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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 NTRS2000

Obstacle Detection Algorithms for Aircraft Navigation: Performance Characterization of Obstacle Detection Algorithms for Aircraft Navigation

The research reported here is a part of NASA's Synthetic Vision System (SVS) project for the development of a High Speed Civil Transport Aircraft (HSCT). One of the components of the SVS is a module for detection of potential obstacles in the aircraft's flight path by analyzing the images captured by an on-board camera in real-time. Design of such a module includes the selection and characterization of robust, reliable, and fast techniques and their implementation for execution in real-time. This report describes the results of our research in realizing such a design. It is organized into three parts. Part I. Data modeling and camera characterization; Part II. Algorithms for detecting airborne obstacles; and Part III. Real time implementation of obstacle detection algorithms on the Datacube MaxPCI architecture. A list of publications resulting from this grant as well as a list of relevant publications resulting from prior NASA grants on this topic are presented.

Kasturi, Rangachar↗
DOE OSTI2023

High-resolution simulations of a turbulent boundary layer impacting two obstacles in tandem

High-fidelity large-eddy simulations of the flow around two rectangular obstacles are carried out at a Reynolds number of 10 000 based on the freestream velocity and the obstacle height. The incoming flow is a developed turbulent boundary layer. Mean-velocity components, turbulence fluctuations, and the terms of the turbulent-kinetic-energy budget are analyzed for three flow regimes: skimming flow, wake interference, and isolated roughness. Three regions are identified where the flow undergoes the most significant changes: the first obstacle’s wake, the region in front of the second obstacle, and the region around the second obstacle. In the skimming-flow case, turbulence activity in the cavity between the obstacles is limited and mainly occurs in a small region in front of the second obstacle. In the wake-interference case, there is a strong interaction between the freestream flow that penetrates the cavity and the wake of the first obstacle. Furthermore, this interaction results in more intense turbulent fluctuations between the obstacles. In the isolated-roughness case, the wake of the first obstacle is in good agreement with that of an isolated obstacle. Separation bubbles with strong turbulent fluctuations appear around the second obstacle.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

Modeling root system growth around obstacles

State-of-the-Art models of Root System Architecture (RSA) do not allow simulating root growth around rigid obstacles. Yet, the presence of obstacles can be highly disruptive to the root system. We grew wheat seedlings in sealed petri dishes without obstacle and in custom 3D-printed rhizoboxes containing obstacles. Time-lapse photography was used to reconstruct the wheat root morphology network. We used the reconstructed wheat root network without obstacle to calibrate an RSA model implemented in the R-SWMS software. The root network with obstacles allowed calibrating the parameters of a new function that models the influence of rigid obstacles on wheat root growth. Experimental results show that the presence of a rigid obstacle does not affect the growth rate of the wheat root axes, but that it does influence the root trajectory after the main axis has passed the obstacle. The growth recovery time, i.e. the time for the main root axis to recover its geotropism-driven growth, is proportional to the time during which the main axis grows along the obstacle. Qualitative and quantitative comparisons between experimental and numerical results show that the proposed model successfully simulates wheat RSA growth around obstacles. Our results suggest that wheat roots follow patterns that could inspire the design of adaptive engineering flow networks.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

Directional locking and the influence of obstacle density on skyrmion dynamics in triangular and honeycomb arrays

In this work, we numerically examine the dynamics of a single skyrmion driven over triangular and honeycomb obstacle arrays at zero temperature. The skyrmion Hall angle θ sk , defined as the angle between the applied external drive and the direction of the skyrmion motion, increases in quantized steps or continuously as a function of the applied drive. For the obstacle arrays studied in this work, the skyrmion exhibits two main directional locking angles of θ sk = –30° and –60°. We show that these directions are privileged due to the obstacle landscape symmetry, and coincide with channels along which the skyrmion may move with few or no obstacle collisions. Here we investigate how changes in the obstacle density can modify the skyrmion Hall angles and cause some dynamic phases to appear or grow while other phases vanish. This interesting behavior can be used to guide skyrmions along designated trajectories via regions with different obstacle densities. For fixed obstacle densities, we investigate the evolution of the locked θ sk = –30° and –60° phases as a function of the Magnus force, and discuss possibilities for switching between these phases using topological selection.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2020

Skyrmion dynamics and topological sorting on periodic obstacle arrays

Abstract We examine skyrmions under a dc drive interacting with a square array of obstacles for varied obstacle size and damping. When the drive is applied in a fixed direction, we find that the skyrmions are initially guided in the drive direction but also move transverse to the drive due to the Magnus force. The skyrmion Hall angle, which indicates the difference between the skyrmion direction of motion and the drive direction, increases with drive in a series of quantized steps as a result of the locking of the skyrmion motion to specific symmetry directions of the obstacle array. On these steps, the skyrmions collide with an integer number of obstacles to create a periodic motion. The transitions between the different locking steps are associated with jumps or dips in the velocity–force curves. In some regimes, the skyrmion Hall angle is actually higher than the intrinsic skyrmion Hall angle that would appear in the absence of obstacles. In the limit of zero damping, the skyrmion Hall angle is 90°, and we find that it decreases as the damping increases. For multiple interacting skyrmion species in the collective regime, we find jammed behavior at low drives where the different skyrmion species are strongly coupled and move in the same direction. As the drive increases, the species decouple and each can lock to a different symmetry direction of the obstacle lattice, making it possible to perform topological sorting in analogy to the particle sorting methods used to fractionate different species of colloidal particles moving over two-dimensional obstacle arrays.

36 MATERIALS SCIENCE↗
NASA NTRS1993

Stochastic performance modeling and evaluation of obstacle detectability with imaging range sensors

Statistical modeling and evaluation of the performance of obstacle detection systems for Unmanned Ground Vehicles (UGVs) is essential for the design, evaluation, and comparison of sensor systems. In this report, we address this issue for imaging range sensors by dividing the evaluation problem into two levels: quality of the range data itself and quality of the obstacle detection algorithms applied to the range data. We review existing models of the quality of range data from stereo vision and AM-CW LADAR, then use these to derive a new model for the quality of a simple obstacle detection algorithm. This model predicts the probability of detecting obstacles and the probability of false alarms, as a function of the size and distance of the obstacle, the resolution of the sensor, and the level of noise in the range data. We evaluate these models experimentally using range data from stereo image pairs of a gravel road with known obstacles at several distances. The results show that the approach is a promising tool for predicting and evaluating the performance of obstacle detection with imaging range sensors.

Matthies, Larry↗
NASA NTRS2006

Detecting Negative Obstacles by Use of Radar

Robotic land vehicles would be equipped with small radar systems to detect negative obstacles, according to a proposal. The term "negative obstacles" denotes holes, ditches, and any other terrain features characterized by abrupt steep downslopes that could be hazardous for vehicles. Video cameras and other optically based obstacle-avoidance sensors now installed on some robotic vehicles cannot detect obstacles under adverse lighting conditions. Even under favorable lighting conditions, they cannot detect negative obstacles. A radar system according to the proposal would be of the frequency-modulation/ continuous-wave (FM/CW) type. It would be installed on a vehicle, facing forward, possibly with a downward slant of the main lobe(s) of the radar beam(s) (see figure). It would utilize one or more wavelength(s) of the order of centimeters. Because such wavelengths are comparable to the characteristic dimensions of terrain features associated with negative hazards, a significant amount of diffraction would occur at such features. In effect, the diffraction would afford a limited ability to see corners and to see around corners. Hence, the system might utilize diffraction to detect corners associated with negative obstacles. At the time of reporting the information for this article, preliminary analyses of diffraction at simple negative obstacles had been performed, but an explicit description of how the system would utilize diffraction was not available.

Mittskus, Anthony↗
NASA NTRS2003

Negative obstacle detection by thermal signature

Detecting negative obstacles (ditches, potholes, and other depressions) is one of the most difficult problems in perception for autonomous, off-road navigation. Past work has largely relied on range imagery, because that is based on the geometry of the obstacle, is largely insensitive to illumination variables, and because there have not been other reliable alternatives. However, the visible aspect of negative obstacles shrinks rapidly with range, making them impossible to detect in time to avoid them at high speed. To relive this problem, we show that the interiors of negative obstacles generally remain warmer than the surrounding terrain throughout the night, making thermal signature a stable property for night-time negative obstacle detection. Experimental results to date have achieved detection distances 45% greater by using thermal signature than by using range data alone. Thermal signature is the first known observable with potential to reveal a deep negative obstacle without actually seeing far into it. Modeling solar illumination has potential to extend the usefulness of thermal signature through daylight hours.

unmanned ground vehicles (UGV's)↗
DOE OSTI2024

Active nematic ratchet in asymmetric obstacle arrays

We numerically investigate the effect of an asymmetric periodic obstacle array in a two-dimensional active nematic. We find that activity in conjunction with the asymmetry leads to a ratchet effect or unidirectional flow of the fluid along the asymmetry direction. The directional flow is still present even in the active turbulent phase when the gap between obstacles is sufficiently small. We demonstrate that the dynamics of the topological defects transition from flow mirroring to smectic-like as the gap between obstacles is made smaller, and explain this transition in terms of the pinning of negative winding number defects between obstacles. This also leads to a nonmonotonic ratchet effect magnitude as a function of obstacle size, so that there is an optimal obstacle size for ratcheting at fixed activity.

36 MATERIALS SCIENCE↗
DOE OSTI2024

Active Nematic Ratchet in Asymmetric Obstacle Arrays

We numerically investigate the effect of an asymmetric periodic obstacle array in a two-dimensional active nematic. We find that activity in conjunction with the asymmetry leads to a ratchet effect or unidirectional flow of the fluid along the asymmetry direction. The directional flow is still present even in the active turbulent phase when the gap between obstacles is sufficiently small. We demonstrate that the dynamics of the topological defects transition from flow-mirroring to smectic-like as the gap between obstacles is made smaller, and explain this transition in terms of the pinning of negative winding number defects between obstacles. This also leads to a non-monotonic ratchet effect magnitude as a function of obstacle size, so that there is an optimal obstacle size for ratcheting at fixed activity.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1984

Mars - Wind streak production as related to obstacle type and size

The characteristics of wind streaks associated with Martian craters and hills in the size range of 100 m to 80 km (corresponding to obstacle heights of a few to several hundred meters) have been analyzed from Viking Orbiter images. Both dark erosional and bright depositional streaks form over the entire obstacle size range, but there are preferred obstacle sizes for producing streaks. Bright streaks form more readily in association with relatively smaller obstacles than do dark streaks. Small obstacles produce both types of streaks more effectively than do large ones. Hills produce streaks as effectively as do craters of comparable height. Alternative explanations of bright streak formation are evaluated in terms of their ability to account for these observations. The most satisfactory models invoke blocking of atmospheric flow downwind of an obstacle and consequent deposition of dust within the sheltered zone.

Lee, S. W.↗
NASA NTRS1989

Obstacle avoidance for redundant robots using configuration control

The article presents a new and simple solution to the obstacle avoidance problem for redundant robots. In the proposed approach, called configuraiton control, the redundancy is utilized to configure the robot so as to satisfy a set of kinematic inequality constraints representing obstacle avoidance, while the end-effector is tracking a desired trajectory. The robot control scheme is very simple, and uses on-line adaptation to eliminate the need for the complex dynamic model and parameter values of the robot. Several simulation results for a four-link planar robot are presented to illustrate the versatility of the approach. These include reaching around a stationary obstacle, simultaneous avoidance of two obstacles, robot reconfiguration to avoid a moving obstacle, and avoidance of rectangular obstacles.

Colbaugh, R.↗
NASA NTRS1991

Cascading a systolic array and a feedforward neural network for navigation and obstacle avoidance using potential fields

A technique is developed for vehicle navigation and control in the presence of obstacles. A potential function was devised that peaks at the surface of obstacles and has its minimum at the proper vehicle destination. This function is computed using a systolic array and is guaranteed not to have local minima. A feedfoward neural network is then used to control the steering of the vehicle using local potential field information. In this case, the vehicle is a trailer truck backing up. Previous work has demonstrated the capability of a neural network to control steering of such a trailer truck backing to a loading platform, but without obstacles. Now, the neural network was able to learn to navigate a trailer truck around obstacles while backing toward its destination. The network is trained in an obstacle free space to follow the negative gradient of the field, after which the network is able to control and navigate the truck to its target destination in a space of obstacles which may be stationary or movable.

Plumer, Edward S.↗
NASA NTRS1994

Method for surmounting an obstacle by a robot vehicle

Surmounting obstacles in the path of a robot vehicle is accomplished by rotating the wheel forks of the vehicle about their transverse axes with respect to the vehicle body so as to shift most of the vehicle weight onto the rear wheels, and then driving the vehicle forward so as to drive the now lightly-loaded front wheels (only) over the obstacle. Then, after the front wheels have either surmounted or completely passed the obstacle (depending upon the length of the obstacle), the forks are again rotated about their transverse axes so as to shift most of the vehicle weight onto the front wheels. Then the vehicle is again driven forward so as to drive the now lightly-loaded rear wheels over the obstacle. Once the obstacle has been completely cleared and the vehicle is again on relatively level terrain, the forks are again rotated so as to uniformly distribute the vehicle weight between the front and rear wheels.

Wilcox, Brian H.↗
DOE OSTI2024

Vortex Lattices in Active Nematics with Periodic Obstacle Arrays

Here, we numerically model a two-dimensional active nematic confined by a periodic array of fixed obstacles. Even in the passive nematic, the appearance of topological defects is unavoidable due to planar anchoring by the obstacle surfaces. We show that a vortex lattice state emerges as activity is increased, and that this lattice may be tuned from “ferromagnetic” to “antiferromagnetic” by varying the gap size between obstacles. We map the rich variety of states exhibited by the system as a function of distance between obstacles and activity, including a pinned defect state, motile defects, the vortex lattice, and active turbulence. We demonstrate that the flows in the active turbulent phase can be tuned by the presence of obstacles, and explore the effects of a frustrated lattice geometry on the vortex lattice phase.

36 MATERIALS SCIENCE↗
DOE OSTI2023

A simple catch: Fluctuations enable hydrodynamic trapping of microrollers by obstacles

It is known that obstacles can hydrodynamically trap bacteria and synthetic microswimmers in orbits, where the trapping time heavily depends on the swimmer flow field and noise is needed to escape the trap. Here, we use experiments and simulations to investigate the trapping of microrollers by obstacles. Microrollers are rotating particles close to a bottom surface, which have a prescribed propulsion direction imposed by an external rotating magnetic field. The flow field that drives their motion is quite different from previously studied swimmers. We found that the trapping time can be controlled by modifying the obstacle size or the colloid-obstacle repulsive potential. We detail the mechanisms of the trapping and find two remarkable features: The microroller is confined in the wake of the obstacle, and it can only enter the trap with Brownian motion. While noise is usually needed to escape traps in dynamical systems, here, we show that it is the only means to reach the hydrodynamic attractor.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1993

A reciprocity formulation for the EM scattering by an obstacle within a large open cavity

A formulation based on a generalized reciprocity theorem is developed for analyzing the external high frequency EM scattering by a complex obstacle inside a relatively arbitrary open-ended waveguide cavity when it is illuminated by an external source. This formulation is also extended to include EM fields whose time dependence may be nonperiodic. A significant advantage of this formulation is that it allows one to break up the analysis into two independent parts; one deals with the waveguide cavity shape alone and the other with the obstacle alone. The external scattered field produced by the obstacle (in the presence of the waveguide cavity structure) is given in terms of a generalized reciprocity integral over a surface S(T) corresponding to the interior waveguide cavity cross section located conveniently but sufficiently close to the obstacle. Furthermore, the fields coupled into the cavity from the source in the exterior region generally need to propagate only one-way via the open front end (which is directly illuminated) to the interior surface S(T) in this approach, and not back, in order to find the external field scattered by the obstacle.

Pathak, Prabhakar H.↗
NASA NTRSDate not supplied

Risk Assessment of Obstacle Collision for UAVs under off-nominal conditions

Enabling operations of unmanned aerial vehicles (UAVs) in low-altitude airspace, demands the need of robust risk monitoring framework for assessing the safety of airspace, ground-structures and people. As widespread applications emerge, the need of risk assessment becomes increasingly important for UAV flights beyond visual line-of-sight, especially subjected to off-nominal conditions introduced by component failures, degraded controllability or environmental disturbances such as wind gusts in an urban canyon. From a safety perspective, collision with obstacles can be detrimental not only to the vehicle and payload, but also to the structure and people on ground. Although it is safe to assume that approved UAVs would be equipped with collision avoidance systems, risk of collision which can be predicted for a flight trajectory even before the UAV encounters any obstacle is beneficial to resolve contingencies in its decision-making under off-nominal conditions. In this paper, a framework is presented for computing the risk of collision with obstacle based on a UAV's predicted trajectory, proximity to static and dynamic obstacles, sub-system state-of-health and external wind conditions. The conditional probability of trajectory deviation is generated using a Bayesian Belief Network (BBN) based on on-board sensor measurements. Further, a kinematic 3-DOF model is implemented to compute deviation in UAV's trajectory subjected to one case study of off-nominal condition i.e. wind gusts. Finally, the integrated risk factor is demonstrated on real data from experimental flights of an octocopter at NASA Langley Research Center, in presence of simulated obstacles and wind conditions. The proposed approach would enable risk-informed decision making process for timely mitigation of current and future unsafe events.

Portia Banerjee↗