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NASA NTRS2011

Visual SLAM Using Variance Grid Maps

An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance maps are much better for representing the structure of vegetated or rocky terrain.

Howard, Andrew B.↗

NASA NTRS1988

Determination of the area and mass distribution of orbital debris fragments

An important factor in modeling the orbital debris environment is the loss rate of debris due to atmospheric drag and lunisolar perturbations. An accurate knowledge of the area-to-mass ratio of debris fragments is required to calculate the effects of atmospheric drag. It is shown here that the orbital elements as a function of time can be used to invert any propagation algorithm to yield the area-to-mass ratio of an orbiting object. From these calculations and the observed radar cross-section of the object, the mass can be calculated to an accuracy of about 30 percent. It is shown that the mass is related to the effective cross-section area by a power-law relation, but for a given area the mass distribution is very broad. An expression is given for the cumulative mass distribution.

Badhwar, G. D.↗

NASA NTRS1978

The metallicity of globular clusters in the halo of M87

The energy distributions of one 20th and two 21st magnitude globular clusters in the halo of the giant elliptical galaxy M87 (NGC 4486) of the Virgo cluster have been obtained between 0.32 and 1.1 microns with the multichannel spectrophotometer of the Hale 5-m telescope. Comparisons with globular clusters in M31 show line strength indices L ranging from 4 plus or minus 2 to 9.5 plus or minus 2.0, with a mean for the three clusters of 7.5 plus or minus 1.5. On average they thus have metal deficiencies relative to the sun by a factor of about 5. The distribution over abundance in the halo globular clusters of M87 is the same as that in M31, but different from that in the halo of the Galaxy.

Racine, R.↗

NASA NTRS2013

RF Exposure Analysis for Multiple Wi-Fi Devices In Enclosed Environment

Wi-Fi devices operated inside a metallic enclosure have been investigation in the recent years. A motivation for this study is to investigate wave propagation inside an enclosed environment such as elevator, car, aircraft, and spacecraft. There are performances and safety concerned that when the RF transmitters are used in the metallic enclosed environments. In this paper, the field distributions inside a confined room were investigated with multiple portable Wi-Fi devices. Computer simulations were performed using the rigorous computational electromagnetics (CEM). The method of moments (MoM) was used to model the mutual coupling among antennas. The geometrical theory of diffraction (GTD) was applied for the multiple reflections off the ground and walls. The prediction of the field distribution inside such environment is useful for the planning and deployment of a wireless radio and sensor system. Factors that affect the field strengths and distributions of radio waves in confined space were analyzed. The results could be used to evaluate the RF exposure safety in confined environment. By comparing the field distributions for various scenarios, it was observed that the Wi-Fi device counts, spacing and relative locations in the room are important factors in such environments. The RF Keep Out Zone (KOZ), where the electric field strengths exceed the permissible RF exposure limit, could be used to assess the RF human exposure compliance. As shown in this study, it s possible to maximize or minimize field intensity in specific area by arranging the Wi-Fi devices as a function of the relative location and spacing in a calculated manner.

Hwu, Shian U.↗

NASA NTRS2001

Considerations and Architectures for Inter-Satellite Communications in Distributed Spacecraft Systems

This paper will identify the important characteristics and requirements necessary for inter-satellite communications in distributed spacecraft systems and present analysis results focusing on architectural and protocol comparisons. Emerging spacecraft systems plan to deploy multiple satellites in various "distributed" configurations ranging from close proximity formation flying to widely separated constellations. Distributed spacecraft configurations provide advantages for science exploration and operations since many activities useful for missions may be better served by distributing them between spacecraft. For example, many scientific observations can be enhanced through spatially separated platforms, such as for deep space interferometry. operating multiple distributed spacecraft as a mission requires coordination that may be best provided through inter-satellite communications. For example, several future distributed spacecraft systems envision autonomous operations requiring relative navigational calculations and coordinated attitude and position corrections. To conduct these operations, data must be exchanged between spacecraft. Direct cross-links between satellites provides an efficient and practical method for transferring data and commands. Unlike existing "bent-pipe" relay networks supporting space missions, no standard or widely-used method exists for cross-link communications. Consequently, to support these future missions, the characteristics necessary for inter-satellite communications need to be examined. At first glance, all of the missions look extremely different. Some missions call for tens to hundreds of nano-satellites in constant communications in close proximity to each other. Other missions call for a handful of satellites communicating very slowly over thousands to hundreds of thousands of kilometers. The paper will first classify distributed spacecraft missions to help guide the evaluation and definition of cross-link architectures and approaches. Based on this general classification, the paper will examine general physical layer parameters, such as frequency bands and data rates, necessary to support the missions. The paper will also identify classes of communication architectures that may be employed, ranging from fully distributed to centralized topologies. Numerous factors, such as number of spacecraft, must be evaluated when attempting to pick a communications architecture. Also important is the stability of the formation from a communications standpoint. For example, do all of the spacecraft require equal bandwidth and are spacecraft allowed to enter and leave a formation? The type of science mission being attempted may also heavily influence the communications architecture. In addition, the paper will assess various parameters and characteristics typically associated with the data link layer. The paper will analyze the performance of various multiple access techniques given the operational scenario, requirements, and communication topologies envisioned for missions. This assessment will also include a survey of existing standards and their applicability for distributed spacecraft systems. An important consideration includes the interoperability of the lower layers (physical and data link) examined in this paper with the higher layer protocols(network) envisioned for future space internetworking. Finally, the paper will define a suggested path, including preliminary recommendations, for defining and developing a standard for intersatellite communications based on the classes of distributed spacecraft missions and analysis results.

Edwards, Bernard↗

NASA NTRS1987

Finite-element analysis of corner cracks in rectangular bars

Stress intensity factors for a wide range of quarter-elliptical corner cracks in rectangular bars are presented. Cracked configurations were subjected to remote tension, in-plane bending, or out-of-plane bending. Results were compared with other numerical results for a quarter-circular corner crack configuration. The present results along the interior of the crack generally agreed within 3 percent with those from the literature. Some larger differences (3 to 13 percent) were observed near the intersection of the crack front and the free surfaces in the boundary layer region. Analyses were performed to study the effect of mesh refinement in the boundary layer region and the influence of Poisson's ratio on the distribution of stress-intensity factors.

Raju, L. S.↗

NASA NTRS1972

Vegetation-terrain feature relationships in southeast Arizona

There are no author-identified significant results in this report. Studies of relationships of vegetation distribution to geomorphic characteristics of the landscape and of plant phenological patterns to vegetation identification of satellite imagery indicate that there exists positive relationships between certain plant species and certain terrain features. Not all species were found to exhibit positive relationships with all terrain feature variables, but enough positive relationships seem to exist to indicate that terrain feature variable-vegetation relationship studies have a definite place in plant ecological investigations. Even more importantly, the vegetation groups examined appeared to be successfully discriminated by the terrain feature variables. This would seem to indicate that spatial interpretations of vegetation groups may be possible. While vegetational distributions aren't determined by terrain feature differences, terrain features do mirror factors which directly influence vegetational response and hence distribution. As a result, those environmental features which can be readily and rapidly ascertained on relatively small-scale imagery may prove to be valuable indicators of vegetation distribution.

Schrumpf, B. J.↗

NASA NTRS1982

Spatial variability of soil hydraulics and remotely sensed soil parameters

The development of methods to correctly interpret remotely sensed information about soil moisture and soil temperature requires an understanding of water and energy flow in soil, because the signals originate from the surface, or from a shallow surface layer, but reflect processes in the entire profile. One formidable difficulty in this application of soil physics is the spatial heterogeneity of natural soils. Earlier work has suggested that the heterogeneity of soil hydraulic properties may be described by the frequency distribution of a single scale factor. The sensitivity of hydraulic and energetic processes to the variation of this scale factor is explored with a suitable numerical model. It is believed that such an analysis can help in deciding how accurately and extensively basic physical properties of field soils need to be known in order to interpret thermal or radar waveband signals. It appears that the saturated hydraulic conductivity needs to be known only to its order of magnitude, and that the required accuracy of the soil water retention function is about 0.02 volume fraction. Furthermore, the results may be helpful in deciding how the total scene or view field, as perceived through a sensor, is composed from the actual mosaic of transient soil properties, such as surface temperature or surface soil moisture. However, the latter proposition presupposes a random distribution of permanent properties, a condition that may not be met in many instances, and no solution of the problem is apparent.

Lascano, R. J.↗

NASA NTRS1996

A Comparison of Single-Cycle Versus Multiple-Cycle Proof Testing Strategies

Single-cycle and multiple-cycle proof testing (SCPT and MCPT) strategies for reusable aerospace propulsion system components are critically evaluated and compared from a rigorous elastic-plastic fracture mechanics perspective. Earlier MCPT studies are briefly reviewed. New J-integral estimation methods for semi-elliptical surface cracks and cracks at notches are derived and validated. Engineering methods are developed to characterize crack growth rates during elastic-plastic fatigue crack growth (FCG) and the tear-fatigue interaction near instability. Surface crack growth experiments are conducted with Inconel 718 to characterize tearing resistance, FCG under small-scale yielding and elastic-plastic conditions, and crack growth during simulated MCPT. Fractography and acoustic emission studies provide additional insight. The relative merits of SCPT and MCPT are directly compared using a probabilistic analysis linked with an elastic-plastic crack growth computer code. The conditional probability of failure in service is computed for a population of components that have survived a previous proof test, based on an assumed distribution of initial crack depths. Parameter studies investigate the influence of proof factor, tearing resistance, crack shape, initial crack depth distribution, and notches on the MCPT vs. SCPT comparison. The parameter studies provide a rational basis to formulate conclusions about the relative advantages and disadvantages of SCPT and MCPT. Practical engineering guidelines are proposed to help select the optimum proof test protocol in a given application.

McClung, R. C.↗

NASA NTRS1996

A Comparison of Single-Cycle Versus Multiple-Cycle Proof Testing Strategies

McClung, R. C.↗

NASA NTRS1999

A Comparison of Single-Cycle Versus Multiple-Cycle Proof Testing Strategies

Single-cycle and multiple-cycle proof testing (SCPT and MCPT) strategies for reusable aerospace propulsion system components are critically evaluated and compared from a rigorous elastic-plastic fracture mechanics perspective. Earlier MCPT studies are briefly reviewed. New J-integral estimation methods for semielliptical surface cracks and cracks at notches are derived and validated. Engineering methods are developed to characterize crack growth rates during elastic-plastic fatigue crack growth (FCG) and the tear-fatigue interaction near instability. Surface crack growth experiments are conducted with Inconel 718 to characterize tearing resistance, FCG under small-scale yielding and elastic-plastic conditions, and crack growth during simulated MCPT. Fractography and acoustic emission studies provide additional insight. The relative merits of SCPT and MCPT are directly compared using a probabilistic analysis linked with an elastic-plastic crack growth computer code. The conditional probability of failure in service is computed for a population of components that have survived a previous proof test, based on an assumed distribution of initial crack depths. Parameter studies investigate the influence of proof factor, tearing resistance, crack shape, initial crack depth distribution, and notches on the MCPT versus SCPT comparison. The parameter studies provide a rational basis to formulate conclusions about the relative advantages and disadvantages of SCPT and MCPT. Practical engineering guidelines are proposed to help select the optimum proof test protocol in a given application.

McClung, R. C.↗

NASA NTRS1988

A scattering model for forested area

A forested area is modeled as a volume of randomly oriented and distributed disc-shaped, or needle-shaped leaves shading a distribution of branches modeled as randomly oriented finite-length, dielectric cylinders above an irregular soil surface. Since the radii of branches have a wide range of sizes, the model only requires the length of a branch to be large compared with its radius which may be any size relative to the incident wavelength. In addition, the model also assumes the thickness of a disc-shaped leaf or the radius of a needle-shaped leaf is much smaller than the electromagnetic wavelength. The scattering phase matrices for disc, needle, and cylinder are developed in terms of the scattering amplitudes of the corresponding fields which are computed by the forward scattering theorem. These quantities along with the Kirchoff scattering model for a randomly rough surface are used in the standard radiative transfer formulation to compute the backscattering coefficient. Numerical illustrations for the backscattering coefficient are given as a function of the shading factor, incidence angle, leaf orientation distribution, branch orientation distribution, and the number density of leaves. Also illustrated are the properties of the extinction coefficient as a function of leaf and branch orientation distributions. Comparisons are made with measured backscattering coefficients from forested areas reported in the literature.

Karam, M. A.↗

NASA NTRS1991

Structural factoring approach for analyzing stochastic networks

The problem of finding the distribution of the shortest path length through a stochastic network is investigated. A general algorithm for determining the exact distribution of the shortest path length is developed based on the concept of conditional factoring, in which a directed, stochastic network is decomposed into an equivalent set of smaller, generally less complex subnetworks. Several network constructs are identified and exploited to reduce significantly the computational effort required to solve a network problem relative to complete enumeration. This algorithm can be applied to two important classes of stochastic path problems: determining the critical path distribution for acyclic networks and the exact two-terminal reliability for probabilistic networks. Computational experience with the algorithm was encouraging and allowed the exact solution of networks that have been previously analyzed only by approximation techniques.

Hayhurst, Kelly J.↗

NASA NTRS1990

Carbon monoxide over the Amazon Basin during the wet season

Measurements of the distribution of carbon monoxide in the lower atmosphere (150-5000 m) over the Amazon region of Brazil during the wet season, taken in conjunction with the 1987 NASA Global Tropospheric Experiment/Amazon Boundary Layer Experiment (ABLE 2B), are analyzed. About 100 hr of airborne, in situ CO measurements were obtained using a tunable diode laser system, providing insights into factors influencing the basin-scale distribution of CO in the Amazonian troposphere during wet season conditions. Distribution of CO over the altitudes 0.15-4.5 km was influenced by such factors as surface emissions from biological sources and long-range transport of pollutants from Northern Hemisphere sources. It is noted that the disruption of mixed layer growth and decay processes has a particularly important influence on CO concentration in the daytime lower troposphere and that the correlation of CO with O3 was positive under conditions influenced by Northern Hemisphere air and negative under all other conditions observed.

Harriss, R. C.↗

NASA NTRS2013

Lunar Regolith Particle Shape Analysis

Future engineering of structures and equipment on the lunar surface requires significant understanding of particle characteristics of the lunar regolith. Nearly all sediment characteristics are influenced by particle shape; therefore a method of quantifying particle shape is useful both in lunar and terrestrial applications. We have created a method to quantify particle shape, specifically for lunar regolith, using image processing. Photomicrographs of thin sections of lunar core material were obtained under reflected light. Three photomicrographs were analyzed using ImageJ and MATLAB. From the image analysis measurements for area, perimeter, Feret diameter, orthogonal Feret diameter, Heywood factor, aspect ratio, sieve diameter, and sieve number were recorded. Probability distribution functions were created from the measurements of Heywood factor and aspect ratio.

Kiekhaefer, Rebecca↗

NASA NTRS1990

Radiative diffusivity factors in cirrus and stratocumulus clouds: Application to two-stream models

A diffusion-like description of radiative transfer in clouds and the free atmosphere is often used. The two stream model is probably the best known example of such a description. The main idea behind the approach is that only the first few moments of radiance are needed to describe the radiative field correctly. Integration smooths details of the angular distribution of specific intensity and it is assumed that the closure parameters of the theory (diffusivity factors) are only weakly dependent on the distribution. The diffusivity factors are investigated using the results obtained from both Stratocumulus and Cirrus phases of FIRE experiment. A new theoretical framework is described in which two (upwards and downwards) diffusivity factors are used and a detailed multistream model is used to provide further insight about both the diffusivity factors and their dependence on scattering properties of clouds.

Stephens, Graeme L.↗

NASA NTRS1971

Experiment S001: Zodiacal Light Photography

Observations made during the Gemini 5, 9, and 10 missions in the context of their relation to ground-based and balloon-based experiments on dim-light phenomena are reported. Zodiacal light is the visible manifestation of dust grains in orbit around the sun. The negatives that were exposed on the Gemini 9 mission were studied by the use of an isodensitracer to produce intensity isophotes. Data on the following factors were obtained: (1) intensity distribution of the zodiacal light, both morning and evening; (2) the height and intensity of the airglow at various geographic positions; and (3) intensity distribution of the Milky Way in the region of the sky near Cygnus. Also, a previously unreported phenomenon was discovered. This phenomenon appeared as an upward extension of the normal 90-kilometer airglow layer. The extension was in the form of wisps or plumes approximately 5 deg wide and extending upward approximately 5 deg. The results obtained from pictures exposed on the Gemini 10 mission were of qualitative or geometrical value only.

Ney, E. P.↗

NASA NTRS1979

Considerations for design of future research and development interactive image analysis systems

Future interactive image analysis systems must provide for the increased processing requirements imposed by a thermal channel to LANDSAT-3 and the increased number of spectral channels with significantly higher spatial resolution provided by the LANDSAT-D thematic mapper. Other design considerations must include the rapidly changing technology in memories and special purpose processors, as well as the analyst-machine interface and the human factors involved. The centralized and distributed system approaches are examined in relation to the optimum design configuration of future systems.

Wilkinson, T. B.↗