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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 NTRS1982

Spectral scales in the atmospheric boundary layer

Wind data taken from 10 levels between 18 and 305 m were examined to determine the properties of atmospheric turbulence within and above the atmospheric surface layer into the PBL. The samples were averaged over 40 min intervals, with all periods of rain, fog, and other disturbances being eliminated from the 16 days of monitoring. Turbulence spectra were calculated using a fast Fourier transformation. The tower was located in rolling terrain covered with pine forests, waist-high scrub, and cultivated fields. Results are presented for the wavelength and Eulerian length scales, considering the neutral, stable, and unstable PBL. Correlation coefficients were found between velocity fluctuations and wavelengths for the stability classes. Good agreements were found for measured and computed spectra in all but unstable conditions.

Weber, A. H.↗
NASA NTRS1984

NASA/MSFC ground-based Doppler lidar nocturnal boundary layer experiment (Noblex)

During the summer of 1982, NASA/MSFC's ground-based CO2 Doppler Lidar Velocimeter (DLV) was deployed at the Denver Stapleton Airport as part of NASA's participation in the JAWS (Joint Airport Weather Studies) program. Configured to measure the radial wind component within a 10 km radius, the conically scanning lidar was used to examine the evolution of a nocturnal boundary layer under the conditions of cloud free skies and rolling terrain. A valley drainage flow was detected and a two dimension flow visualization constructed. The depth of the gravity current was -700 meters while the depth of the creek valley was -150 meters. This deep drainage flow was detectable for distances of 30 to 40 km from the exit region of the valley. Although the sample period (2000 to 2300 CST) was short and only one nocturnal boundary layer case examined, the usefulness of the DLV was demonstrated as well as the care that must be exercised in interpreting lidar data taken in a stable boundary layer in the vicinity of subtle terrain features.

Emmitt, G. D.↗
NASA NTRS1994

Directional and polarimetric effects in the optical domain

Papers focused on land surface, atmospheric, and ocean properties are reported. Specific comments pertaining to polarization, models and inversion, and measurements, are given. Recommendations are: continued research into the application potential of the BRDF (Bidirectional Reflectance Distribution Function) and polarization properties of ground surface and atmospheric targets; three dimensional models, which account for the statistical behavior of remotely sensed data, should be extended and inverted in order to support analysis of data potentially covering rolling terrain such that pixels represent heterogeneous mixtures of surface cover types and project ground footprints with sizes between 10 to 6 km, the ground pixel sizes of planned future sensors; available reflectance models should be further validated by means of multi dimensional (directional, spectral, temporal) field data and existing models should be intercompared in more depth to evaluate their performance and limitations; existing methods for model inversion should be validated in more depth in order to quantify the practical limitations and the expected accuracy of the parameters retrieved and new approaches should be developed based upon apriori knowledge of plant canopy development and spectral BRDF properties; there is a need to establish a protocol of validation and intercomparison of the indices and compositing techniques which have been proposed during these last years.

Vanderbilt, V. C.↗
NASA NTRS1997

There's Iron in Them Thar Hills: A Geologic Look at the Aristarchus Plateau as a Potential Landing Site for Human Lunar Return

Lunar pyroclastic deposits are unique among lunar soils. Composed of very fine grained glass beads rich in Fe, Ti and Mg they yield unique spectral signatures. From the spectra two major classes and five subclasses of lunar dark mantling deposits have been identified. Recent work by me and others has shown that the larger regional deposits are more numerous, extensive, thicker, and widely distributed than previously thought, leading us to suggest that they would make ideal resource feedstock for future lunar surface activities. Returned sample studies and the recently collected Galileo and Clementine data also corroborate these findings. Recent planning for return to the Moon indicates that large cost savings can result from using locally produced oxygen, and recent JSC laboratory results indicate that iron-rich pyroclastic dark mantling deposits may be the richest oxygen resource on the Moon. My earlier work demonstrated that instead of using regolith, bulk lunar pyroclastic deposits are better suited for beneficiation as they are thick (lO's m's), unconsolidated, fine-grained deposits. In addition, the lack of rocks and boulders and the typically flat to gently rolling terrain will facilitate their mining and processing. In preparation for the Human Lunar Return (HLR) I have characterized the Aristarchus Plateau (24 deg. N 52 deg. W) as a potential landing site for an in-situ resource utilization (ISRU) demonstration. The geologic diversity and large volume of Fe-rich pyroclastic material present at the Aristarchus site make it an ideal target for extracting O2, H2 and halogens. This paper (1) describes the current understanding of the geology of Aristarchus plateau; (2) describes the resource potential of the Aristarchus plateau; and (3) presents several candidate landing sites on the plateau for future lunar activities.

Coombs, Cassandra R.↗
NASA NTRS2007

A Wheel-On-Limb Rover for Lunar Operations

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a new mobility platform developed for potential lunar operations. This six limbed rover is designed to traverse quickly over benign terrain by rolling, traverse rough and steep terrain by walking, as well as perform general manipulation of tools and payloads. This flexible robotic platform will provide a mobile base for pressurized lunar habitats allowing for long range surface exploration and crew transport. It will also enable in-situ construction of lunar assets providing astronauts with the ability to assemble, maintain, and service a wide range of cargo. This paper presents the design details and capabilities of this wheel-on-limb platform.

ATHLETE↗
NASA NTRS2005

Tumbleweed Rovers

Tumbleweed rovers, now undergoing development, are lightweight, inflatable, approximately spherical exploratory robotic vehicles designed to roll across terrain, using only wind for propulsion. Tumbleweed rovers share many features with beach-ball rovers, which were discussed in several prior NASA Tech Briefs articles. Conceived for use in exploring remote planets, tumbleweed rovers could also be used for exploring relatively inaccessible terrain on Earth. A fully developed tumbleweed rover would consist of an instrumentation package suspended in an inflated twolayer (nylon/polypropylene) ball. The total mass of the rover would be of the order of 10 kg, the diameter of the ball when inflated would be 2 meters, and the minimum wind speed needed for propulsion would be about 5 m/s. The instrumentation package would contain a battery power supply, sensors, a Global Positioning System (GPS) receiver, and a radio transmitter that would send the sensor readings and the GPS position and time readings to a monitoring station via a satellite communication system. Depending on the specific exploratory mission, the sensors could include a thermometer, a barometer, a magnetometer (for studying the terrestrial magnetic field and/or detecting buried meteorites), a subsurface radar system (for measuring ice thickness and/or detecting buried meteorites), and/or one or two diametrally opposed cameras that would take the part of sending two side-looking images out. In the planned Antarctic field test, a prototype tumbleweed rover was released at a location near the South Pole. Using the global Iridium satellite network to send information about its position, the rover transmitted temperature, pressure, humidity, and light intensity data to NASA s Jet Propulsion Laboratory. The rover reached speeds of 30 km per hour over the Antarctic ice cap, and traveled at an average speed of about 6 km per hour. The test was designed to confirm the rover s long-term durability in an extremely cold environment, with the goal being eventual use of the device to explore the Martian polar caps and other planets in the solar system. On future Antarctic exploratory missions, tumbleweed rovers might be used to acquire sensor data for studies of global warming, ozone depletion, and impacts of meteorites.

Behar, Alberto↗
NASA NTRS2007

Rover Wheel-Actuated Tool Interface

A report describes an interface for utilizing some of the mobility features of a mobile robot for general-purpose manipulation of tools and other objects. The robot in question, now undergoing conceptual development for use on the Moon, is the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) rover, which is designed to roll over gentle terrain or walk over rough or steep terrain. Each leg of the robot is a six-degree-of-freedom general purpose manipulator tipped by a wheel with a motor drive. The tool interface includes a square cross-section peg, equivalent to a conventional socket-wrench drive, that rotates with the wheel. The tool interface also includes a clamp that holds a tool on the peg, and a pair of fold-out cameras that provides close-up stereoscopic images of the tool and its vicinity. The field of view of the imagers is actuated by the clamp mechanism and is specific to each tool. The motor drive can power any of a variety of tools, including rotating tools for helical fasteners, drills, and such clamping tools as pliers. With the addition of a flexible coupling, it could also power another tool or remote manipulator at a short distance. The socket drive can provide very high torque and power because it is driven by the wheel motor.

Matthews, Janet↗
NASA NTRS1990

Wind velocity measurements in the neutral boundary layer above hilly prairie

The Flint Hills region in eastern Kansas is characterized by a strongly dissected rolling to hilly terrain with an average about 25 m of relief between steep ridges and valleys, and with ridges typically separated by distances of the order of 600 m. Intensive radiosonde observations during summer and fall of 1987 allowed the determination of some aspects of the wind regime in the region. For an assumed ground-surface reference of 330 m above sea level (asl), analysis of neutral profiles yielded a value z(0) of about 1.05 m, approximately. Good agreement was obtained between the values of friction velocity derived from wind profiles and values determined independently from the corresponding humidity profiles.

Sugita, Michiaki↗
NASA NTRS2020

3d Kinematic Passive-steering Control with Roll Compensation for Rover Trajectory Following Over Rough Terrain

Some of the most appealing areas for future planetary surface exploration lie in rough, uneven terrains, such as craters and cold traps, which are currently inaccessible by state-of-the-art robotic systems [1]. To provide modularity for access and in-situ sampling within such extreme environments, Jet Propulsion Laboratory (JPL) and California Institute of Technology have collaborated to develop the DuAxel rover system, a modular robot composed of two Axel rappelling vehicles docked to a central module into a four-wheeled configuration, suited for driving long distances due to articulated passivesteering capabilities [2]. Inspired by Carnegie Mellon’s Zoë rover [3], a 3D kinematic control strategy, leveraging a novel, DuAxel-centric model, has been developed to enable precise trajectory following over rough, flat terrain with presence of obstacles.

McGarey, Patrick↗
NASA NTRS2007

Athlete: A Mobility and Manipulation System for the Moon

A robotic vehicle called ATHLETE - the All-Terrain Hex-Limbed, Extra-Terrestrial Explorer is described, along with initial results of Field tests of two prototype vehicles. This vehicle concept is capable of efficient rolling mobility on moderate terrain and walking mobility on extreme terrain. Each limb has a quick-disconnect tool adapter so that it can perform general purpose handling, assembly, maintenance, and servicing tasks using any or all of the limbs.

mobility↗
NASA NTRS2010

Amorphous Rover

A proposed mobile robot, denoted the amorphous rover, would vary its own size and shape in order to traverse terrain by means of rolling and/or slithering action. The amorphous rover was conceived as a robust, lightweight alternative to the wheeled rover-class robotic vehicle heretofore used in exploration of Mars. Unlike a wheeled rover, the amorphous rover would not have a predefined front, back, top, bottom, or sides. Hence, maneuvering of the amorphous rover would be more robust: the amorphous rover would not be vulnerable to overturning, could move backward or sideways as well as forward, and could even narrow itself to squeeze through small openings.

Curtis, Steven A.↗
NASA NTRS2012

Hesperian-Amazonian Transition Mid-Latitude Valleys: Markers of a Late Martian Climate Optima?

Recently the inventory of fluvial features that have been dated to the late Hesperian to early Amazonian epoch has increased dramatically, including a reassessment of the ages of the large alluvial fans and deltas (e.g., Eberswalde) to this time period. Mid-latitude Valleys (MLVs) are distinct from the older, more integrated Noachian-Hesperian Valley Networks which are deeply dissected, are generally of much larger spatial extent, and are more degraded. Although some MLVs involve rejuvenation of older Valley Networks, many MLVs are carved into smooth or rolling slopes and intercrater terrain. The MLVs range from a few meters to < 300 m in width, with nearly parallel valley walls and planforms that are locally sinuous. Although the MLVs in Newton and Gorgonum basins extend from the basin rims up to 75 km into the basin interior, most MLVs are shorter and often discontinuous. The occurrence of widespread MLVs suggest the possibility of their formation during one or perhaps more regional to global climatic episodes, possibly due to melting of seasonal to long-term accumulations of snow and ice. Temperatures warm enough to cause extensive melting may have occurred during optimal orbital and obliquity configurations, perhaps in conjunction with intensive volcanism releasing moisture and greenhouse gasses, or as a result of a brief episode of warming from a large impact. The concentration of MLVs to the northern and western basin slopes of Newton and Gorgonum basins suggests a possible aspect control to ice accumulation or melting. MLV activity occurred about at the same time as formation of the major outflow channels. A possible scenario is that delivery of water to the northern lowlands provided, through evaporation and sublimation, water that temporarily accumulated in the mid-southern latitudes as widespread ice deposits whose partial melting formed the MLVs and small, dominantly ice-covered lakes.

Moore, Jeffrey↗
NASA NTRS1990

Rolling Robot

Proposed rolling robot routinely traverses rough terrain, clearing rocks as high as 1 m. Climbs steps 1 m high and spans ditches 2.3 m wide. Simple but rugged semiautonomous rover has large wheels and articulated body. With combined yaw, roll, and four-wheel drive, robot crawls slowly to pass over soft or sandy terrain. Senses terrain along corridor, chooses path to avoid insurmountable obstacles, and monitors state of vehicle for unexpected hazards.

Larimer, Stanley J.↗
NASA NTRS2005

Rough and Steep Terrain Lunar Surface Mobility

In the summer of 2004, the NASA Exploration Systems Mission Directorate conducted an open call for projects relevant to human and robotic exploration of the Earth-Moon and Mars systems. A project entitled 'Rough and Steep Terrain Lunar Surface Mobility' was submitted by JPL and accepted by NASA. The principal investigator of this project describes the robotic vehicle being developed for this effort, which includes six 'wheels-on-legs' so that it can roll efficiently on relatively smooth terrain but walk (using locked wheels as footpads) when "the going gets rough".

rough↗
NASA NTRS1980

Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection

A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.

Messing, B. S.↗
NASA NTRS2016

Horizon Based Orientation Estimation for Planetary Surface Navigation

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

localization↗
NASA NTRS1991

Perception, planning, and control for walking on rugged terrain

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

Simmons, Reid↗