a digital computer can be used. The discretization effect on the frequency response attenuation of the simple transfer function G(s) = 1/(s + 1) is illustrated for the Tusting, Boxer-Thaler, Madwed, linear segment approximation, and stair-step with half period advanced methods. The input frequency must be significantly lower than one-half the sampling error to have negligible discretization error. Phase differences due to discretization are also plotted, and it is seen that the zero-order hold contributes much more phase shift than that due to discretization. In situations where zero-order hold must follow a computer, the method of discretization of a continuous system is not a major factor if phase shift is important.

Mcvey, E. S.↗
NASA NTRS1984

Adjustable Walker for the Handicapped

Front legs adjust at touch of lever for use on stairs or ramps. Spring loaded legs extend when lever is depressed by user. Legs lock in position when lever is released. Lever mounted on either side of walker or on both sides, so legs operated independently.

Kitts, R. G.↗
NASA NTRS1983

Coupling of radiation into thin film modes by means of localized plasma resonances

The interaction between the surface plasmon mode that propagates at a metal dielectric interface and the localized plasma resonances (LPR) is investigated experimentally in Ag-island films. A stair-stepped sample geometry comprising a glass substrate, a continuous 50-nm Ag film, an LiF spacer film of thickness d = 5-60 nm, and an Ag-island film of mass thickness 3 nm is used in near-normal-reflectivity and plasmon-propagation-constant (k) determinations. The results are presented graphically and discussed. The overall shape of the reflectivity curves is found to be characteristic of Ag films, but with a dip at about 400 nm (corresponding to the absorption resonance of the island film) which is most pronounced with d = 25 nm. It is inferred that the island resonances are strongly coupled to a continuous-film dissipative mechanism at this d value. This inference is supported by the fact that the variation in k, correctd for LiF effects and plotted as a function of d, is greatest at around d = 25 nm. The implications of this finding for broad-band coupling into a thin-film mode, LPR enhancement of waveguide nonlinear effects, and new surface-enhanced-Raman-scattering geometries are indicated.

Holland, W. R.↗
NASA NTRS1990

University of Maryland walking robot: A design project for undergraduate students

The design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Olsen, Bob↗
NASA NTRS1990

Walking robot: A design project for undergraduate students

The design and construction of the University of Maryland walking machine was completed during the 1989 to 1990 academic year. It was required that the machine be capable of completing a number of tasks including walking a straight line, turning to change direction, and manuevering over an obstacle such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear box and crank arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating this machine about this support. The machine can be controlled by using either a user-operated remote tether or the onboard computer for the execution of control commands. Absolute encoders are attached to all motors to provide the control computer with information regarding the status of the motors. Long and short range infrared sensors provide the computer with feedback information regarding the machine's position relative to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Source record↗
NASA NTRS1992

Divergence preserving discrete surface integral methods for Maxwell's curl equations using non-orthogonal unstructured grids

Several new discrete surface integral (DSI) methods for solving Maxwell's equations in the time-domain are presented. These methods, which allow the use of general nonorthogonal mixed-polyhedral unstructured grids, are direct generalizations of the canonical staggered-grid finite difference method. These methods are conservative in that they locally preserve divergence or charge. Employing mixed polyhedral cells, (hexahedral, tetrahedral, etc.) these methods allow more accurate modeling of non-rectangular structures and objects because the traditional stair-stepped boundary approximations associated with the orthogonal grid based finite difference methods can be avoided. Numerical results demonstrating the accuracy of these new methods are presented.

Madsen, Niel K.↗