Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “NpO”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Composite Silica Aerogels Opacified with Titania

A further improvement has been made to reduce the high-temperature thermal conductivities of the aerogel-matrix composite materials described in Improved Silica Aerogel Composite Materials (NPO-44287), NASA Tech Briefs, Vol. 32, No. 9 (September 2008), page 50. Because the contribution of infrared radiation to heat transfer increases sharply with temperature, the effective high-temperature thermal conductivity of a thermal-insulation material can be reduced by opacifying the material to reduce the radiative contribution. Therefore, the essence of the present improvement is to add an opacifying constituent material (specifically, TiO2 powder) to the aerogel-matrix composites.

Paik, Jon-Ah↗
NASA NTRS2007

More About Software for No-Loss Computing

A document presents some additional information on the subject matter of "Integrated Hardware and Software for No- Loss Computing" (NPO-42554), which appears elsewhere in this issue of NASA Tech Briefs. To recapitulate: The hardware and software designs of a developmental parallel computing system are integrated to effectuate a concept of no-loss computing (NLC). The system is designed to reconfigure an application program such that it can be monitored in real time and further reconfigured to continue a computation in the event of failure of one of the computers. The design provides for (1) a distributed class of NLC computation agents, denoted introspection agents, that effects hierarchical detection of anomalies; (2) enhancement of the compiler of the parallel computing system to cause generation of state vectors that can be used to continue a computation in the event of a failure; and (3) activation of a recovery component when an anomaly is detected.

Edmonds, Iarina↗
NASA NTRS2007

Surface Bacterial-Spore Assay Using Tb3+/DPA Luminescence

Equipment and a method for rapidly assaying solid surfaces for contamination by bacterial spores are undergoing development. The method would yield a total (nonviable plus viable) spore count of a surface within minutes and a viable-spore count in about one hour. In this method, spores would be collected from a surface by use of a transparent polymeric tape coated on one side with a polymeric adhesive that would be permeated with one or more reagent(s) for detection of spores by use of visible luminescence. The sticky side of the tape would be pressed against a surface to be assayed, then the tape with captured spores would be placed in a reader that illuminates the sample with ultraviolet light and counts the green luminescence spots under a microscope to quantify the number of bacterial spores per unit area. The visible luminescence spots seen through the microscope would be counted to determine the concentration of spores on the surface. This method is based on the chemical and physical principles of methods described in several prior NASA Tech Briefs articles, including Live/Dead Spore Assay Using DPA-Triggered Tb Luminescence (NPO-30444), Vol. 27, No. 3 (March 2003), page 7a. To recapitulate: The basic idea is to exploit the observations that (1) dipicolinic acid (DPA) is present naturally only in bacterial spores; and (2) when bound to Tb3+ ions, DPA triggers intense green luminescence of the ions under ultraviolet excitation; (3) DPA can be released from the viable spores by using L-alanine to make them germinate; and (4) by autoclaving, microwaving, or sonicating the sample, one can cause all the spores (non-viable as well as viable) to release their DPA. One candidate material for use as the adhesive in the present method is polydimethysiloxane (PDMS). In one variant of the method for obtaining counts of all (viable and nonviable) spores the PDMS would be doped with TbCl3. After collection of a sample, the spores immobilized on the sticky tape surface would be lysed by heating or microwaving to release their DPA. Tb3+ ions from the TbCl3 would become bound to the released DPA. The tape would then be irradiated with ultraviolet and examined as described above. In another variant of the method - for obtaining counts of viable spores only - the PDMS would be doped with L-alanine in addition to TbCl3. As now envisioned, a fully developed apparatus for implementing this method would include a pulsed source of ultraviolet light and a time-gated electronic camera to record the images seen through the microscope during a prescribed exposure interval at a prescribed short time after an ultraviolet pulse. As in the method of the second-mentioned prior article, the pulsing and time-gating would be used to discriminate between the longer-lived Tb3+/DPA luminescence and the shorter-lived background luminescence in the same wavelength range. In a time-gated image, the bright luminescence from bacterial spores could easily be seen against a dark background.

Ponce, Adrian↗
NASA NTRS2007

Automated Detection of Events of Scientific Interest

A report presents a slightly different perspective of the subject matter of Fusing Symbolic and Numerical Diagnostic Computations (NPO-42512), which appears elsewhere in this issue of NASA Tech Briefs. Briefly, the subject matter is the X-2000 Anomaly Detection Language, which is a developmental computing language for fusing two diagnostic computer programs one implementing a numerical analysis method, the other implementing a symbolic analysis method into a unified event-based decision analysis software system for real-time detection of events. In the case of the cited companion NASA Tech Briefs article, the contemplated events that one seeks to detect would be primarily failures or other changes that could adversely affect the safety or success of a spacecraft mission. In the case of the instant report, the events to be detected could also include natural phenomena that could be of scientific interest. Hence, the use of X- 2000 Anomaly Detection Language could contribute to a capability for automated, coordinated use of multiple sensors and sensor-output-data-processing hardware and software to effect opportunistic collection and analysis of scientific data.

James, Mark↗
NASA NTRS2007

Optimal Calibration of the Spitzer Space Telescope

A document discusses the focal-plane calibration of the Spitzer Space Telescope by use of the instrument pointing frame (IPF) Kalman filter, which was described in Kalman Filter for Calibrating a Telescope Focal Plane (NPO-40798), NASA Tech Briefs, Vol. 30, No. 9 (September 2006), page 62. To recapitulate: In the IPF Kalman filter, optimal estimates of both engineering and scientific focal-plane parameters are obtained simultaneously, using data taken in each focalplane survey activity. The IPF Kalman filter offers greater efficiency and economy, relative to prior calibration practice in which scientific and engineering parameters were estimated by separate teams of scientists and engineers and iterated upon each other. In the Spitzer Space Telescope application, the IPF Kalman filter was used to calibrate 56 frames for precise telescope pointing, estimate >1,500 parameters associated with focal-plane mapping, and process calibration runs involving as many as 1,338 scientific image centroids. The final typical survey calibration accuracy was found to be 0.09 arc second. The use of the IPF Kalman filter enabled a team of only four analysts to complete the calibration processing in three months. An unanticipated benefit afforded by the IPF Kalman filter was the ability to monitor health and diagnose performance of the entire end-to-end telescope-pointing system.

Bayard, David↗
NASA NTRS2007

The PICWidget

The Plug-in Image Component Widget (PICWidget) is a software component for building digital imaging applications. The component is part of a methodology described in GIS Methodology for Planning Planetary-Rover Operations (NPO-41812), which appears elsewhere in this issue of NASA Tech Briefs. Planetary rover missions return a large number and wide variety of image data products that vary in complexity in many ways. Supported by a powerful, flexible image-data-processing pipeline, the PICWidget can process and render many types of imagery, including (but not limited to) thumbnail, subframed, downsampled, stereoscopic, and mosaic images; images coregistred with orbital data; and synthetic red/green/blue images. The PICWidget is capable of efficiently rendering images from data representing many more pixels than are available at a computer workstation where the images are to be displayed. The PICWidget is implemented as an Eclipse plug-in using the Standard Widget Toolkit, which provides a straightforward interface for re-use of the PICWidget in any number of application programs built upon the Eclipse application framework. Because the PICWidget is tile-based and performs aggressive tile caching, it has flexibility to perform faster or slower, depending whether more or less memory is available.

Norris, Jeffrey↗
NASA NTRS2007

Power-Amplifier Module for 145 to 165 GHz

A power-amplifier module that operates in the frequency range of 145 to 165 GHz has been designed and constructed as a combination of (1) a previously developed monolithic microwave integrated circuit (MMIC) power amplifier and (2) a waveguide module. The amplifier chip was needed for driving a high-electron-mobility-transistor (HEMT) frequency doubler. While it was feasible to connect the amplifier and frequency-doubler chips by use of wire bonds, it was found to be much more convenient to test the amplifier and doubler chips separately. To facilitate separate testing, it was decided to package the amplifier and doubler chips in separate waveguide modules. Figure 1 shows the resulting amplifier module. The amplifier chip was described in "MMIC HEMT Power Amplifier for 140 to 170 GHz" (NPO-30127), NASA Tech Briefs, Vol. 27, No. 11, (November 2003), page 49. To recapitulate: This is a three-stage MMIC power amplifier that utilizes HEMTs as gain elements. The amplifier was originally designed to operate in the frequency range of 140 to 170 GHz. The waveguide module is based on a previously developed lower frequency module, redesigned to support operation in the frequency range of 140 to 220 GHz. Figure 2 presents results of one of several tests of the amplifier module - measurements of output power and gain as functions of input power at an output frequency of 150 GHz. Such an amplifier module has many applications to test equipment for power sources above 100 GHz.

Samoska, Lorene↗
NASA NTRS2009

Low-Complexity Lossless and Near-Lossless Data Compression Technique for Multispectral Imagery

This work extends the lossless data compression technique described in Fast Lossless Compression of Multispectral- Image Data, (NPO-42517) NASA Tech Briefs, Vol. 30, No. 8 (August 2006), page 26. The original technique was extended to include a near-lossless compression option, allowing substantially smaller compressed file sizes when a small amount of distortion can be tolerated. Near-lossless compression is obtained by including a quantization step prior to encoding of prediction residuals. The original technique uses lossless predictive compression and is designed for use on multispectral imagery. A lossless predictive data compression algorithm compresses a digitized signal one sample at a time as follows: First, a sample value is predicted from previously encoded samples. The difference between the actual sample value and the prediction is called the prediction residual. The prediction residual is encoded into the compressed file. The decompressor can form the same predicted sample and can decode the prediction residual from the compressed file, and so can reconstruct the original sample. A lossless predictive compression algorithm can generally be converted to a near-lossless compression algorithm by quantizing the prediction residuals prior to encoding them. In this case, since the reconstructed sample values will not be identical to the original sample values, the encoder must determine the values that will be reconstructed and use these values for predicting later sample values. The technique described here uses this method, starting with the original technique, to allow near-lossless compression. The extension to allow near-lossless compression adds the ability to achieve much more compression when small amounts of distortion are tolerable, while retaining the low complexity and good overall compression effectiveness of the original algorithm.

Xie, Hua↗
NASA NTRS2010

Supercapacitor Electrolyte Solvents with Liquid Range Below -80 C

A previous NASA Tech Brief ["Low-Temperature Supercapacitors" (NPO-44386) NASA Tech Briefs, Vol. 32, No 7 (July 2008), page 32] detailed ongoing efforts to develop non-aqueous supercapacitor electrolytes capable of supporting operation at temperatures below commercially available cells (which are typically limited to charging and discharging at > or equal to -40 C). These electrolyte systems may enable energy storage and power delivery for systems operating in extreme environments, such as those encountered in the Polar regions on Earth or in the exploration of space. Supercapacitors using these electrolytes may also offer improved power delivery performance at moderately low temperatures (e.g. -40 to 0 C) relative to currently available cells, offering improved cold-cranking and cold-weather acceleration capabilities for electrical or hybrid vehicles. Supercapacitors store charge at the electrochemical double-layer, formed at the interface between a high surface area electrode material and a liquid electrolyte. The current approach to extending the low-temperature limit of the electrolyte focuses on using binary solvent systems comprising a high-dielectric-constant component (such as acetonitrile) in conjunction with a low-melting-point co-solvent (such as organic formates, esters, and ethers) to depress the freezing point of the system, while maintaining sufficient solubility of the salt. Recent efforts in this area have led to the identification of an electrolyte solvent formulation with a freezing point of -85.7 C, which is achieved by using a 1:1 by volume ratio of acetonitrile to 1,3-dioxolane

Brandon, Erik↗
NASA NTRS2007

Water-Free Proton-Conducting Membranes for Fuel Cells

Poly-4-vinylpyridinebisulfate (P4VPBS) is a polymeric salt that has shown promise as a water-free proton-conducting material (solid electrolyte) suitable for use in membrane/electrode assemblies in fuel cells. Heretofore, proton-conducting membranes in fuel cells have been made from perfluorinated ionomers that cannot conduct protons in the absence of water and, consequently, cannot function at temperatures >100 C. In addition, the stability of perfluorinated ionomers at temperatures >100 C is questionable. However, the performances of fuel cells of the power systems of which they are parts could be improved if operating temperatures could be raised above 140 C. What is needed to make this possible is a solid-electrolyte material, such as P4VPBS, that can be cast into membranes and that both retains proton conductivity and remains stable in the desired higher operating temperature range. A family of solid-electrolyte materials different from P4VPBS was described in Anhydrous Proton-Conducting Membranes for Fuel Cells (NPO-30493), NASA Tech Briefs, Vol. 29, No. 8 (August 2005), page 48. Those materials notably include polymeric quaternized amine salts. If molecules of such a polymeric salt could be endowed with flexible chain structures, it would be possible to overcome the deficiencies of simple organic amine salts that must melt before being able to conduct protons. However, no polymeric quaternized amine salts have yet shown to be useful in this respect. The present solid electrolyte is made by quaternizing the linear polymer poly- 4-vinylpyridine (P4VP) to obtain P4VPBS. It is important to start with P4VP having a molecular weight of 160,000 daltons because P4VPBS made from lower-molecular-weight P4VP yields brittle membranes. In an experimental synthesis, P4VP was dissolved in methanol and then reacted with an excess of sulfuric acid to precipitate P4VPBS. The precipitate was recovered, washed several times with methanol to remove traces of acid, and dried to a white granular solid. In another synthesis, nanoparticles of silica rich with surface hydroxyl groups were added to P4VP in methanol solution, which was then reacted with excess sulfuric acid to precipitate granules of a composite that most probably had the composition (P4VPBS)-SiO2-SiO(HSO4)2. The granular P4VPBS produced in the first-mentioned synthesis was dissolved in water to make a glue-like, turbid solution; the granular P4VPBS/silica composite produced in the second-mentioned synthesis was mixed with water to make a turbid, glue-like suspension. The proportions of polymer salt to water in such preparations can be varied; it was found that approximately equal parts of water and polymer salt yield a solution or suspension amenable to further processing.

Narayanan, Sekharipuram↗
NASA NTRS2010

Foldable Instrumented Bits for Ultrasonic/Sonic Penetrators

Long tool bits are undergoing development that can be stowed compactly until used as rock- or ground-penetrating probes actuated by ultrasonic/sonic mechanisms. These bits are designed to be folded or rolled into compact form for transport to exploration sites, where they are to be connected to their ultrasonic/ sonic actuation mechanisms and unfolded or unrolled to their full lengths for penetrating ground or rock to relatively large depths. These bits can be designed to acquire rock or soil samples and/or to be equipped with sensors for measuring properties of rock or soil in situ. These bits can also be designed to be withdrawn from the ground, restowed, and transported for reuse at different exploration sites. Apparatuses based on the concept of a probe actuated by an ultrasonic/sonic mechanism have been described in numerous prior NASA Tech Briefs articles, the most recent and relevant being "Ultrasonic/ Sonic Impacting Penetrators" (NPO-41666) NASA Tech Briefs, Vol. 32, No. 4 (April 2008), page 58. All of those apparatuses are variations on the basic theme of the earliest ones, denoted ultrasonic/sonic drill corers (USDCs). To recapitulate: An apparatus of this type includes a lightweight, low-power, piezoelectrically driven actuator in which ultrasonic and sonic vibrations are generated and coupled to a tool bit. The combination of ultrasonic and sonic vibrations gives rise to a hammering action (and a resulting chiseling action at the tip of the tool bit) that is more effective for drilling than is the microhammering action of ultrasonic vibrations alone. The hammering and chiseling actions are so effective that the size of the axial force needed to make the tool bit advance into soil, rock, or another material of interest is much smaller than in ordinary twist drilling, ordinary hammering, or ordinary steady pushing. Examples of properties that could be measured by use of an instrumented tool bit include electrical conductivity, permittivity, magnetic field, magnetic permeability, temperature, and any other properties that can be measured by fiber-optic sensors. The problem of instrumenting a probe of this type is simplified, relative to the problem of attaching electrodes in a rotating drill bit, in two ways: (1) Unlike a rotating drill bit, a bit of this type does not have flutes, which would compound the problem of ensuring contact between sensors and the side wall of a hole; and (2) there is no need for slip rings for electrical contact between sensor electronic circuitry and external circuitry because, unlike a rotating drill, a tool bit of this type is not rotated continuously during operation. One design for a tool bit of the present type is a segmented bit with a segmented, hinged support structure (see figure). The bit and its ultrasonic/sonic actuator are supported by a slider/guiding fixture, and its displacement and preload are controlled by a motor. For deployment from the folded configuration, a spring-loaded mechanism rotates the lower segment about the hinges, causing the lower segment to become axially aligned with the upper segment. A latching mechanism then locks the segments of the bit and the corresponding segments of the slider/guiding fixture. Then the entire resulting assembly is maneuvered into position for drilling into the ground. Another design provides for a bit comprising multiple tubular segments with an inner alignment string, similar to a foldable tent pole comprising multiple tubular segments with an inner elastic cable connecting the two ends. At the beginning of deployment, all segments except the first (lowermost) one remain folded, and the ultrasonic/sonic actuator is clamped to the top of the lowermost segment and used to drive this segment into the ground. When the first segment has penetrated to a specified depth, the second segment is connected to the upper end of the first segment to form a longer rigid tubular bit and the actuator is moved to the upper end of the second segnt. The process as described thus far is repeated, adding segments until the desired depth of penetration has been attained. Yet other designs provide for bits in the form of bistable circular- or rectangular- cross-section tubes that can be stowed compactly like rolls of flat tape and become rigidified upon extension to full length, in a manner partly similar to that of a common steel tape measure. Albeit not marketed for use in tool bits, a bistable reeled composite product that transforms itself from a flat coil to a rigid tube of circular cross section when unrolled, is commercially available under the trade name RolaTube(TradeMark) and serves as a model for the further development of tool bits of this subtype.

Bar-Cohen, Yoseph↗
NASA NTRS2010

PPM Receiver Implemented in Software

A computer program has been written as a tool for developing optical pulse-position- modulation (PPM) receivers in which photodetector outputs are fed to analog-to-digital converters (ADCs) and all subsequent signal processing is performed digitally. The program can be used, for example, to simulate an all-digital version of the PPM receiver described in Parallel Processing of Broad-Band PPM Signals (NPO-40711), which appears elsewhere in this issue of NASA Tech Briefs. The program can also be translated into a design for digital PPM receiver hardware. The most notable innovation embodied in the software and the underlying PPM-reception concept is a digital processing subsystem that performs synchronization of PPM time slots, even though the digital processing is, itself, asynchronous in the sense that no attempt is made to synchronize it with the incoming optical signal a priori and there is no feedback to analog signal processing subsystems or ADCs. Functions performed by the software receiver include time-slot synchronization, symbol synchronization, coding preprocessing, and diagnostic functions. The program is written in the MATLAB and Simulink software system. The software receiver is highly parameterized and, hence, programmable: for example, slot- and symbol-synchronization filters have programmable bandwidths.

Gray, Andrew↗
NASA NTRS2010

Processing AIRS Scientific Data Through Level 3

The Atmospheric Infra-Red Sounder (AIRS) Science Processing System (SPS) is a collection of computer programs, known as product generation executives (PGEs). The AIRS SPS PGEs are used for processing measurements received from the AIRS suite of infrared and microwave instruments orbiting the Earth onboard NASA's Aqua spacecraft. Early stages of the AIRS SPS development were described in a prior NASA Tech Briefs article: Initial Processing of Infrared Spectral Data (NPO-35243), Vol. 28, No. 11 (November 2004), page 39. In summary: Starting from Level 0 (representing raw AIRS data), the AIRS SPS PGEs and the data products they produce are identified by alphanumeric labels (1A, 1B, 2, and 3) representing successive stages or levels of processing. The previous NASA Tech Briefs article described processing through Level 2, the output of which comprises geo-located atmospheric data products such as temperature and humidity profiles among others. The AIRS Level 3 PGE samples selected information from the Level 2 standard products to produce a single global gridded product. One Level 3 product is generated for each day s collection of Level 2 data. In addition, daily Level 3 products are aggregated into two multiday products: an eight-day (half the orbital repeat cycle) product and monthly (calendar month) product.

Granger, Stephanie↗
NASA NTRS2010

Reception of Multiple Telemetry Signals via One Dish Antenna

A microwave aeronautical-telemetry receiver system includes an antenna comprising a seven-element planar array of receiving feed horns centered at the focal point of a paraboloidal dish reflector that is nominally aimed at a single aircraft or at multiple aircraft flying in formation. Through digital processing of the signals received by the seven feed horns, the system implements a method of enhanced cancellation of interference, such that it becomes possible to receive telemetry signals in the same frequency channel simultaneously from either or both of two aircraft at slightly different angular positions within the field of view of the antenna, even in the presence of multipath propagation. The present system is an advanced version of the system described in Spatio- Temporal Equalizer for a Receiving-Antenna Feed Array NPO-43077, NASA Tech Briefs, Vol. 34, No. 2 (February 2010), page 32. To recapitulate: The radio-frequency telemetry signals received by the seven elements of the array are digitized, converted to complex baseband form, and sent to a spatio-temporal equalizer that consists mostly of a bank of seven adaptive finite-impulse-response (FIR) filters (one for each element in the array) plus a unit that sums the outputs of the filters. The combination of the spatial diversity of the feedhorn array and the temporal diversity of the filter bank affords better multipath suppression performance than is achievable by means of temporal equalization alone. The FIR filter bank adapts itself in real time to enable reception of telemetry at a low bit error rate, even in the presence of frequency-selective multipath propagation like that commonly found at flight-test ranges. The combination of the array and the filter bank makes it possible to constructively add multipath incoming signals to the corresponding directly arriving signals, thereby enabling reductions in telemetry bit-error rates.

Mukai, Ryan↗
NASA NTRS2007

Software Compensates Electronic-Nose Readings for Humidity

A computer program corrects for the effects of humidity on the readouts of an array of chemical sensors (an "electronic nose"). To enable the use of this program, the array must incorporate an independent humidity sensor in addition to sensors designed to detect analytes other than water vapor. The basic principle of the program was described in "Compensating for Effects of Humidity on Electronic Noses" (NPO-30615), NASA Tech Briefs, Vol. 28, No. 6 (June 2004), page 63. To recapitulate: The output of the humidity sensor is used to generate values that are subtracted from the outputs of the other sensors to correct for contributions of humidity to those readings. Hence, in principle, what remains after corrections are the contributions of the analytes only. The outputs of the non-humidity sensors are then deconvolved to obtain the concentrations of the analytes. In addition, the humidity reading is retained as an analyte reading in its own right. This subtraction of the humidity background increases the ability of the software to identify such events as spills in which contaminants may be present in small concentrations and accompanied by large changes in humidity.

Zhou, Hanying↗
NASA NTRS2007

Extended-Range Ultrarefractive 1D Photonic Crystal Prisms

A proposal has been made to exploit the special wavelength-dispersive characteristics of devices of the type described in One-Dimensional Photonic Crystal Superprisms (NPO-30232) NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 10a. A photonic crystal is an optical component that has a periodic structure comprising two dielectric materials with high dielectric contrast (e.g., a semiconductor and air), with geometrical feature sizes comparable to or smaller than light wavelengths of interest. Experimental superprisms have been realized as photonic crystals having three-dimensional (3D) structures comprising regions of amorphous Si alternating with regions of SiO2, fabricated in a complex process that included sputtering. A photonic crystal of the type to be exploited according to the present proposal is said to be one-dimensional (1D) because its contrasting dielectric materials would be stacked in parallel planar layers; in other words, there would be spatial periodicity in one dimension only. The processes of designing and fabricating 1D photonic crystal superprisms would be simpler and, hence, would cost less than do those for 3D photonic crystal superprisms. As in 3D structures, 1D photonic crystals may be used in applications such as wavelength-division multiplexing. In the extended-range configuration, it is also suitable for spectrometry applications. As an engineered structure or artificially engineered material, a photonic crystal can exhibit optical properties not commonly found in natural substances. Prior research had revealed several classes of photonic crystal structures for which the propagation of electromagnetic radiation is forbidden in certain frequency ranges, denoted photonic bandgaps. It had also been found that in narrow frequency bands just outside the photonic bandgaps, the angular wavelength dispersion of electromagnetic waves propagating in photonic crystal superprisms is much stronger than is the angular wavelength dispersion obtained by use of conventional prisms and diffraction gratings and is highly nonlinear.

Ting, David Z.↗
NASA NTRS2007

Algorithm Plans Collision-Free Path for Robotic Manipulator

An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps between the corresponding OBB and OBP models. For computational efficiency, the process is started at the coarsest resolution and stopped as soon as possible, preferably before reaching the finest resolution. At the coarsest resolution, there is a single OBB enclosing all relevant external objects and a single OBB enclosing the entire robot. At the next finer level of resolution, the coarsest-resolution OBB is divided into two OBBs, and so forth. If no collision is detected at the coarsest resolution, then there is no need for further computation to detect collisions. If a collision is detected at the coarsest resolution, then tests for collisions are performed at the next finer level of resolution. This process is continued to successively finer resolutions until either no more collisions are detected or the finest resolution is reached.

Backes, Paul↗
NASA NTRS2007

Processing AIRS Scientific Data Through Level 2

The Atmospheric Infrared Spectrometer (AIRS) Science Processing System (SPS) is a collection of computer programs, denoted product generation executives (PGEs), for processing the readings of the AIRS suite of infrared and microwave instruments orbiting the Earth aboard NASA s Aqua spacecraft. AIRS SPS at an earlier stage of development was described in "Initial Processing of Infrared Spectral Data' (NPO-35243), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 39. To recapitulate: Starting from level 0 (representing raw AIRS data), the PGEs and their data products are denoted by alphanumeric labels (1A, 1B, and 2) that signify the successive stages of processing. The cited prior article described processing through level 1B (the level-2 PGEs were not yet operational). The level-2 PGEs, which are now operational, receive packages of level-1B geolocated radiance data products and produce such geolocated geophysical atmospheric data products such as temperature and humidity profiles. The process of computing these geophysical data products is denoted "retrieval" and is quite complex. The main steps of the process are denoted microwave-only retrieval, cloud detection and cloud clearing, regression, full retrieval, and rapid transmittance algorithm.

Oliphant, Robert↗