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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Calibration of the ARID robot

The author has formulated a new, general model for specifying the kinematic properties of serial manipulators. The new model kinematic parameters do not suffer discontinuities when nominally parallel adjacent axes deviate from exact parallelism. From this new theory the author develops a first-order, lumped-parameter, calibration-model for the ARID manipulator. Next, the author develops a calibration methodology for the ARID based on visual and acoustic sensing. A sensor platform, consisting of a camera and four sonars attached to the ARID end frame, performs calibration measurements. A calibration measurement consists of processing one visual frame of an accurately placed calibration image and recording four acoustic range measurements. A minimum of two measurement protocols determine the kinematics calibration-model of the ARID for a particular region: assuming the joint displacements are accurately measured, the calibration surface is planar, and the kinematic parameters do not vary rapidly in the region. No theoretical or practical limitations appear to contra-indicate the feasibility of the calibration method developed here.

Doty, Keith L↗
NASA NTRS2010

Implications of Microwave Holography Using Minimum Required Frequency Samples for Weakly- and Strongly-Scattering Indications

Microwave imaging techniques, an integral component of nondestructive testing and evaluation (NDTE), have received significant attention in the past decade. These techniques have included the implementation of synthetic aperture focusing (SAF) algorithms for obtaining high spatial resolution images. The next important step in these developments is the implementation of 3-D holographic imaging algorithms. These are well-known wideband imaging technique requiring a swept-frequency (i.e., wideband), which unlike SAF that is a single frequency technique, are not easily performed on a real-time basis. This is due to the fact that a significant number of data points (in the frequency domain) must be obtained within the frequency band of interest. This not only makes for a complex imaging system design, it also significantly increases the image-production time. Consequently in an attempt to reduce the measurement time and system complexity, an investigation was conducted to determine the minimum required number of frequency samples needed to image a specific object while preserving a desired maximum measurement range and range resolution. To this end the 3-D holographic algorithm was modified to use properlyinterpolated frequency data. Measurements of the complex reflection coefficient for several samples were conducted using a swept-frequency approach. Subsequently, holographical images were generated using data containing a relatively large number of frequency samples and were compared with images generated by the reduced data set data. Quantitative metrics such as average, contrast, and signal-to-noise ratio were used to evaluate the quality of images generated using reduced data sets. Furthermore, this approach was applied to both weakly- and strongly-scattering indications. This paper presents the methods used and the results of this investigation.

Fallahpour, M.↗
NASA NTRS1982

Determining spacecraft angular position with Delta VLBI - The Voyager demonstration

A demonstration of a new VLBI-based radio metric data type for interplanetary navigation has been conducted using the Voyager spacecraft on their approach to Saturn. Pseudo-range measurements from stations on intercontinental baselines were employed, in conjunction with interferometric observations of quasars, to obtain a precise measure of the spacecraft angular position. In addition to its high accuracy this technique requires significantly less station time than conventional range and Doppler and can be used in a downlink only mode. The paper describes the data type, acquisition system, and processing procedures. Anticipated measurement accuracy is established by analysis of various system error sources. Results obtained from Voyager observations are given to show that the system performance is in accordance with expectations.

Border, J. S.↗
NASA NTRS1984

Pathfinder - A technique for improving the targeting accuracy of Giotto

A 'pathfinder' plan to improve Halley's Comet targeting accuracy of ESA's Giotto spacecraft is proposed, by which optical data and orbit information from Soviet VEGA spacecraft are used to produce an updated ephemeris for Halley's Comet. Two versions of the plan are described and the increased targeting accuracy is determined through a linear covariance analysis. In both versions of the plan, NASA Deep Space Net VLBI measurements of VEGA position are exchanged for information from VEGA about its optical pointing angle and Doppler and ranging measurements which are then transmitted to Giotto. In the covariance analysis of targeting accuracy, it is found that by using pathfinder the error in Giotto-Halley targeting can be reduced from 500 to within 100 km. It is predicted that pathfinder will thus substantially improve the amount of data that Giotto will gather from its fly-by of Halley's Comet March 14, 1986.

Campbell, J. K.↗
NASA NTRS2006

A Compact 600 GHz Electronically Tunable Vector Measurement System for Submillimeter Wave Imaging

A compact submillimeter wave transmission / reflection measurement system has been demonstrated at 560-635 GHz, with electronic tuning over the entire band. Maximum dynamic range measured at a single frequency is 90 dB (60 dB typical), and phase noise is less than +/- 2(deg). By using a frequency steerable lens at the source output and mixer input, the frequency agility of the system can be used to scan the source and receive beams, resulting in near real-time imaging capability using only a single pixel.

submillimeter wave imaging↗
NASA NTRS2015

Satellite Radar Altimetry for Monitoring Small Rivers and Lakes in Indonesia

Remote sensing and satellite geodetic observations are capable of hydrologic monitoring of freshwater resources. Although satellite radar altimetry has been used in monitoring water level or discharge, its use is often limited to monitoring large rivers ( >1 km) with longer interval periods (>1 week) because of its low temporal and spatial resolutions (i.e., satellite revisit period). Several studies have reported successful retrieval of water levels for small rivers as narrow as 40m. However, processing current satellite altimetry signals for such small water bodies to retrieve water levels accurately remains challenging. Physically, the radar signal returned by water bodies smaller than the satellite footprint is most likely contaminated by non-water surfaces, which may degrade the measurement quality. In order to address this scientific challenge, we carefully selected the waveform shapes corresponding to the range measurement resulting from standard retrackers for the European Space Agency's (ESA's) Envisat (Environmental Satellite) radar altimetry. We applied this approach to small (40-200m in width) and medium-sized (200-800m in width) rivers and small lakes (extent<1000 sq km) in the humid tropics of Southeast Asia, specifically in Indonesia. This is the first study that explored the ability of satellite altimetry to monitor small water bodies in Indonesia.

Satellite↗
NASA NTRS2006

A compact 600 GHz electronically tunable vector measurement system for submillimeter wave imaging

A compact submillimeter wave transmission/reflection measurement system has been demonstrated at 560-635 GHz, with electronic tuning over the entire band. Maximum dynamic range measured at a single frequency is 100 dB (60 dB typical), and typical phase noise is less than +/- 1°. By using a frequency steerable lens at the source output and mixer input, the frequency agility of the system can be used to scan the source and receive beams, resulting in near realtime imaging capability using only a single pixel

Siegel, Peter H.↗
NASA NTRS2008

Radiometric Spacecraft Tracking for Deep Space Navigation

Interplanetary spacecraft navigation relies on three types of terrestrial tracking observables.1) Ranging measures the distance between the observing site and the probe. 2) The line-of-sight velocity of the probe is inferred from Doppler-shift by measuring the frequency shift of the received signal with respect to the unshifted frequency. 3) Differential angular coordinates of the probe with respect to natural radio sources are nominally obtained via a differential delay technique of (Delta) DOR (Delta Differential One-way Ranging). The accuracy of spacecraft coordinate determination depends on the measurement uncertainties associated with each of these three techniques. We evaluate the corresponding sources of error and present a detailed error budget.

ranging↗
NASA NTRS1975

The University of California Iron Isotope Experiment

We suggest a novel technique for resolving neighboring isotopes of iron-group nuclei with abundance ratios as great as 20:1 over the energy range from about 360 to about 550 MeV/nucleon. The determination of mass is based on the proportionality between mass and range and the negligible magnitude of range straggling. A balloon-borne experiment based on this technique is described which uses active electronic counters to measure particle speed, trajectory, and charge, and a passive polycarbonate plastic stack to measure range.

Ahlen, S. P.↗
NASA NTRS1993

Discrete range clustering using Monte Carlo methods

For automatic obstacle avoidance guidance during rotorcraft low altitude flight, a reliable model of the nearby environment is needed. Such a model may be constructed by applying surface fitting techniques to the dense range map obtained by active sensing using radars. However, for covertness, passive sensing techniques using electro-optic sensors are desirable. As opposed to the dense range map obtained via active sensing, passive sensing algorithms produce reliable range at sparse locations, and therefore, surface fitting techniques to fill the gaps in the range measurement are not directly applicable. Both for automatic guidance and as a display for aiding the pilot, these discrete ranges need to be grouped into sets which correspond to objects in the nearby environment. The focus of this paper is on using Monte Carlo methods for clustering range points into meaningful groups. One of the aims of the paper is to explore whether simulated annealing methods offer significant advantage over the basic Monte Carlo method for this class of problems. We compare three different approaches and present application results of these algorithms to a laboratory image sequence and a helicopter flight sequence.

Chatterji, G. B.↗
NASA NTRS2010

GRAIL - A Microwave Ranging Instrument to Map Out the Lunar Gravity Field

Gravity Recovery and Interior Laboratory, or GRAIL, is a NASA mission to map out the gravity field of the moon to an unprecedented level of detail. The instrument for this mission is based on GRACE (Gravity Recovery and Climate Experiment), an earth-orbiting mission currently mapping out the gravity field of the earth. This paper will describe the similarities and differences between these two instruments with a focus on the microwave ranging measurements used to determine the gravity parameters and the testbed built at Jet Propulsion Laboratory to demonstrate micron level ranging capability. The onboard ultrastable oscillator and RF instruments will be described and noise contributions discussed.

Enzer, Daphna G.↗
NASA NTRS1975

Detection of the isotopes of heavy cosmic ray nuclei

A counter telescope designed to detect and resolve the isotopic composition of cosmic ray nuclei heavier than neon is being prepared. The telescope consists of a rather conventional charge measuring array using two scintillator elements and two solid Cerenkov radiators of differing refractive index. The mass measurement is obtained by combining the velocity information from one or both of the Cerenkov radiators operating near their threshold with residual range measured in a block of nuclear emulsion. Path length corrections and particle location in the emulsions is provided by a spark chamber fired in coincidence with potentially suitable particles. The telescope has a geometry factor of 530 sq cm sr roughly. It should be able to resolve the isotopes of iron over the energy range of 300 to 720 Mev/n and those of neon over 300 to 400 MeV/n. The expected response and characteristics of the telescope are described in detail and the sensitivity to rare isotopes discussed.

Gilman, C. M.↗
NASA NTRS1978

Structural alignment sensor

Comparative Michelson interferometers are discussed as well as the operating range potential of a structural alignment sensor (SAS) which requires only one laser mode. Schematics are presented for the distance measurement logic, the basic SAS system, the SAS optical layout, the coarse measurement signal processor, and the measured range resolution.

Davis, L.↗
NASA NTRS1974

Electron beam fluorescence system to measure gas density in impulse facilities

Very rapid measurements, ranging from a few microsecond to milliseconds in duration, characterize studies made in shock regions or behind them. A system to measure gas density under such conditions in a 15.24-cm (6-in.) expansion tube is described. The basic elements are an electron beam of moderate energy and high current capability, an optical detector, and the associated electronics and data readout equipment. A heated-cathode electron gun, capable of pulsed operation and delivering up to 200 milliamperes current, provides the source of electrons. Optics include a simple collector lens, aperture, collimator lens, filters, and a photomultiplier tube. The photomultiplier output signal was recorded by means of photographed oscilloscope traces for pulsed beam operation.

Hoppe, J. C.↗
NASA NTRS1977

Some measured and calculated effects of forward velocity on propeller noise

Test flights using a twin-engine, high-wing, light STOL transport plane powered by free turbine engines driving three-bladed propellers, were conducted at the NASA Wallops Flight Center. A ground-based acoustic measuring range was set up, and aircraft tracking information was supplied by a radar system. The noise of the unshrouded propeller was measured under static and forward flight conditions, and the measurements were compared with theory. Under static conditions, the principal noise is related to the unsteady loading associated with the interaction of the propeller with persistent turbulent eddies passing through the propeller disk. Through the use of existing prediction techniques, it was shown that changes in the geometry such as different airfoil thickness distribution can affect the radiated acoustic pressure signatures. This test program confirmed that lower propeller noise levels are produced in forward flight than under static conditions and that the most significant reductions occur at the midfrequencies which dominate perceived and A-weighted noise levels.

Pegg, R. J.↗
NASA NTRS1988

Prospects for coherent lidar systems and technology development

A coherent lidar is a powerful technique for remote measurements of velocity fields, and at middle infrared wavelengths it also has advantages compared with direct-detection lidar in extended range measurement of atmospheric species. These qualities are obtained at the cost of additional complexity and more stringent requirements on the coherence properties of the lasers which are used. An attempt is made to summarize the technological requirements of certain coherent lidar applications and discuss relevant technology development, emphasizing the CO2 and solid-state laser components.

Menzies, Robert T.↗
NASA NTRS1985

Precision geodesy and geodynamics using Starlette laser ranging

The French Starlette satellite, launched in February 1975, was the first satellite specifically designed to minimize the effects of nongravitational forces and to obtain the highest possible accuracy for laser range measurements. It has been found that Starlette represents a valuable complement to the U.S. geodetic satellites. In an analysis of Starlette laser ranging data conducted by Marsh and Williamson (1978), it was concluded that by tailoring a gravity model to a specific satellite and observation period, substantial improvements in data fits and, therefore, in orbit accuracy could be achieved. In the present analyses, a tailored gravity model has been derived for Starlette from the data acquired for the 4-year period, 1975-1978. Attention is given to the solution for geodetic and geodynamic parameters and polar motion.

Marsh, J. G.↗
NASA NTRS1994

Differential sea-state bias: A case study using TOPEX/POSEIDON data

We used selected data from the NASA altimeter TOPEX/POSEIDON to calculate differences in range measured by the C and Ku-band altimeters when the satellite overflew 5 to 15 m waves late at night. The range difference is due to free electrons in the ionosphere and to errors in sea-state bias. For the selected data the ionospheric influence on Ku range is less than 2 cm. Any difference in range over short horizontal distances is due only to a small along-track variability of the ionosphere and to errors in calculating the differential sea-state bias. We find that there is a barely detectable error in the bias in the geophysical data records. The wave-induced error in the ionospheric correction is less than 0.2% of significant wave height. The equivalent error in differential range is less than 1% of wave height. Errors in the differential sea-state bias calculations appear to be small even for extreme wave heights that greatly exceed the conditions on which the bias is based. The results also improved our confidence in the sea-state bias correction used for calculating the geophysical data records. Any error in the correction must influence Ku and C-band ranges almost equally.

Stewart, Robert H.↗