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At least 271 records · Page 15

All sources NASA NTRS DOE OSTI

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

NASA NTRS1994

(abstract) A Mobile Robot for Remote Response to Incidents Involving Hazardous Materials

This paper will report the status of the Emergency Response Robotics project, a teleoperated mobile robot system being developed at JPL for use by the JPL Fire Department/HAZMAT Team. The project, which began in 1991, has been focused on developing a robotic vehicle which can be quickly deployed by HAZMAT Team personnel for first entry into an incident site. The primary goals of the system are to gain access to the site, locate and identify the hazard, and aid in its mitigation. The involvement of JPL Fire Department/HAZMAT Team personnel has been critical in guiding the design and evaluation of the system. A unique feature of the current robot, called HAZBOT III, is its special design for operation in combustible environments. This includes the use of all solid state electronics, brushless motors, and internal pressurization. Demonstration and testing of the system with HAZMAT Team personnel has shown that teleoperated robots, such as HAZBOT III, can successfully gain access to incident sites locating and identifying hazardous material spills. Work is continuing to enable more complex missions through the addition of appropriate sensor technology and enhancement of the operator interface.

robots teleoperator hazardous materials HAZMAT HAZ↗

DOE OSTI2020

Photonic methods and technologies for monitoring the ocean and atmosphere

In this paper, we review photonic methods and technologies that are promising for monitoring the ocean and atmosphere and have been implemented mainly in recent years at the Institute of Automation and Control Processes, Far Eastern Branch, Russian Academy of Sciences. We present results of lidar studies that have made it possible to understand key features of ocean – atmosphere interaction processes under continent – ocean transition conditions, which determine specific features of the atmospheric aerosol distribution, small gaseous components of the atmosphere and its optical characteristics. We consider methods and tools for combined optical and laser fluorescence monitoring of the ocean surface. Particular attention is paid to results of research on remote methods and tools for real-time laser-induced and laser fluorescence environmental monitoring of the ocean, including specialised fibre-optic probes and mobile underwater robotic systems. We present results of the development and investigation of highly sensitive, noise-proof fibre-optic hydro- and seismic/acoustic sensors for remote monitoring of the ocean and robotic systems for underwater laser protection of marine vessels, hydraulic structures and oceanographic instruments against the negative impact of biofouling. (invited paper)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS2003

Small, Untethered, Mobile Robots for Inspecting Gas Pipes

Small, untethered mobile robots denoted gas-pipe explorers (GPEXs) have been proposed for inspecting the interiors of pipes used in the local distribution natural gas. The United States has network of gas-distribution pipes with a total length of approximately 109 m. These pipes are often made of iron and steel and some are more than 100 years old. As this network ages, there is a need to locate weaknesses that necessitate repair and/or preventive maintenance. The most common weaknesses are leaks and reductions in thickness, which are caused mostly by chemical reactions between the iron in the pipes and various substances in soil and groundwater. At present, mobile robots called pigs are used to inspect and clean the interiors of gas-transmission pipelines. Some carry magnetic-flux-leakage (MFL) sensors for measuring average wall thicknesses, some capture images, and some measure sizes and physical conditions. The operating ranges of pigs are limited to fairly straight sections of wide transmission- type (as distinguished from distribution- type) pipes: pigs are too large to negotiate such obstacles as bends with radii comparable to or smaller than pipe diameters, intrusions of other pipes at branch connections, and reductions in diameter at valves and meters. The GPEXs would be smaller and would be able to negotiate sharp bends and other obstacles that typically occur in gas-distribution pipes.

Wilcox, Brian↗

DOE OSTI2021

Measurements from mobile surface vehicles during the Lower Atmospheric Profiling Studies at Elevation – a Remotely-piloted Aircraft Team Experiment (LAPSE-RATE)

Abstract. Between 14 and 20 July 2018, small unmanned aircraft systems (UASs) were deployed to the San Luis Valley of Colorado (USA) alongside surface-based remote sensors, in situ sensors, and radiosonde systems as part of the Lower Atmospheric Profiling Studies at Elevation – a Remotely-piloted Aircraft Team Experiment (LAPSE-RATE). The measurements collected as part of LAPSE-RATE targeted quantities related to enhancing our understanding of boundary layer structure, cloud and aerosol properties and surface–atmosphere exchange and provide detailed information to support model evaluation and improvement work. Additionally, intensive intercomparison between the different unmanned aircraft platforms was completed. The current paper describes the observations obtained using three different types of surface-based mobile observing vehicles. These included the University of Colorado Mobile UAS Research Collaboratory (MURC), the National Oceanic and Atmospheric Administration National Severe Storms Laboratory Mobile Mesonet, and two University of Nebraska Combined Mesonet and Tracker (CoMeT) vehicles. Over the 1-week campaign, a total of 143 h of data were collected using this combination of vehicles. The data from these coordinated activities provide detailed perspectives on the spatial variability of atmospheric state parameters (air temperature, humidity, pressure, and wind) throughout the northern half of the San Luis Valley. These datasets have been checked for quality and published to the Zenodo data archive under a specific “community” setup for LAPSE-RATE (https://zenodo.org/communities/lapse-rate/, last access: 21 January 2021) and are accessible at no cost by all registered users. The primary dataset DOIs are https://doi.org/10.5281/zenodo.3814765 (CU MURC measurements; de Boer et al., 2020d), https://doi.org/10.5281/zenodo.3738175 (NSSL MM measurements; Waugh, 2020), and https://doi.org/10.5281/zenodo.3838724 (UNL CoMeT measurements; Houston and Erwin, 2020).

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2022

Radiation-Hardened GaN HEMT and Cell Design, Modeling, and Fabrication for Nuclear Instrumentation Applications

Recent advances in nuclear power generation technologies show great promise for efficient, safe generation of carbon-free power in the near future. Consequently, many new generation reactor designs are being pursued by government and industry groups, including both fission- and fusion-based technologies. Radiation- and temperature-tolerant sensor technology continues to advance, yet development of the electronics/instrumentation technologies suitable for these environments have fallen behind. Industry has adequately addressed harsh environment electronics needs for low earth orbit satellites, but the much more extreme conditions associated with electronics placed near or in a reactor core remain unaddressed. This project investigates the use of gallium nitride (GaN) circuit technology to address the unique needs for sensor interface electronics and communications in reactor environments. This report provides a summary of the first year’s project activities related to developing and optimizing devices and circuits for this GaN high electronic mobility transistor (HEMT) process. Activities reported include multiple analog and digital circuit designs simulated using custom Verilog-A models generated from measured GaN devices fabricated in the target process. Digital circuit designs included fundamental logic circuits such as an inverter, NAND, NOR, AND and OR gates, as well as a 5-stage ring oscillator. Each design was simulated using an open-source SPICE simulator, and an integrated circuit layout was produced of each design for use in future fabrication. Analog circuit designs focused on the fundamental building blocks to be used to construct sensor interface and communications circuits. These included current mirrors, matched differential pairs, and a Gilbert cell mixer design, each with an associated integrated circuit layout. Layout tools used for these designs included two open-source packages—KLayout and Magic—which were customized for specific use with the OSU GaN process layers. Design rules and preliminary device extraction capabilities were built for the Magic tool to enable device extraction and subsequent netlist generation for SPICE simulation. Finally, future research directions for year two are summarized. When the year-two directions are implemented, the project will be in position to advance the state of the art in electronics for near- or in-reactor sensor interfacing and communications.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2022

Adaptive Urban Traffic Signal Control for Multiple Intersections: An LQR Approach

Traffic congestion leads to severe problems especially in urban traffic networks. It increases the chance of accidents, energy waste, and social costs. In order to address these problems, an adaptive linear quadratic regulator (LQR) approach is developed for traffic signal control at multiple intersections in an urban area. The proposed method controls the green time of the traffic signals to reduce traffic congestion and smooth traffic flow. Real-world data from vision-based traffic sensors are used to build the traffic network model, which mimics the real-world traffic behavior. In addition, the proposed control utilizes recursive least square parameter estimation, which is capable of tracking dynamic changes in traffic conditions. Simulation of Urban MObility (SUMO) is used to analyze the efficacy of the proposed method. Results of the simulation show that the proposed method outperforms pretimed control in various aspects.

adaptive LQR control↗

DOE OSTI2022

Dust, Sand, and Winds Within an Active Martian Storm in Jezero Crater

Rovers and landers on Mars have experienced local, regional, and planetary-scale dust storms. However, in situ documentation of active lifting within storms has remained elusive. Over 5–11 January 2022 (L S 153°–156°), a dust storm passed over the Perseverance rover site. Peak visible optical depth was ~2, and visibility across the crater was briefly reduced. Pressure amplitudes and temperatures responded to the storm. Winds up to 20 m s -1 rotated around the site before the wind sensor was damaged. The rover imaged 21 dust-lifting events—gusts and dust devils—in one 25-min period, and at least three events mobilized sediment near the rover. Rover tracks and drill cuttings were extensively modified, and debris was moved onto the rover deck. Migration of small ripples was seen, but there was no large-scale change in undisturbed areas. This work presents an overview of observations and initial results from the study of the storm.

58 GEOSCIENCES↗

NASA NTRS2009

NASA Tech Briefs, August 2009

Topics covered include: Aligning a Receiving Antenna Array to Reduce Interference; Collecting Ground Samples for Balloon-Borne Instruments; Tethered Pyrotechnic Apparatus for Acquiring a Ground Sample; Enhanced Video-Oculography System; Joint Carrier-Phase Synchronization and LDPC Decoding; Dual-Polarization, Sideband-Separating, Balanced Receiver for 1.5 THz Modular Battery Charge Controller; Efficient Multiplexer FPGA Block Structures Based on G4FETs; VLSI Microsystem for Rapid Bioinformatic Pattern Recognition; Low-Noise Amplifier for 100 to 180 GHz; Improved Fabrication of Ceramic Matrix Composite/Foam Core Integrated Structures; Inert Welding/Brazing Gas Filters and Dryers; Fabricating Copper Nanotubes by Electrodeposition; Reducing Aerodynamic Drag on Empty Open Cargo Vehicles; Rotary Percussive Auto-Gopher for Deep Drilling and Sampling; More About Reconfigurable Exploratory Robotic Vehicles; Thermostatic Valves Containing Silicone-Oil Actuators; Improving Heat Flux Performance of Flat Surface in Spray-Cooling Systems; Treating Fibrous Insulation to Reduce Thermal Conductivity; Silica-Aerogel Composites Opacified with La(sub0.7)Sr(sub0.3)MnO3; Cyclic Oxidation Behavior of CuCrAl Cold-Sprayed Coatings for Reusable Launch Vehicles; Ceramic Fiber Structures for Cryogenic Load-Bearing Applications; Elastomer Reinforced with Carbon Nanotubes; Biologically Inspired Purification and Dispersion of SWCNTs; A Technique for Adjusting Eigenfrequencies of WGM Resonators; Low-Pressure, Field-Ionizing Mass Spectrometer; Modifying Operating Cycles to Increase Stability in a LITS; Chamber for Simulating Martian and Terrestrial Environments; Algorithm for Detecting a Bright Spot in an Image; Extreme Programming: Maestro Style; Adaptive Behavior for Mobile Robots; Protocol for Communication Networking for Formation Flying; Planning Complex Sequences Using Compressed Representations; and Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors.

Source record↗

NASA NTRSDate not supplied

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

As part of its research, NASA investigates concepts, aircraft, and operations related to Advanced Air Mobility (AAM). One of the most challenging scenarios for AAM will be enabling safe routine access near densely populated urban centers. AAM flight operations over a regional area require a moderately high-fidelity simulation capability to develop and evaluate autonomy technologies in the urban environment. This paper aims to describe a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (tens to hundreds of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to simulate all flight phases accurately. The simulation incorporates a detailed simulated urban environment and includes glass cockpit displays to monitor aircraft operations. Simulation models integrate to simulate air and ground-based sensors, such as Radar and LiDAR. As a commercially available rendering engine, X-Plane 11 is used as the renderer to simulate vision-based sensors (such as onboard and ground-based cameras) with a detailed graphical model of a city at different times of the day and weather conditions. This paper presents the simulation and software architecture used for simulating AAM traffic over this urban region. This system enables the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward flight test evaluation.

distributed sensing↗

NASA NTRSDate not supplied

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

Distributed sensing↗

NASA NTRSDate not supplied

Optimal Communication Topology Construction and Sensor Selection for Independent Airspace Surveillance

The paper presents an approach with no estimation feedback to sensors selection and communication network topology computation for independent airspace surveillance with maximum outcome and minimum cost using ground based distributed sensing, computing and communication network infrastructure. The selection criteria includes maximum airspace coverage with minimal resources, minimum communication time and power consumption while guaranteeing the system observability and providing in-time high quality information to both stationary and mobile users. The developed algorithms use multi-objective optimization strategy taking into account trade-offs between conflicting objectives and are implemented using off-the-shelf computational tools. The algorithms are validated in a desktop simulation environment using synthetic sensors data generated for a simulated multi-vehicle flight scenario in the selected regional airspace and parameters of a notional wireless communication network.

Distributed sensing↗

DOE OSTI2020

Fully Automated Profile-based Calibration Strategy for Airborne and Terrestrial Mobile LiDAR Systems with Spinning Multi-beam Laser Units

LiDAR-based mobile mapping systems (MMS) are rapidly gaining popularity for a multitude of applications due to their ability to provide complete and accurate 3D point clouds for any and every scene of interest. However, an accurate calibration technique for such systems is needed in order to unleash their full potential. In this paper, we propose a fully automated profile-based strategy for the calibration of LiDAR-based MMS. The proposed technique is validated by comparing its accuracy against the expected point positioning accuracy for the point cloud based on the used sensors’ specifications. The proposed strategy was seen to reduce the misalignment between different tracks from approximately 2 to 3 m before calibration down to less than 2 cm after calibration for airborne as well as terrestrial mobile LiDAR mapping systems. In other words, the proposed calibration strategy can converge to correct estimates of mounting parameters, even in cases where the initial estimates are significantly different from the true values. Furthermore, the results from the proposed strategy are also verified by comparing them to those from an existing manually-assisted feature-based calibration strategy. The major contribution of the proposed strategy is its ability to conduct the calibration of airborne and wheel-based mobile systems without any requirement for specially designed targets or features in the surrounding environment. The above claims are validated using experimental results conducted for three different MMS – two airborne and one terrestrial – with one or more LiDAR unit.

47 OTHER INSTRUMENTATION↗

NASA NTRS1987

On autonomous terrain model acquistion by a mobile robot

The following problem is considered: A point robot is placed in a terrain populated by an unknown number of polyhedral obstacles of varied sizes and locations in two/three dimensions. The robot is equipped with a sensor capable of detecting all the obstacle vertices and edges that are visible from the present location of the robot. The robot is required to autonomously navigate and build the complete terrain model using the sensor information. It is established that the necessary number of scanning operations needed for complete terrain model acquisition by any algorithm that is based on scan from vertices strategy is given by the summation of i = 1 (sup n) N(O sub i)-n and summation of i = 1 (sup n) N(O sub i)-2n in two- and three-dimensional terrains respectively, where O = (O sub 1, O sub 2,....O sub n) set of the obstacles in the terrain, and N(O sub i) is the number of vertices of the obstacle O sub i.

Rao, N. S. V.↗

DOE OSTI2026

Memsensing by surface ion migration within Debye length

Integration between electronics and biology is often facilitated by iontronics, where ion migration in aqueous media governs sensing and memory. However, the Debye screening effect limits electric fields to the Debye length, the distance over which mobile ions screen electrostatic interactions, necessitating external voltages that constrain the operation speed and device design. Here we report a high-speed in-memory sensor based on vanadium dioxide (VO2) that operates without an external voltage by leveraging built-in electric fields within the Debye length. When VO2 contacts a low-work-function metal (for example, indium) in a salt solution, electrochemical reactions generate indium ions that migrate into the VO2 surface under the native electric field, inducing a surface insulator-to-metal phase transition of VO2. The VO2 conductance increase rate reflects the salt concentration, enabling in-memory sensing, or memsensing of the solution. The memsensor mimics Caenorhabditis elegans chemosensory plasticity to guide a miniature boat for adaptive chemotaxis, illustrating low-power aquatic neurorobotics with fewer memory units.

Guo, Ruihan↗

DOE OSTI2020

Estimating vehicle fuel economy from overhead camera imagery and application for traffic control

In this work, we explore the ability to estimate vehicle fuel consumption using imagery from overhead fisheye lens cameras deployed as traffic sensors. We utilize this information to simulate vision-based control of a traffic intersection, with a goal of improving fuel economy with minimal impact to mobility. We introduce the ORNL Overhead Vehicle Dataset (OOVD), consisting of a data set of paired, labeled vehicle images from a ground-based camera and an overhead fisheye lens traffic camera. The data set includes segmentation masks based on Gaussian mixture models for vehicle detection. We show the dataset utility through three applications: the estimate of fuel consumption based on segmentation bounding boxes, vehicle discrimination for those vehicles with largest bounding boxes, and a fine-grained classification on a limited number of vehicle makes and models using a pre-trained set of convolutional neural network models. We compare these results with estimates based on a large open-source data set based on web-scraped imagery. Finally, we show the utility of the approach using reinforcement learning in a traffic simulator using the open source Simulation of Urban Mobility (SUMO) package. Our results show the feasibility of the approach for controlling traffic lights for better fuel efficiency based solely on visual vehicle estimates from commercial, fisheye lens cameras.

Karnowski, Thomas↗

DOE OSTI2025

Eddy Correlation Flux Measurement System (ECOR) Instrument Handbook

The eddy correlation (ECOR) flux measurement system provides in situ, half-hour measurements of the surface turbulent fluxes of momentum, sensible heat, latent heat, and carbon dioxide (CO 2 ) (and methane at the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility’s North Slope of Alaska central facility [NSA Barrow], and at the ARM Mobile Facility (AMF) deployment at Oliktok Point). The fluxes are obtained with the eddy covariance technique, which involves correlation of the vertical wind component with the horizontal wind component, the air temperature, the water vapor density, and the CO 2 concentration. The instruments used are: a fast-response, three-dimensional (3D) wind sensor (sonic anemometer) to obtain the orthogonal wind components and the speed of sound (SOS) (used to derive the air temperature), an open-path infrared gas analyzer (IRGA) to obtain the water vapor density and the CO 2 concentration, and an open-path infrared gas analyzer (IRGA) to obtain methane density and methane flux at NSA Barrow and at the AMF deployment at Oliktok Point. The ECOR systems are deployed at the locations where other methods for surface flux measurements (e.g., energy balance Bowen ratio [EBBR] systems) are difficult to employ, primarily at the north edge of a field of crops. A surface energy balance system (SEBS) has been installed collocated with each deployed ECOR system in SGP, NSA, Tropical Western Pacific (TWP), and each of three ARM Mobile Facilities. The surface energy balance system consists of upwelling and downwelling solar and infrared radiometers within one net radiometer, a wetness sensor, and soil measurements. Finally, the SEBS measurements allow the comparison of ECOR sensible and latent heat fluxes with the energy balance determined from the SEBS and provide information on wetting of the sensors for data quality purposes.

47 OTHER INSTRUMENTATION↗

NASA NTRS1999

Soil Analysis Micro-Mission Concepts Derived from the MSP 2001 Mars Environmental Compatibility Assessment (MECA)

The Mars Environmental Compatibility Assessment (MECA) will evaluate the Martian environment for soil and dust-related hazards to human exploration as part of the Mars Surveyor Program 2001 Lander. The integrated MECA payload contains a wet-chemistry laboratory, a microscopy station, an electrometer to characterize the electrostatic environment, and arrays of material patches to study abrasion and adhesion. Heritage will be all-important for low cost micro-missions, and adaptations of instruments developed for the Pathfinder, '98 and '01 Landers should be strong contenders for '03 flights. This talk has three objectives: (1) Familiarize the audience with MECA instrument capabilities; (2) present concepts for stand-alone and/or mobile versions of MECA instruments; and (3) broaden the context of the MECA instruments from human exploration to a comprehensive scientific survey of Mars. Due to time limitations, emphasis will be on the chemistry and microscopy experiments. Ion-selective electrodes and related sensors in MECA's wet-chemistry laboratory will evaluate total dissolved solids, redox potential, pH, and the concentration of many soluble ions and gases in wet Martian soil. These electrodes can detect potentially dangerous heavy-metal ions, emitted pathogenic gases, and the soil's corrosive potential, and experiments will include cyclic voltammetry and anodic stripping. For experiments beyond 2001, enhancements could allow multiple use of the cells (for mobile experiments) and reagent addition (for quantitative mineralogical and exobiological analysis). MECA's microscopy station combines optical and atomic-force microscopy (AFM) in an actively focused, controlled illumination environment to image particles from millimeters to nanometers in size. Careful selection of substrates allows controlled experiments in adhesion, abrasion, hardness, aggregation, magnetic and other properties. Special tools allow primitive manipulation (brushing and scraping) of samples. Soil particle properties including size, shape, color, hardness, adhesive potential (electrostatic and magnetic), will be determined using an array of sample receptacles and collection substrates. The simple, rugged atomic-force microscope will image in the submicron size range and has the capability of performing a particle-by-particle analysis of the dust and soil. Future implementations might enhance the optical microscopy with spectroscopy, or incorporate advanced AFM techniques for thermogravimetric and chemical analysis.

Hecht, M. H.↗