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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 NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2021

Parsec-scale Properties of Steep- and Flat-spectrum Extragalactic Radio Sources from a VLBA Survey of a Complete North Polar Cap Sample

We observed with the Very Long Baseline Array (VLBA) at 2.3 and 8.6 GHz a complete flux-density-limited sample of 482 radio sources with decl. > +75° brighter than 200 mJy at 1.4 GHz drawn from the NVSS catalog. A total of 34% of the sources show parsec-scale emission above the flux density detection limit of 30 mJy; their accurate positions and parsec-scale structure parameters are determined. Among all the sources detected at least at the shortest VLBA baselines, the majority, or 72%, have a steep single-dish spectrum. The fraction of the sources with a detectable parsec-scale structure is above 95% among the flat-spectrum objects and close to 25% among the steep-spectrum objects. We identified 82 compact steep-spectrum source candidates, which make up 17% of the sample; most of them are reported for the first time. The compactness and the brightness temperature of the sources in our sample show a positive correlation with single-dish and VLBA spectral indices. All the sources with a significant 8 GHz variability were detected by the VLBA snapshot observations, which independently confirmed their compactness. We demonstrated that 54% of the sources detected by the VLBA at 2.3 GHz in our sample have a steep VLBA spectrum. The compact radio emission of these sources is likely dominated by optically thin jets or mini-lobes, not by an opaque jet core. These results show that future VLBI surveys aimed at searching for new sources with parsec-scale structure should include not only flat-spectrum sources but also steep-spectrum ones in order to reach an acceptable level of completeness.

A V Popkov↗
NASA NTRS2007

Robot Would Climb Steep Terrain

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Kennedy, Brett↗
NASA NTRS2012

A Peculiar Class of Debris Disks from Herschel/DUNES: A Steep Fall Off in the Far Infrared

Context. The existence of debris disks around old main sequence stars is usually explained by continuous replenishment of small dust grains through collisions from a reservoir of larger objects. Aims. We present photometric data of debris disks around HIP 103389 (HD199260), HIP 100350 (HN Peg, HD206860), and HIP 114948 (HD 219482), obtained in the context of our Herschel Open TIme Key Program DUNES (DUst around NEarby Stars). Methods. We used Herschel/PACS to detect the thermal emission of the three debris disks with a 30 sigma sensitivity of a few mJy at l00 micron and 160 micron. In addition, we obtained Herschel/PACS photometric data at 70 micron for HIP 103389. These observations are complemented by a large variety of optical to far-infrared photometric data. Two different approaches are applied to reduce the Herschel data to investigate the impact of data reduction on the photometry. We fit analytical models to the available spectral energy distribution (SED) data using the fitting method of simulated therma1 annealing as well as a classical grid search method. Results. The SEDs of the three disks potentially exhibit an unusually steep decrease at wavelengths >= 70 micron. We investigate the significance of the peculiar shape of these SEDs and the impact on models of the disks provided it is real. Using grain compositions that have been applied successfully for modeling of many other debris disks, our modeling reveals that such a steep decrease of the SEDs in the long wavelength regime is inconsistent with a power-law exponent of the grain size distribution -3.5 expected from a standard equilibrium collisional cascade. In contrast, a steep grain size distribution or, alternatively an upper grain size in the range of few tens of micrometers are implied. This suggests that a very distinct range of grain sizes would dominate the thermal. emission of such disks. However, we demonstrate that the understanding of the data of faint sources obtained with Herschel is still incomplete and that the significance of our results depends on the version of the data reduction pipeline used. Conclusions. A new mechanism to produce the dust in the presented debris disks, deviations from the conditions required for a standard equilibrium collisional cascade (grain size exponent of -3.5), and/or significantly different dust properties would be necessary to explain the potentially steep SED shape of the three debris disks presented.

Ertel, S.↗
NASA NTRS1986

The stratigraphy of the Steep Rock Group, N.W. Ontario, with evidence of a major unconformity

The Steep Rock Group is exposed 6 km north of Atikokan, 200 km west of Thunder Bay. It is situated on the southern margin of the Wabigoon Belt of the Archaean Superior Province, N. W. Ontario. Reinvestigation of the geology of the Group has shown that the Group lies unconformably on the Tonalite Complex to the east. This unconformity has been previously suspected, from regional and ine mapping but no conclusive outcrop evidence for its existence has as yet been published. The strike of the group, comprised of Basal Conglomerate, Carbonate Member, Ore Zone and Ashrock is generally north-northwest dipping steeply to the southwest. Of the 7 contacts between the Steep Rock Group and the Tonalite Complex, 3 expose the unconformity (The Headland, S. Roberts Pit, Trueman Point), and 4 are faulted. These three outcrops demonstrate unequivocally that the Steep Rock group was laid down unconformably on the underlying Tonalite Complex, which is circa 3 Ga old.

Wilks, M. E.↗
NASA NTRS1988

An X-ray and radio study of steep-spectrum radio soruces. I - Four fields from the Clark Lake Observatory 26 MHz survey

A multifrequency study of fields containing steep-spectrum radio sources is presented. New spectral and spatial data are used to determine the locations and optical identifications of steep-spectrum sources which previously had either poor positions or questionable correspondence to known sources. X-ray images from the Einstein Observatory provide estimates of the extent, temperature, density, and thermal pressure of hot gas associated with galaxies and clusters of galaxies. From the equations relating synchrotron emission to inverse Compton scattering of 3 K background photons, lower limits to the average magnetic field strength in the source are derived. For the resolved radio sources of known distance, the minimum nonthermal pressure and the corresponding magnetic field strength are also calculated. For the four fields discussed in this paper, it is found that three out of five steep-spectrum sources are embedded in a cluster atmosphere and two are unidentified. Except for unresolved radio structures associated with cores of galaxies, the estimated thermal pressure is sufficient to confine the radio sources.

Harris, D. E.↗
NASA NTRS2016

New Approaches to Inferences for Steep-Sided Domes on Venus

New mathematical approaches for the relaxation and emplacement of viscous lava domes are presented and applied to steep-sided domes on Venus. A similarity solution approach is applied to the governing equation for fluid flow in a cylindrical geometry for two distinct scenarios. In the first scenario, dome relaxation is explored assuming a constant volume of fluid (i.e. lava) has been rapidly emplaced onto the surface. Cooling of lava is represented by a time-variable viscosity and singularities inherent in previous models for dome relaxation have been eliminated. At the onset of relaxation, bulk dynamic viscosities lie in the range between 10(exp 10) - 10(exp 16) Pa s, consistent with basaltic-andesite to rhyolitic compositions. Plausible relaxation times range from 5 to 5000 years, depending on initial lava viscosity. The first scenario, however, is only valid during the final stages of dome relaxation and does not consider the time taken for lava to be extruded onto the surface. In the second scenario, emplacement and growth of a steep-sided dome is considered when the volume of lava on the surface increases over time (i.e. time-variable volume approach). The volumetric flow rate may depend on an arbitrary power of the dome thickness, thus embracing Newtonian as well as other rheologies for describing terrestrial and planetary mass flows. The approach can be used to distinguish between basic flow rate models for fluid emplacement. The formalism results in radial expansion of a dome proportional to t(sup 1/2), consistent with the diffusive nature of the governing equation. The flow at the front is shown to thicken as the front advances for a constant rate of lava supply. Emplacement times are intimately correlated with the bulk rheology. Comparison of the theoretical profiles with the shape of a typical dome on Venus indicates that a Newtonian bulk rheology is most appropriate, consistent with prior studies. However, results here suggest a bulk dynamic viscosity of 10(exp 12) - 10(exp 13) Pa s and emplacement times of approximately 2-16 years. Both scenarios investigated give emplacement times significantly less than prior estimates and compositions consistent with basaltic andesite.

steep-sided domes↗
NASA NTRS1977

Noise data for a twin-engine commercial jet aircraft flying conventional, steep, and two-segment approaches

Center-line noise measurements of a twin-engine commercial jet aircraft were made during steep landing approach profiles, and during two-segment approach profiles for comparison with similar measurements made during conventional approaches. The steep and two-segment approaches showed significant noise reductions when compared with the -3 deg base line. The measured noise data were also used to develop a method for estimating the noise under the test aircraft at thrust and altitude conditions typical of current landing procedures and of landing procedures under development for the Advanced Air Traffic Control System.

Hastings, E. C., Jr.↗
NASA NTRS1982

Flight dynamics of rotorcraft in steep high-g turns

An analyticl procedure developed to permit a systematic examination of rotorcraft flight dynamics in steep high-g turns is presented. The procedure is used in a numerical investigation of a tilt-rotor aircraft and three single-rotor helicopters that have different types of main rotor systems. The results indicate (1) that strong coupling in longitudinal and lateral-directional motions exists for these rotorcraft in high-g turns; (2) that for single-rotor helicopters, the direction of turn has a significant influence on flight dynamics; and (3) that a stability and control augmentation system that is designed on the basis of standard small-disturbance equations of motion from steady straight and level flight and that otherwise performs satisfactorily in operations near 1 g, becomes significantly degraded in steep turning flight.

Chen, R. T. N.↗
NASA NTRS1983

Terminal area automatic navigation, guidance and control research using the Microwave Landing System (MLS). Part 5: Design and development of a Digital Integrated Automatic Landing System (DIALS) for steep final approach using modern control techniques

The design and development of a 3-D Digital Integrated Automatic Landing System (DIALS) for the Terminal Configured Vehicle (TCV) Research Aircraft, a B-737-100 is described. The system was designed using sampled data Linear Quadratic Gaussian (LOG) methods, resulting in a direct digital design with a modern control structure which consists of a Kalman filter followed by a control gain matrix, all operating at 10 Hz. DIALS uses Microwave Landing System (MLS) position, body-mounted accelerometers, as well as on-board sensors usually available on commercial aircraft, but does not use inertial platforms. The phases of the final approach considered are the localizer and glideslope capture which may be performed simultaneously, localizer and steep glideslope track or hold, crab/decrab and flare to touchdown. DIALS captures, tracks and flares from steep glideslopes ranging from 2.5 deg to 5.5 deg, selected prior to glideslope capture. Digital Integrated Automatic Landing System is the first modern control design automatic landing system successfully flight tested. The results of an initial nonlinear simulation are presented here.

Halyo, N.↗
NASA NTRS1991

An X-ray and radio study of steep-spectrum radio sources. II - Four fields from a 22 MHz polar cap survey

Four fields containing radio sources with spectral indices greater than unity at low frequencies have been observed over a wide range of radio wavelengths and at X-ray wavelengths. For most of the steep-spectrum sources no optical identifications have been found to the detection limit of the Palomar Schmidt prints, even with the positional precision of about 1 arcsec from VLA maps. This implies that the associated galaxies or clusters lie at a great distance. X-ray emission was not detected from any of the steep-spectrum radio sources. In one case, an extended source appears to be a radio halo in an uncataloged cluster of galaxies at a redshift of 0.125, and it is suggested that this object is a promising candidate for the detection of inverse Compton X-rays, since it is not a high-luminosity source of thermal X-rays.

Dewdney, P. E.↗
NASA NTRS1994

Mg II absorption in a sample of 56 steep-spectrum quasars

We present an analysis of the statistical properties of Mg II absorbers found in the spectra of 56 intrinsically faint, steep-spectrum radio quasars. We observe for the first time a significant excess of associated Mg II absorbers over the number expected from cosmologically distributed absorbers. This result is in contrast to previous Mg II surveys in which the QSOs were optically selected. This distinction is similar to the result for associated C IV absorbers, in which intrinsically faint, steep-spectrum quasars show excess associated absorption and intrinsically bright QSOs (both radio-loud and radio-quiet) do not show an excess. From our spectra a statistically complete list of absorption lines is derived, and we find 29 Mg II absorbers, 18 of which have not been previously reported. We also determine several characteristics of the quasar emission lines in our spectra. The Mg II absorber distribution as a function of redshift and equivalent width is calculated both for our sample alone and from our sample combined with spectra from other surveys. For the redshift distribution n(z) = n(1 + z)(exp gamma), we obtain, using the combined sample, the values gamma = 1.11 +/- 0.46 for W(min) = 0.6 A and gamma = 2.47 +/- 0.68 for W(min) = 1.0 A. We find that the distribution fo strong absorbers is inconsistent with no evolution at a confindence level between 2.2 and 2.9 sigma, depending on the deceleration parameter q(sub 0). The deviation from no evolution is similar to what had been previously reported.

Aldcroft, Thomas L.↗
NASA NTRS1965

Preliminary Study of Steep Instrument Approach of Three Conventional Aircraft

Preliminary studies of steep instrument approaches have been conducted with three conventional aircraft. Six-degree approach paths were found to be acceptable. A margin of 3 deg to 4 deg in maximum glide slope was available to allow for flight-path corrections. Control of the lateral-directional axis was the most difficult problem for pilots making either steep or conventional approaches; split-axis control reduced the pilot workload during this operation.

Hall, Albert W.↗
NASA NTRS2012

Correction of Excessive Precipitation over Steep Mountains in a General Circulation Model (GCM)

Excessive precipitation over steep and high mountains (EPSM) is a well-known problem in GCMs and regional climate models even at a resolution as high as 19km. The affected regions include the Andes, the Himalayas, Sierra Madre, New Guinea and others. This problem also shows up in some data assimilation products. Among the possible causes investigated in this study, we found that the most important one, by far, is a missing upward transport of heat out of the boundary layer due to the vertical circulations forced by the daytime subgrid-scale upslope winds, which in turn is forced by heated boundary layer on the slopes. These upslope winds are associated with large subgrid-scale topographic variance, which is found over steep mountains. Without such subgrid-scale heat ventilation, the resolvable-scale upslope flow in the boundary layer generated by surface sensible heat flux along the mountain slopes is excessive. Such an excessive resolvable-scale upslope flow in the boundary layer combined with the high moisture content in the boundary layer results in excessive moisture transport toward mountaintops, which in turn gives rise to excessive precipitation over the affected regions. We have parameterized the effects of subgrid-scale heated-slope-induced vertical circulation (SHVC) by removing heat from the boundary layer and depositing it in the layers higher up when topographic variance exceeds a critical value. Test results using NASA/Goddard's GEOS-5 GCM have shown that the EPSM problem is largely solved.

Chao, Winston C.↗
NASA NTRS2012

Correction of Excessive Precipitation Over Steep and High Mountains in a General Circulation Model

Excessive precipitation over steep and high mountains (EPSM) is a well-known problem in GCMs and meso-scale models. This problem impairs simulation and data assimilation products. Among the possible causes investigated in this study, we found that the most important one, by far, is a missing upward transport of heat out of the boundary layer due to the vertical circulations forced by the daytime upslope winds, which are forced by the heated boundary layer on subgrid-scale slopes. These upslope winds are associated with large subgrid-scale topographic variation, which is found over steep and high mountains. Without such subgridscale heat ventilation, the resolvable-scale upslope flow in the boundary layer generated by surface sensible heat flux along the mountain slopes is excessive. Such an excessive resolvablescale upslope flow combined with the high moisture content in the boundary layer results in excessive moisture transport toward mountaintops, which in turn gives rise to EPSM. Other possible causes of EPSM that we have investigated include 1) a poorly-designed horizontal moisture flux in the terrain-following coordinates, 2) the condition for cumulus convection being too easily satisfied at mountaintops, 3) the presence of conditional instability of the computational kind, and 4) the absence of blocked flow drag. These are all minor or inconsequential. We have parameterized the ventilation effects of the subgrid-scale heated-slope-induced vertical circulation (SHVC) by removing heat from the boundary layer and depositing it in layers higher up when the topographic variance exceeds a critical value. Test results using NASA/Goddard's GEOS-S GCM have shown that this largely solved the EPSM problem.

Chao, Winston C.↗
NASA NTRS2013

The Supercritical Pile Gamma-Ray Burst Model: The GRB Afterglow Steep Decline and Plateau Phase

We present a process that accounts for the steep decline and plateau phase of the Swift X-Ray Telescope (XRT) light curves, vexing features of gamma-ray burst (GRB) phenomenology. This process is an integral part of the "supercritical pile" GRB model, proposed a few years ago to account for the conversion of the GRB kinetic energy into radiation with a spectral peak at E(sub pk) is approx. m(sub e)C(exp 2). We compute the evolution of the relativistic blast wave (RBW) Lorentz factor Gamma to show that the radiation-reaction force due to the GRB emission can produce an abrupt, small (approx. 25%) decrease in Gamma at a radius that is smaller (depending on conditions) than the deceleration radius R(sub D). Because of this reduction, the kinematic criticality criterion of the "supercritical pile" is no longer fulfilled. Transfer of the proton energy into electrons ceases and the GRB enters abruptly the afterglow phase at a luminosity smaller by approx. m(sub p)/m(sub e) than that of the prompt emission. If the radius at which this slow-down occurs is significantly smaller than R(sub D), the RBW internal energy continues to drive the RBW expansion at a constant (new) Gamma and its X-ray luminosity remains constant until R(sub D) is reached, at which point it resumes its more conventional decay, thereby completing the "unexpected" XRT light curve phase. If this transition occurs at R is approx. equal to R(sub D), the steep decline is followed by a flux decrease instead of a "plateau," consistent with the conventional afterglow declines. Besides providing an account of these peculiarities, the model suggests that the afterglow phase may in fact begin before the RBW reaches R is approx. equal to R(sub D), thus providing novel insights into GRB phenomenology.

parameters↗
NASA NTRS2020

Steep Glacier Bed Knickpoints Mitigate Inland Thinning in Greenland

Greenland's outlet glaciers have been a leading source of mass loss and accompanying sea‐level rise from the Greenland Ice Sheet over the last 25 years. The dynamic component of outlet glacier mass loss depends on both the ice flux through the terminus and the inland extent of glacier thinning, initiated at the ice‐ocean interface. Here, we find limits to the inland spread of thinning that initiates at glacier termini for 141 ocean‐terminating outlet glaciers around the Greenland Ice Sheet. Inland diffusion of thinning is limited by steep reaches of bed topography that we call “knickpoints.” We show that knickpoints exist beneath the majority of outlet glaciers but they are less steep in regions of gentle bed topography, giving glaciers in gentle bed topography the potential to contribute to ongoing and future mass loss from the Greenland Ice Sheet by allowing the diffusion of thinning far into the ice sheet interior.

Denis Felikson↗
NASA NTRS2020

Steep Glacier Bed Knickpoints Mitigate Inland Thinning in Greenland

Greenland’s outlet glaciers have been a leading source of mass loss and accompanying sea-level rise from the Greenland Ice Sheet (GrIS) over the last 25 years. The dynamic component of outlet glacier mass loss depends on both the ice flux through the terminus and the inland extent of glacier thinning, initiated at the ice-ocean interface. Here, we find limits to the inland spread of thinning that initiates at glacier termini for 141 ocean-terminating outlet glaciers around the GrIS. Inland diffusion of thinning is limited by steep reaches of bed topography that we call “knickpoints.” We show that knickpoints exist beneath the majority of outlet glaciers but they are less steep in regions of gentle bed topography, giving glaciers in gentle bed topography the potential to contribute to ongoing and future mass loss from the GrIS by allowing the diffusion of thinning far into the ice sheet interior.

Denis Felikson↗