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Anderson, Robert C.

Publications and source records attributed to Anderson, Robert C..

At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Excitation/Detection Strategies for OH Planar Laser-Induced Fluorescence Measurements in the Presence of Interfering Fuel Signal and Absorption Effects

Planar laser-induced fluorescence (PLIF) excitation/detection methods have been applied to obtain spatial distributions of the hydroxyl [OH] reacting intermediary and hydrocarbon [HC] primary species in laminar and turbulent combustion reactions. In this report, broadband and narrowband excitation/filtering techniques are explored to identify an optimal experimental configuration yielding significant fluorescent signal with low absorption losses. The combustion environments analyzed include 1) a laminar non-premixed methane/air flame and 2) a turbulent, non-premixed Jet-A/air fueled flame within a lean flame tube combustor. Hydrocarbon-based fuel and OH were excited via the R1 (1), R1(10) and R2(7) transitions of the A(sup 2)Epsilon(+) X(sup 2)pi(1,0) band using a broadband Nd:YAG pumped optical parametric oscillator (OPO) and narrowband Nd:YAG/dye laser with ultraviolet frequency extension (UVX) package. Variables tested for influence on fluorescent signal and absorption characteristics were excitation line, laser energy, exciting linewidth, combustion reactants, and test flow conditions. Results are intended to guide the transition from a dye/UVX laser to an OPO system for performing advanced diagnostics of low-emission combustion concepts.

Heath, Christopher M.↗
NASA NTRS2010

Optical Characterization of a Multipoint Lean Direct Injector for Gas Turbine Combustors: Velocity and Fuel Drop Size Measurements

Performance of a multipoint, lean direct injection (MP-LDI) strategy for low emission aero-propulsion systems has been tested in a Jet-A fueled, lean flame tube combustion rig. Operating conditions for the series of tests included inlet air temperatures between 672 and 828 K, pressures between 1034 and 1379 kPa and total equivalence ratios between 0.41 and 0.45, resulting in equilibrium flame temperatures approaching 1800 K. Ranges of operation were selected to represent the spectrum of subsonic and supersonic flight conditions projected for the next-generation of commercial aircraft. This document reports laser-based measurements of in situ fuel velocities and fuel drop sizes for the NASA 9-point LDI hardware arranged in a 3 3 square grid configuration. Data obtained represent a region of the flame tube combustor with optical access that extends 38.1-mm downstream of the fuel injection site. All data were obtained within reacting flows, without particle seeding. Two diagnostic methods were employed to evaluate the resulting flow path. Three-component velocity fields have been captured using phase Doppler interferometry (PDI), and two-component velocity distributions using planar particle image velocimetry (PIV). Data from these techniques have also offered insight into fuel drop size and distribution, fuel injector spray angle and pattern, turbulence intensity, degree of vaporization and extent of reaction. This research serves to characterize operation of the baseline NASA 9- point LDI strategy for potential use in future gas-turbine combustor applications. An additional motive is the compilation of a comprehensive database to facilitate understanding of combustor fuel injector aerodynamics and fuel vaporization processes, which in turn may be used to validate computational fluid dynamics codes, such as the National Combustor Code (NCC), among others.

Heath, Christopher M.↗
NASA NTRS2010

Autonomous Exploration for Gathering Increased Science

The Autonomous Exploration for Gathering Increased Science System (AEGIS) provides automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which at the time of this reporting has had two rovers exploring the surface of Mars (see figure). Currently, targets for rover remote-sensing instruments must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In particular, this technology will be used to automatically acquire sub-framed, high-resolution, targeted images taken with the MER panoramic cameras. This software provides: 1) Automatic detection of terrain features in rover camera images, 2) Feature extraction for detected terrain targets, 3) Prioritization of terrain targets based on a scientist target feature set, and 4) Automated re-targeting of rover remote-sensing instruments at the highest priority target.

Bornstein, Benjamin J.↗
NASA NTRS2010

Using Multi-Core Systems for Rover Autonomy

Task Objectives are: (1) Develop and demonstrate key capabilities for rover long-range science operations using multi-core computing, (a) Adapt three rover technologies to execute on SOA multi-core processor (b) Illustrate performance improvements achieved (c) Demonstrate adapted capabilities with rover hardware, (2) Targeting three high-level autonomy technologies (a) Two for onboard data analysis (b) One for onboard command sequencing/planning, (3) Technologies identified as enabling for future missions, (4)Benefits will be measured along several metrics: (a) Execution time / Power requirements (b) Number of data products processed per unit time (c) Solution quality

multi-core↗
NASA NTRS2010

Coordinating Multiple Spacecraft Assets for Joint Science Campaigns

This paper describes technology to support a new paradigm of space science campaigns. These campaigns enable opportunistic science observations to be autonomously coordinated between multiple spacecraft. Coordinated spacecraft can consist of multiple orbiters, landers, rovers, or other in-situ vehicles (such as an aerobot). In this paradigm, opportunistic science detections can be cued by any of these assets where additional spacecraft are requested to take further observations characterizing the identified event or surface feature. Such coordination will enable a number of science campaigns not possible with present spacecraft technology. Examples from Mars include enabling rapid data collection from multiple craft on dynamic events such as new Mars dark slope streaks, dust-devils or trace gases. Technology to support the identification of opportunistic science events and/or the re-tasking of a spacecraft to take new measurements of the event is already in place on several individual missions such as the Mars Exploration Rover (MER) Mission and the Earth Observing One (EO1) Mission. This technology includes onboard data analysis techniques as well as capabilities for planning and scheduling. This paper describes how these techniques can be cue and coordinate multiple spacecraft in observing the same science event from their different vantage points.

automated commanding↗
NASA NTRS2009

Automated Targeting for the MER Rovers

The Autonomous Exploration for Gathering Increased Science System (AEGIS) will soon provide automated targeting for remote sensing instruments on the Mars Exploration Rover (MER) mission, which currently which currently has two rovers exploring the surface of Mars. Currently, targets for rover remote-sensing instruments, especially narrow field-of-view instruments (such as the MER Mini- TES spectrometer or the 2011 Mars Science Laboratory (MSL) Mission ChemCam Spectrometer), must be selected manually based on imagery already on the ground with the operations team. AEGIS enables the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. In this paper, we first provide some background information on the larger autonomous science framework in which AEGIS was developed. We then describe how AEGIS was specifically developed and tested on the JPL FIDO rover. Finally we discuss how AEGIS will be uploaded and used on the Mars Exploration Rover (MER) mission in early 2009.

rover autonomy↗
NASA NTRS2008

Supporting Increased Autonomy for a Mars Rover

This paper presents an architecture and a set of technology for performing autonomous science and commanding for a planetary rover. The MER rovers have outperformed all expectations by lasting over 1100 sols (or Martian days), which is an order of magnitude longer than their original mission goal. The longevity of these vehicles will have significant effects on future mission goals, such as objectives for the Mars Science Laboratory rover mission (scheduled to fly in 2009) and the Astrobiology Field Lab rover mission (scheduled to potentially fly in 2016). Common objectives for future rover missions to Mars include the handling of opportunistic science, long-range or multi-sol driving, and onboard fault diagnosis and recovery. To handle these goals, a number of new technologies have been developed and integrated as part of the CLARAty architecture. CLARAty is a unified and reusable robotic architecture that was designed to simplify the integration, testing and maturation of robotic technologies for future missions. This paper focuses on technology comprising the CLARAty Decision Layer, which was designed to support and validate high-level autonomy technologies, such as automated planning and scheduling and onboard data analysis.

autonomous science↗
NASA NTRS2007

NASA 9-Point LDI Code Validation Experiment

This presentation highlights the experimental work to date to obtain validation data using a 9-point lean direct injector (LDI) in support of the National Combustion Code. The LDI is designed to supply fuel lean, Jet-A and air directly into the combustor such that the liquid fuel atomizes and mixes rapidly to produce short flame zones and produce low levels of oxides of nitrogen and CO. We present NOx and CO emission results from gas sample data that support that aspect of the design concept. We describe this injector and show high speed movies of selected operating points. We present image-based species maps of OH, fuel, CH and NO obtained using planar laser induced fluorescence and chemiluminescence. We also present preliminary 2-component, axial and vertical, velocity vectors of the air flow obtained using particle image velocimetry and of the fuel drops in a combusting case. For the same combusting case, we show preliminary 3-component velocity vectors obtained using a phase Doppler anemometer. For the fueled, combusting cases especially, we found optical density is a technical concern that must be addressed, but that in general, these preliminary results are promising. All optical-based results confirm that this injector produces short flames, typically on the order of 5- to-7-mm long at typical cruise and high power engine cycle conditions.

Hicks, Yolanda R.↗
NASA NTRS2007

Optical Measurements in a Combustor Using a 9-Point Swirl-Venturi Fuel Injector

This paper highlights the use of two-dimensional data to characterize a multipoint swirl-venturi injector. The injector is based on a NASA-conceived lean direct injection concept. Using a variety of advanced optical diagnostic techniques, we examine the flows resultant from multipoint, lean-direct injectors that have nine injection sites arranged in a 3 x 3 grid. The measurements are made within an optically-accessible, jet-A-fueled, 76-mm by 76-mm flame tube combustor. Combustion species mapping and velocity measurements are obtained using planar laser-induced fluorescence of OH and fuel, planar laser scatter of liquid fuel, chemiluminescence from CH*, NO*, and OH*, and particle image velocimetry of seeded air (non-fueled). These measurements are used to study fuel injection, mixedness, and combustion processes and are part of a database of measurements that will be used for validating computational combustion models.

Hicks, Yolanda R.↗
NASA NTRS2006

Opportunistic Planning and Execution for Planetary Exploration

We are developing technologies to increase the autonomous capabilities of future rover missions. Our objectives are to make rovers easier to command and to enable them to make more effective use of rover resources when problems arise or when things go better than expected. We will demonstrate OASIS (Onboard Analysis Science Investigation System) which combined planning and scheduling techniques with machine learning to enable rovers to perform robust and opportunistic science operations.

autonomous planning↗
NASA NTRS2005

Prospecting for In Situ Resources on the Moon and Mars Using Wheel-Based Sensors

The Apollo and Russian missions during 1970's were reviewed to rediscover the type and distribution of minerals on the Moon. This study revealed that the Moon is a relatively barren place in mineral content when compared with the Earth. Results from the Lunar minerals brought back to Earth, indicate that the Moon lacks water, hydroxyl ions, and carbon based minerals. Our approach to prospecting utilizes a vehicle with sensors embedded in a wheel that allow measurements while the vehicle is in motion. Once a change in soil composition is detected, decision making software stops the vehicle and analytical instruments perform a more definitive analysis of the soil. The focus of this paper is to describe the instrumentation and data from the wheel-based sensors.

moon↗
NASA NTRS2005

Current results from a Rover Science Data Analysis System

In this paper, we provide a brief overview of the OASIS system, and then describe our recent successes in integrating with and using rover hardware. OASIS currently works in a closed loop fashion with onboard control software (e.g., navigation and vision) and has the ability to autonomously perform the following sequence of steps: analyze gray scale images to find rocks, extract the properties of the rocks, identify rocks of interest, retask the rover to take additional imagery of the identified target and then allow the rover to continue on its original mission. We also describe the early 2004 ground test validation of specific OASIS components on selected Mars Exploration Rover (MER) images. These components include the rockfinding algorithm, RockIT, and the rock size feature extraction code. Our team also developed the RockIT GUI, an interface that allows users to easily visualize and modify the rock-finder results. This interface has allowed us to conduct preliminary testing and validation of the rockfinder's performance.

Coupled Layer Architecture for Robotic Autonomy (C↗
NASA NTRS2005

Laser-Based Flowfield Imaging in a Lean Premixed Prevaporized Sector Combustor

OH and fuel planar laser-induced fluorescence (PLIF) is used qualitatively in this study to observe the flame structure resultant from different fuel injector dome configurations within the 3-cup sector combustor test rig. The fluorescence images are compared with some computational fluid dynamics (CFD) results. Interferences in obtaining OH fluorescence signals due to the emission of other species are assessed. NO PLIF images are presented and compared to gas analysis results. The comparison shows that PLIF NO can be an excellent method for measuring NO in the flame. Additionally, we present flow visualization of the molecular species C2.

Hicks, Yolanda R.↗
NASA NTRS2005

Dielectric Constant Measurements for Characterizing Lunar Soils

The return to the Moon has ignited the need to characterize the lunar regolith using fast, reliable in-situ methods. Characterizing the physical properties of the rocks and soils can be very difficult because of the many complex parameters that influence the measurements. In particular, soil electrical property measurements are influenced by temperature, mineral type, grain size, porosity, and soil conductivity. Determining the dielectric constant of lunar materials may be very important in providing quick characterization of surface deposits, especially for the Moon. A close examination of the lunar regolith samples collected by the Apollo astronauts indicates that the rocks and soils on the Moon are dominated by silicates and oxides. In this presentation, we will show that determining the dielectric constant measurements can provide a simple, quick detection method for minerals that contain titanium, iron, and water. Their presence is manifest by an unusually large imaginary permittivity.

Anderson, Robert C.↗
NASA NTRS2004

Error-associated behaviors and error rates for robotic geology

This study explores human error as a function of the decision-making process. One of many models for human decision-making is Rasmussen's decision ladder [9]. The decision ladder identifies the multiple tasks and states of knowledge involved in decision-making. The tasks and states of knowledge can be classified by the level of cognitive effort required to make the decision, leading to the skill, rule, and knowledge taxonomy (Rasmussen, 1987). Skill based decisions require the least cognitive effort and knowledge based decisions require the greatest cognitive effort. Errors can occur at any of the cognitive levels.

error rates↗
NASA NTRS2004

Neural Network for Image-to-Image Control of Optical Tweezers

A method is discussed for using neural networks to control optical tweezers. Neural-net outputs are combined with scaling and tiling to generate 480 by 480-pixel control patterns for a spatial light modulator (SLM). The SLM can be combined in various ways with a microscope to create movable tweezers traps with controllable profiles. The neural nets are intended to respond to scattered light from carbon and silicon carbide nanotube sensors. The nanotube sensors are to be held by the traps for manipulation and calibration. Scaling and tiling allow the 100 by 100-pixel maximum resolution of the neural-net software to be applied in stages to exploit the full 480 by 480-pixel resolution of the SLM. One of these stages is intended to create sensitive null detectors for detecting variations in the scattered light from the nanotube sensors.

Decker, Arthur J.↗