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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 NTRS1989

Methods and strategies of object localization

An important property of an intelligent robot is to be able to determine the location of an object in 3-D space. A general object localization system structure is proposed, some important issues on localization discussed, and an overview given for current available object localization algorithms and systems. The algorithms reviewed are characterized by their feature extracting and matching strategies; the range finding methods; the types of locatable objects; and the mathematical formulating methods.

Shao, Lejun↗
NASA NTRSDate not supplied

Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.

sensor placement↗
NASA NTRS2025

Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.

sensor placement↗
NASA NTRS2022

Spatial Grid-Based Object Localization from A Single Passive Sensor: A Deep Learning-Integrated Approach

Ongoing efforts at NASA’s Langley Research Center have produced a single passive sensor system for detecting ground objects and pinpointing their real-world location to a desired level of precision. The Langley center serves as a test range for unmanned aerial systems (UAS) and real-time knowledge about the location of people on campus is needed to inform least-risk UAS flight operations. The proposed system provides this knowledge through a camera combined with a convolutional neural network and an algorithm that projects an imaginary grid of square cells from the ground plane onto the perspective view of the camera. The position of detected objects on the camera’s projected grid determines their location in the real-world. The imaginary grid is easily mapped to a universal coordinate system, such as longitude and latitude, to provide both relative and absolute positional information of the detected objects. This simple system is shown to be accurate and effective, with decisive advantages over alternative multi-sensor and active sensor approaches. Extensions to the system are described to allow adaptation to a variety of other use cases.

object localization↗
NASA NTRS2005

System and method for object localization

A computer-assisted method for localizing a rack, including sensing an image of the rack, detecting line segments in the sensed image, recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack, generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack, and estimating a position and orientation of the rack based on the matrix of correspondence.

Kelly, Alonzo J.↗
NASA NTRS1990

Tele-Autonomous control involving contact

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

Shao, Lejun↗
DOE OSTI2021

Decentralized Filtering Adaptive Neural Network Control for Uncertain Switched Interconnected Nonlinear Systems

This article presents a novel decentralized filtering adaptive neural network control framework for uncertain switched interconnected nonlinear systems. Each subsystem has its own decentralized controller based on the established decentralized state predictor. For each subsystem, the nonlinear uncertainties are approximated by a Gaussian radial basis function (GRBF) neural network incorporated with a piecewise constant adaptive law, where the adaptive law will update adaptive parameters from the error dynamics between the host system and the decentralized state predictor by discarding the unknowns, whereas a decentralized filtering control law is derived to cancel both local and mismatched uncertainties from other subsystems, as well as achieve the local objective tracking of the host system. The achievement of global objective depends on the achievement of local objective for each subsystem. The matched uncertainties are canceled directly by adopting their opposite in the control signal, whereas a dynamic inversion of the system is required to eliminate the effect of the mismatched uncertainties on the output. By exploiting the average dwell time principle, the error bounds between the real system and the virtual reference system, which defines the best performance that can be achieved by the closed-loop system, are derived. A numerical example is given to illustrate the effectiveness of the decentralized filtering adaptive neural network control architecture by comparing against the model reference adaptive control (MRAC).

Average dwell time, decentralized, filtering adapt↗
DOE OSTI2019

A Survey of Distributed Optimization

In distributed optimization of multi-agent systems, agents cooperate to minimize a global function which is a sum of local objective functions. Motivated by applications including power systems, sensor networks, smart buildings, and smart manufacturing, various distributed optimization algorithms have been developed. In these algorithms, each agent performs local computation based on its own information and information received from its neighboring agents through the underlying communication network, so that the optimization problem can be solved in a distributed manner. This survey paper aims to offer a detailed overview of existing distributed optimization algorithms and their applications in power systems. More specifically, we first review discrete-time and continuous-time distributed optimization algorithms for undirected graphs. We then discuss how to extend these algorithms in various directions to handle more realistic scenarios. Finally, we focus on the application of distributed optimization in the optimal coordination of distributed energy resources.

Yang, Tao↗
NASA NTRS1998

Operator Localization of Virtual Objects

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects'age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are also influenced by their relative position when superimposed. Design implications are discussed.

Ellis, Stephen R.↗
NASA NTRS1998

Localization of Virtual Objects in the Near Visual Field (Operator Interaction with Simple Virtual Objects)

Errors in the localization of nearby virtual objects presented via see-through, helmet mounted displays are examined as a function of viewing conditions and scene content in four experiments using a total of 38 subjects. Monocular, biocular or stereoscopic presentation of the virtual objects, accommodation (required focus), subjects' age, and the position of physical surfaces are examined. Nearby physical surfaces are found to introduce localization errors that differ depending upon the other experimental factors. These errors apparently arise from the occlusion of the physical background by the optically superimposed virtual objects. But they are modified by subjects' accommodative competence and specific viewing conditions. The apparent physical size and transparency of the virtual objects and physical surfaces respectively are influenced by their relative position when superimposed. The design implications of the findings are discussed in a concluding section.

Ellis, Stephen R.↗
NASA NTRS2017

Electromagnetic Scattering and Emission by a Fixed Multi-Particle Object in Local Thermal Equilibrium: General Formalism

The majority of previous studies of the interaction of individual particles and multi-particle groups with electromagnetic field have focused on either elastic scattering in the presence of an external field or self-emission of electromagnetic radiation. In this paper we apply semi-classical fluctuational electrodynamics to address the ubiquitous scenario wherein a fixed particle or a fixed multi-particle group is exposed to an external quasi-polychromatic electromagnetic field as well as thermally emits its own electromagnetic radiation. We summarize the main relevant axioms of fluctuational electrodynamics, formulate in maximally rigorous mathematical terms the general scattering emission problem for a fixed object, and derive such fundamental corollaries as the scattering emission volume integral equation, the Lippmann Schwinger equation for the dyadic transition operator, the multi-particle scattering emission equations, and the far-field limit. We show that in the framework of fluctuational electrodynamics, the computation of the self-emitted component of the total field is completely separated from that of the elastically scattered field. The same is true of the computation of the emitted and elastically scattered components of quadratic linear forms in the total electromagnetic field. These results pave the way to the practical computation of relevant optical observables.

Electromagnetic scattering; Thermal emission; Fluc↗
DOE OSTI2018

Guidelines and considerations for designing field experiments simulating precipitation extremes in forest ecosystems

1. Precipitation regimes are changing in response to climate change, yet understanding of how forest ecosystems respond to extreme droughts and pluvials remains incomplete. As future precipitation extremes will likely fall outside the range of historical variability, precipitation manipulation experiments (PMEs) are critical to advancing knowledge about potential ecosystem responses. However, few PMEs have been conducted in forests compared to short-statured ecosystems, and forest PMEs have unique design requirements and constraints. Moreover, past forest PMEs have lacked coordination, limiting cross-site comparisons. Here, we review and synthesize approaches, challenges, and opportunities for conducting PMEs in forests, with the goal of guiding design decisions, while maximizing the potential for coordination. 2. We reviewed 63 forest PMEs at 70 sites world-wide. Workshops, meetings, and communications with experimentalists were used to generate and build consensus around approaches for addressing the key challenges and enhancing coordination. 3. Past forest PMEs employed a variety of study designs related to treatment level, replication, plot and infrastructure characteristics, and measurement approaches.Important considerations for establishing new forest PMEs include: selecting appropriate treatment levels to reach ecological thresholds; balancing cost, logistical complexity, and effectiveness in infrastructure design; and preventing unintended water subsidies. Response variables in forest PMEs were organized into three broad tiers reflecting increasing complexity and resource intensiveness, with the first tier representing a recommended core set of common measurements. 4. Differences in site conditions combined with unique research questions of experimentalists necessitate careful adaptation of guidelines for forest PMEs to balance local objectives with coordination among experiments. We advocate adoption of a common framework for coordinating forest PME design to enhance cross-site comparability and advance fundamental knowledge about the response and sensitivity of diverse forest ecosystems to precipitation extremes.

Climate Extremes, drought, ecological thresholds, ↗
DOE OSTI2023

Liquid crystal defect structures with Möbius strip topology

Topological solitons commonly appear as energy-minimizing field configurations, but examples of stable, spatially localized objects with coexisting solitonic structures and singular defects are rare. Here we use a nonpolar chiral liquid crystal system to show how twist domain walls can co-self-assemble with vortices to form spatially localized topological objects with spontaneous folding. These soliton–vortex assemblies, which we call ‘möbiusons’, have a topology of the molecular alignment field resembling that of the Möbius strip’s surface and package localized field excitations into folded structures within a confinement-frustrated uniform far-field background. Upon supplying energy in the form of electric pulses, möbiusons with different overall symmetries of structure exhibit folding-dependent rotational and translational motions, as well as topological cargo-carrying abilities that can be controlled by tuning the amplitude and frequency of the applied fields. We demonstrate on-demand transformations between various möbiusons and show examples of encoding information by manipulating folds in such structures. A model based on the energetics of solitons and vortices provides insights into the origins of the folding instability, whereas minimization of the Landau–de Gennes free energy closely reproduces details of their internal structure. Our findings may provide a route towards topology-enabled light-steering designs.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1979

The Spacelab Wide Angle Telescope (SWAT)

A fast wide angle telescope that will be capable of imaging to the darker sky limit and in the ultraviolet wavelength region available above the atmosphere is described. The telescope (SWAT) has a resolution comparable to that of the large ground-based Schmidt telescope and a field of at least five degrees. A number of astrophysically important investigations can only be accomplished with such a telescope, e.g., detection of hidden, hot objects like hot white dwarfs and subwarfs in stellar binary systems, and energetic regions in globular clusters and galaxy nuclei. It permits unique studies of the UV-morphology of extended objects and allows discovery of very faint extensions, halos, jets, and filaments in galaxies. It can contribute to the investigation of dust in the Milky Way and in other galaxies and, with an objective prism, spectra of very faint objects can be obtained. The SWAT will localize objects for further study with the narrow-field Space Telescope.

West, R. M.↗
NASA NTRS1990

An optimal sensing strategy of a proximity sensor system for recognition and localization of polyhedral objects

An algorithm is presented for the recognition and localization of thre-dimensional polyhedral objects based on an optical proximity sensor system capable of measuring the depth and orientation of a local area of an object surface. Emphasis is given to the determination of an optimal sensor trajectory or an optimal probing, for efficient discrimination among all the possible interpretations. The determination of an optimal sensor trajectory for the next probing consists of the selection of optimal beam orientations based on the surface normal vector distribution of the multiple interpretation image (MII) and the selection of an optimal probing plane by projecting the MII onto the projection plane perpendicular to a selected beam orientation and deriving the optimal path on the projection plane. The selection of optimal beam orientation and probing plane is based on the measure of discrimination power of a cluster of surfaces of an MII. Simulation results are shown.

Lee, Sukhan↗