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At least 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Robotic Assisted Non-Destructive Testing (NDT)

Mission Statement: Concrete wall characterization for structural integrity evaluation of H-Canyon exhaust tunnel using a remote controlled robotic arm with a NDT Concrete Instrument. Challenges: Rough and Curved Surfaces, Remote location. The UR5 is a collaborative robotic arm capable of: Payload: 11 lbs (5 kg), Reach: 33.5 in (850 mm), Footprint: 5.87 in (149 mm) diameter, Weight: 45.4 Ibs (20.6 kg). The force torque sensor reacts to a set value inputted by the user that can be utilized for sensitive products. This allows the UR5 to react to surfaces using the built-in function to search for a wall and orient itself normal to that plane. The Proceq Pundit 250 array is a nondestructive device that the user applies against a concrete wall and scans using ultrasonic transducers. The back wall and other defects can be show through the touchscreen. A fixture to hold the Proceq Pundit 250 array onto the UR5 robotic arm was designed and 3D printed. It includes openings for easy access to the buttons from the Pundit array as well as a reinforced structural design. The scan from the Pundit array can show the back-wall, rebars, and other defects to assist in determining the structural integrity. In order to scan, a program was made to search for the wall first. 1. The UR5 robotic arm will go to the desired location away from the wall. 2. It will then search for the wall by moving towards it slowly. 3. After contact, the force applied will slowly but steadily increase to a preset value inputted by the user. 4. The force torque sensor will use those values and communicate with the UR5 by adjusting the arm to become normal to the wall. 5. The arm will then apply force to push back the transducers on the Pundit array to avoid gaps. 6. It will then prompt the user to collect data and wait until finished. The UR5 teach pendant allows the user to program the robot to perform automated and repeatable tasks. It includes a free drive mode which allows the user to move the arm to a desired position by hand. The user can also apply restricted planes which include either stopped or slower motion to ensure safety. The concrete sample being tested includes rebars and different grades of surface roughness to understand the readings from the Proceq Pundit 250 array. Desired concrete samples are currently being fabricated that will simulate the terrain being tested.

3D PRINTING↗
DOE OSTI2022

Intelligent Process Visualization through Nuclear Operation Process Modeling, Reasoning, and Object Detection from Field Videos (Final Report)

This report is a deliverable for the “Final Report” task of DOE NEET Project 19-16790, "Context-Aware Safety Information Display for Nuclear Field Workers." This project's overall goal is to test the hypothesis that integrating computer vision and process reasoning methods will enable proactive visualization of the safe operation and maintenance processes of Nuclear Power Plants (NPP) for field workers. Augmented Reality (AR) glasses adopting such proactive safety information visualization techniques can significantly increase personnel safety and reduce the NPP’s operating costs. The current practice of monitoring NPPs requires workers to switch between digital models, data, and physical workspaces in identifying relevant but potentially occluded objects and in assessing the risks of operation and maintenance processes. On the other hand, frequently changed field conditions require field workers to report to supervisors for real-time guidance. Such guidance is essential to ensure that changing conditions will not invalidate or endanger the work order and other ongoing processes that may jeopardize NPP operations. Additionally, incorrect recognition of equipment objects can result in communication errors and safety problems. AR techniques can assist engineers in viewing the physical workspaces with objects labeled with detailed operation procedures and safety reminders during field operations. The project team developed an “Intelligent Context-Aware Safety Information Display” (ICAD) for supporting Nuclear Power Plant (NPP) field workers in achieving safe and efficient execution of a series of operational tasks in uncertain and changing workspaces of an NPP. Before designing the ICAD-AR prototype, the project team synthesized NPP operational knowledge models through literature review studies, surveys, interviews with domain experts, and knowledge modeling. The project team conducted an extensive study of the operational procedures of various NPPs, and digital technologies that can support the safe and efficient execution of those procedures in different NPP operational contexts. This literature review helped the project team conduct surveys and interviews with nuclear engineers and field workers to identify three categories of information. The NPP knowledge modeling efforts reveal that the three categories of information identified have different levels of importance in a typical procedure of carrying out a series of tasks to achieve a specific NPP operation goal (e.g., shutdown, mode changes). These three categories of information include 1) Workspace dynamics – the changing spatial arrangements of workspaces, tools, protection equipment, and supporting materials, 2) Workflow prognostics – the dynamic dependencies between different parts of an NPP that functionally support and influence each other in terms of safety and efficiency, and 3) Hazards – objects and spaces that contain hazardous materials or physical conditions that can pose risks to workers or mechanical systems. The project team has profiled the importance levels of these categories of information into a knowledge model. This knowledge model specifies what types of information are more critical for a given task in a given workspace so that computers can automatically identify critical objects and sensors in a scene for delivering context-ware safety information to field workers through AR devices. Significant research development of this project results in technical research outcomes and a prototyping system that illustrates the technical feasibility of establishing an ICAD-AR system supporting the proactive safety information display for nuclear field workers. This final report summarizes the project team’s technological achievements in the past three years. Overall, the project team completed the development and integration of five techniques into a prototype ICAD Augmented Reality (ICAD-AR) system and demonstrated the developed system’s real-time execution in a mechanical room. The project team completed the analysis of using this prototype in other types of workspaces based on 3D image data and digital design models collected from two additional workspaces (a water treatment plant and a flow loop training facility). The integrated techniques include 1) Natural Language Processing (NLP) algorithms supporting the generation and updates of nuclear fieldwork process models based on text analysis of work packages and operation manuals; 2) sensor log analysis for predicting control actions in given sensor reading contexts; 3) computer vision algorithms for automatic localization and navigation of workers; 4) object detection algorithms for identifying task-related objects and correlated sensors for safety checking; 5) AR technique as a platform for supporting the integration. The testing results of these five techniques have shown that 1) the sensor log analysis model can predict the next control action with an accuracy of 0.883; 2) the trained natural language processing model can extract more than 80% of the critical information from paper-based procedures (PBPs); 3) the navigation algorithm with the integration of Visual Inertial Odometry (VIO) and Non-Recursive Bayesian Filter methods make operator’s trajectory estimation resilient to drift error; 4) the computer vision algorithm can detect task-specific and safety-critical objects with an average accuracy of 95.3%. The project team used work procedures collected from a flow loop training facility and two datasets collected from two mechanical rooms simulating the workspaces of NPPs to demonstrate the technical capabilities of the developed ICAD-AR prototype. The demonstration validated the technical feasibility of establishing the ICAD-AR system for nuclear field workers and identified the challenges in 1) automatic text analysis of work packages; 2) use of limited samples of sensor logs for predicting the proper timings of control actions; 3) reliably tracking workers and their task progress in mechanical rooms with many similar objects.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2022

Solution-Deposited and Patternable Conductive Polymer Thin-Film Electrodes for Microbial Bioelectronics

Microbial bioelectronic devices integrate naturally occurring or synthetically engineered electroactive microbes with microelectronics. These devices have a broad range of potential applications, but engineering the biotic–abiotic interface for biocompatibility, adhesion, electron transfer, and maximum surface area remains a challenge. Prior approaches to interface modification lack simple processability, the ability to pattern the materials, and/or a significant enhancement in currents. We report a novel conductive polymer coating that significantly enhances current densities relative to unmodified electrodes in microbial bioelectronics is reported. The coating is based on a blend of poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) crosslinked with poly(2-hydroxyethylacrylate) (PHEA) along with a thin polydopamine (PDA) layer for adhesion to an underlying indium tin oxide (ITO) electrode. When used as an interface layer with the current-producing bacterium Shewanella oneidensis MR-1, this material produces a 178-fold increase in the current density compared to unmodified electrodes, a current gain that is higher than previously reported thin-film 2D coatings and 3D conductive polymer coatings. The chemistry, morphology, and electronic properties of the coatings are characterized and the implementation of these coated electrodes for use in microbial fuel cells, multiplexed bioelectronic devices, and organic electrochemical transistor based microbial sensors are demonstrated. It is envisioned that this simple coating will advance the development of microbial bioelectronic devices.

patterned bioelectronics↗
DOE OSTI2025

A virtual Frisch-grid geometry-based CZT gamma detector for in-field radioisotope identification

Here, we present a Virtual Frisch-Grid geometry-based CZT gamma detector developed for identifying different radioisotopes over an energy range from a few keV up to 2 MeV, and useful for efficient characterization of CZT crystals. The detector is built with a 3 x 3 matrix of CZT crystals, each measuring approximately 6 mm x 6 mm x 15 mm. The charge generated within the sensor’s active volume is read out via an anode connected directly to the AVG3_Dev integrated circuit. A current signal induced by charge drift is collected on side pads of the crystals, enabling reconstruction of a 3D interaction position. This paper discusses the design, development, and performance of the standalone, mobile detector system, which integrates the AVG3_Dev readout IC developed at Brookhaven National Laboratory, a high-speed FPGA-based with per-channel digital signal processing, and embedded system capabilities. The device is compact, battery-powered, and supports wireless data streaming, making it suitable for field operations for radioisotope identification.

47 OTHER INSTRUMENTATION↗
DOE OSTI2023

Phase-controlled enhancement of photon lifetime in coupled superconducting cavities.

The photon lifetime of superconducting cavities is essential forthe long coherence of quantum computing units and sensors. Wediscover that the photon lifetime of cavity field in a couple- cavitysystem is modified by the phases of the initial states and thephase in the coupling channel. Experimentally by performingring-down measurement for two coupled 3D superconductingcavities, we observed a factor of two enhancement in cavityphoton lifetime. The result open new avenues for improvingperformances of superconducting cavities and quantum systems.

43 PARTICLE ACCELERATORS↗
DOE OSTI2024

What are the Principles Controlling Biomimetic Heteropolymer Secondary Structure? (Final Technical Report)

The goal of the project was to develop improved theories to understand how nonbiological oligomers could be designed to cooperatively fold into 3D structures. These studies would lay the groundwork for materials made of such molecules, making it possible to create controlled and ordered materials for electron transport, efficient protein-like catalysts that work under extreme conditions, and sensors with highly-specific chemical responsiveness. Two different simulation thrusts were investigated, one focused on programs to identify stable low energy folded structures at a coarse-level of description of oligomers, and another to calculate thermodynamics of such oligomers. We used these theories to answer several specific questions about what properties of oligomers lead to cooperative transitions, and to identify how oligomer knots could serve as secondary structure elements. We also carried out significant collaborative investigation with Dr. Samuel Gellman (UW-Madison, National Academy of Sciences member) on stability for foldamers of interest to them. Only one of the experimentally tested foldamers stably folded, which was indicated by simulations as being the most likely to fold. Finally, we developed new theoretical descriptions of foldamers, showing how cooperativity was determined primarily by the entropy difference between the folded and unfolded state. The research did not answer all questions laid out in the original proposal but laid the groundwork for later efforts to design folded oligomers materials with high switchability.

36 MATERIALS SCIENCE↗
NASA NTRS2024

San José Urban Development: Quantifying Canopy Cover and Land Surface Temperature in San José to Identify Future Tree Planting Sites

The urban heat island effect refers to the phenomenon of substantially increased temperatures in urban areas compared to their surrounding suburban or rural counterparts. The City of San José’s Department of Parks, Recreation and Neighborhood Services (PRNS) and Department of Transportation (DOT) work to mitigate the UHI effect through urban forestry initiatives. The PRNS and DOT partnered with NASA DEVELOP to identify areas in need of tree plantings. We examined land surface temperature (LST) throughout the city using data from the Thermal Infrared Sensor (TIRS) and TIRS-2 on NASA’s Landsat 8 and 9 satellites from 2013 to 2024. We also assessed canopy cover in parks using LiDAR data collected in 2020 for the United States Geological Survey’s 3D Elevation Program, and measured vegetation greenness using the Normalized Difference Vegetation Index (NDVI) with PlanetScope imagery from 2018 to 2024. We evaluated social and environmental factors that influence the distribution of heat event impacts by creating a heat vulnerability index. We found that heat is concentrated in urban areas and that poor vegetation health is associated with high LST. We also found that socially vulnerable communities are disproportionately located in areas of high environmental risk. These analyses allow the partners to prioritize tree plantings in parks near areas of high social and environmental risk. We determined that Earth observations can be used to inform urban forestry decision making, but because methodologies for using LiDAR to assess canopy cover vary greatly, it is difficult to make comparisons across different canopy cover assessments.

land surface temperature↗
DOE OSTI2022

3D velocity map imaging of electrons with TPX3CAM

In this report we demonstrate three-dimensional velocity map imaging of low energy electrons using a TPX3CAM, where the three-dimensional momentum information [$p_x, p_y, p_z$] is encoded in position and timing [x, y, t] of hits on the camera sensor. We make use of the camera sensor for the [x, y] information and a constant fraction discriminator and fast time to digital converter in the camera for the time information. We illustrate the capabilities of our apparatus by presenting above threshold ionization measurements of xenon, which produces well defined structures in the momentum resolved photoelectron yield.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2023

The high intensity diffractometer for residual stress analysis (HIDRA), a third generation residual stress mapping neutron diffractometer at the high flux isotope reactor

This paper describes the hardware and software upgrades, operation, and performance of the high intensity diffractometer for residual stress analysis (HIDRA) instrument, a residual stress mapping neutron diffractometer located at the High Flux Isotope Reactor at Oak Ridge National Laboratory in Oak Ridge Tennessee, USA. Following a major upgrade in 2018, the new instrument has a single 3 He multiwire 2D 30 × 30 cm 2 position sensitive detector, yielding a field of view of 17° 2θ. Further, the increase in the field of view (from 4° 2θ) from the previous model instrument has contributed to the tremendous improvement in the out of plane solid angle such that the 3D count rate could be obtained easily. Accordingly, the hardware, software, Data Acquisition System (DAS), and so on have also been updated. Finally, all these enhanced features of HIDRA have been ably demonstrated by conducting multi directional diffraction measurements in the quenched 750-T74 aluminum, and the evolved and improved strain/stress mappings are presented.

3D printing↗
DOE OSTI2024

Void-Engineered Metamaterial Delay Line with Built-In Impedance Matching for Ultrasonic Applications

Metamaterials exhibit unique ultrasonic properties that are not always achievable with traditional materials. However, the structures and geometries needed to achieve such properties are often complex and difficult to obtain using common fabrication techniques. In the present research work, we report a novel metamaterial acoustic delay line with built-in impedance matching that is fabricated using a common 3D printer. Delay lines are commonly used in ultrasonic inspection when signals need to be separated in time for improved sensitivity. However, if the impedance of the delay line is not perfectly matched with those of both the sensor and the target medium, a strong standing wave develops in the delay line, leading to a lower energy transmission. The presented metamaterial delay line was designed to match the acoustic impedance at both the sensor and target medium interfaces. This was achieved by introducing graded engineered voids with different densities at both ends of the delay line. The measured impedances of the designed metamaterial samples show a good match with the theoretical predictions. The experimental test results with concrete samples show that the acoustic energy transmission is increased by 120% and the standing wave in the delay line is reduced by over a factor of 2 compared to a commercial delay line.

36 MATERIALS SCIENCE↗
NASA NTRSDate not supplied

Establishing an Urban Heat Exposure Severity Index for Infrastructure Prioritization in Tempe, Arizona, Using NASA Earth Observations and LiDAR

Located on the banks of the Salt River in the Sonoran Desert, Tempe, Arizona, features a semi-arid climate with summer daily maximum temperatures regularly exceeding 37.8°C. Tempe is also subject to the southwestern monsoon season from July-September and the humidity exacerbates the high temperatures. Furthermore, the rapid urbanization experienced in Tempe has resulted in an intensification of the urban heat island. The summer of 2020 shattered the previous record of days exceeding 43.4°C, leading to higher energy and water costs, lower comfort, and increased risk of heat stroke for residents. Recognizing the impacts of extreme heat, the City of Tempe partnered with the Healthy Urban Environments initiative and NASA DEVELOP to identify census tracts that experience a higher mean land surface temperature than the city average. The NASA DEVELOP team used remotely sensed land surface temperature (LST), normalized difference vegetation index (NDVI), normalized difference built-up index (NDBI), normalized difference water index (NDWI), and albedo data calculated from Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) and Landsat 8 Operational Land Imager (OLI) and Thermal Infrared Sensor (TIRS) instruments from 2015 to 2020 to create heat hazard and exposure maps. LiDAR point cloud data, provided by the United States Geological Survey through Arizona State University’s Map and Geospatial Hub, were used to derive 3D buildings, building footprints, and tree point data for a shading analysis of walking paths, roads, and buildings at the census tract level. In situ meteorological measurements including air temperature and humidity were used to compare the macro-scale temperature measurements. The team worked with the City of Tempe to develop a methodology to process available data and identify areas of highest concern for urban heat effects within the city. With these insights, Tempe, Arizona can better address these issues with data-driven information to make decisions regarding heat mitigation and adaptation efforts.

John Dialesandro↗
DOE OSTI2020

Topmetal CMOS direct charge sensing plane for neutrinoless double-beta decay search in high-pressure gaseous TPC

We propose a novel charge sensing concept for high-pressure Time Projection Chamber (TPC) to search for Neutrinoless Double-Beta Decay (NLDBD) with ton-scale isotope mass and beyond. A meter-sized plane, tiled with an array of CMOS integrated sensors called Topmetal that directly collect charge without gas avalanche gain, is to be deployed into a high-pressure gaseous TPC with working gases containing suitable NLDBD candidate isotopes such as Xe-136 and Se-82. The Topmetal sensor has an electronic noise <30 e- per pixel, which allows the detector to reach <1% FWHM energy resolution at the NLDBD Q-value for both Xe-136 and 82SeF6 gases by measuring ionization charges alone. The elimination of charge avalanche gain allows the direct sensing of slow-drifting ions, which enables the use of highly electronegative gas SeF6 in which free electrons do not exist. It supports the swapping of working gases without hardware modification, which is a unique way to validate signals against radioactive backgrounds. Since the sensor manufacturing and plane assembling could leverage unaltered industrial mass-production processes, stability, uniformity, scalability, and cost-effectiveness that are required for ton-scale experiments could all be reached. The strengths of TPC such as 3D ionization tracking and decay daughter tagging are retained. This development could lead to a competitive NLDBD experiment at and above ton-scale. The conceptual considerations, simulations, and initial prototyping are discussed.

Mei, Yuan↗
DOE OSTI2023

Towards Realistic and High Fidelity Models for Nuclear Reactor Power Synthesis Simulation with Self-Powered Neutron Detectors

As presented in this report, a weighting function–based inferencing method is being applied to synthesize the power distribution in next-generation and university research reactors based on simulated self power neutron detector (SPND) responses. The overall goal is to assess the impacts of sensor uncertainty and true power distribution perturbations on the error in the synthesized power distribution. Regarding sensor uncertainty, the NuScale Small Modular Reactor (SMR) and the Westinghouse AP1000 serve as testbeds for analyzing the impact of varying the sensor uncertainty, as well as varying the number of sensors per sensor string in the reactor core. The reactor models are informed by Monte Carlo N-Particle (MCNP) neutron flux tallies. For the NuScale SMR and Westinghouse AP1000, the SPND response functions (i.e., the response of the SPNDs to individual segments of fuel) were determined homogeneously. Regarding an analysis of power distribution perturbation detection, the Texas A&M Testing, Research, Isotopes, General Atomics Reactor (TAMU TRIGA) reactor was used as a demonstration case with one particular arrangement of SPNDs; the response functions for this reactor model were determined heterogeneously, making this a uniquely high-fidelity demonstration of perturbation detection. Finally, SPND models generated in the Geometry and Tracking 4 (Geant4) code have been generated and tested for comparison with traditionally implemented analytical SPND models, with the intent for Geant4 integration with the full methodological framework. SPND current outputs as a function of distance from some fuel assembly segment in the NuScale SMR are compared with the analytically determined currents. Results from the sensor uncertainty simulations for the NuScale SMR and AP1000 indicate that the average error in the inferred power distribution on the fuel assembly segment level is reasonably low, being slightly less than the random uncertainty applied to all respective SPNDs in both cores. For example, if all SPNDs in the core have a random uncertainty of 5%, then the corresponding fuel assembly segment level error (i.e. difference between the true and inferred local power) is ~2–3%. However, the maximum error in the inferred power distribution on the fuel assembly segment level can be considerably high (>15%) when SPND random uncertainties start to exceed ~3%. In general, the average and maximum errors in the inferred power distribution were slightly higher in the AP1000 as opposed to the NuScale SMR for the sensor string configurations considered herein. Another result determined from analysis of the sensor uncertainty simulations was that increasing the number of SPNDs per string does not clearly reduce inferred power distribution error and can in fact make the error large in some cases; however, this assessment may skewed due to imposed iteration limits. Results from the perturbation detection demonstration using the high-fidelity TAMU TRIGA model indicate that, given the arrangement of 17 SPND strings and 4 SPNDs per string considered herein, there is a clear, provable ability to infer a localized Gaussian-type peak perturbation in the 3D power distribution. Such a perturbation was detected with an average fuel assembly segment level error of 0.19%, and the general visualization of the detected perturbation clearly indicates that the magnitude and shape were appropriately resolved. Finally, the electrical current output generated by the Geant4 modeled SPND indicates significant magnitude differences than the analytically modeled SPND, demonstrating the need for accurate SPND models which account for finite sensor geometry effects to inform the power synthesis work described herein.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2023

Vehicle Localization in 3D World Coordinates Using Single Camera at Traffic Intersection

Optimizing traffic control systems at traffic intersections can reduce the network-wide fuel consumption, as well as emissions of conventional fuel-powered vehicles. While traffic signals have been controlled based on predetermined schedules, various adaptive signal control systems have recently been developed using advanced sensors such as cameras, radars, and LiDARs. Among these sensors, cameras can provide a cost-effective way to determine the number, location, type, and speed of the vehicles for better-informed decision-making at traffic intersections. In this research, a new approach for accurately determining vehicle locations near traffic intersections using a single camera is presented. For that purpose, a well-known object detection algorithm called YOLO is used to determine vehicle locations in video images captured by a traffic camera. YOLO draws a bounding box around each detected vehicle, and the vehicle location in the image coordinates is converted to the world coordinates using camera calibration data. During this process, a significant error between the center of a vehicle’s bounding box and the real center of the vehicle in the world coordinates is generated due to the angled view of the vehicles by a camera installed on a traffic light pole. As a means of mitigating this vehicle localization error, two different types of regression models are trained and applied to the centers of the bounding boxes of the camera-detected vehicles. The accuracy of the proposed approach is validated using both static camera images and live-streamed traffic video. Based on the improved vehicle localization, it is expected that more accurate traffic signal control can be made to improve the overall network-wide energy efficiency and traffic flow at traffic intersections.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

Analysis of Microseismicity and Reactivated Fault Size to Assess the Potential for Felt Events by CO 2 Injection in the Illinois Basin

The results of monitoring of carbon dioxide (CO 2 ) injection at the Illinois Basin—Decatur Project (IBDP) and the companion Illinois Industrial Carbon Capture and Sequestration Sources (IL-ICCS) project—have shown that reservoir response to fluid pressure changes can vary significantly at different injection locations within the same reservoir. Predrill reservoir characterization is important to identify potentially seismogenic faults. However, interpretations of newly reprocessed 3D seismic reflection data illustrate the challenges related to their identification in a region dominated by faulting with small vertical offsets. Faults interpreted in the 3D seismic volume range from ~300 to 1200 m wide and are in the same size range as faults that could have been the source of historical events up to Mw 2.7 in central Illinois. The array of monitoring sensors that was installed for the IBDP continues to collect data, as injection operates in IL-ICCS, the second injection well. CO 2 injection rates for the IL-ICCS well are on average 1.7 times the rates injected in the IBDP well, but a significantly reduced rate of induced seismicity is observed. This article presents results of passive seismic monitoring for the duration of the project to date, integrating active and passive seismic data to develop a new interpretation of the subsurface structure at the Decatur site that explicitly identifies pathways for fluid flow into the basement leading to induced seismicity, and provides a geological explanation for the sharp reduction of induced seismicity during injection at higher rates into the second well. The use of seismic moment to estimate the length of seismogenic slip planes in the local subsurface suggests that faults large enough to produce felt seismicity are unlikely to be present at or near the Decatur site.

Geochemistry & Geophysics↗
NASA NTRS1992

Systems level polarization modeling of multispectral space sensors

The 2-percent polarization sensitivity specification in many of NASA's Earth Observing System sensors has motivated Santa Barbara Research Center (SBRC) to develop computer programs that model the polarization characteristics of optical systems. In support of the Moderate Resolution Imaging Spectroradiometer program, SBRC has developed an analytical tool which unites the completed 3D lens design and coating designs to accurately predict an optical system's polarization characterization compensators, nonnormal incidence reflection and transmission from dichroic beam splitters and protected silver mirrors are analyzed without the need for proprietary coating prescriptions. The phenomenon of diattenuation and phase change are treated using the Jones matrix formalism.

Wells, Conrad↗
NASA NTRS2019

Marsbee - Swarm of Flapping Wing Flyers for Enhanced Mars Exploration: NASA Innovative Advanced Concepts (NIAC) - Phase I: Final Report

Mars exploration has received significant interest from academia, industry, government, and the general public. Despite continued interest, flying on Mars remains challenging, mainly due to the ultra-thin Martian atmospheric density. Although the gravitational acceleration on Mars is 38 percent of Earth's 9.8 meters per second squared, the Martian atmospheric density is only 1.3 percent of the air density on Earth. The aerodynamic forces are proportional to the ambient fluid density. Therefore, flying near the surface of Mars has been considered nearly impossible. The proposed mission architecture (Fig. 1) consists of a Mars rover (already existing) that serves as a mobile base for Marsbees - a deployable swarm of small bio-inspired flapping wing vehicles. In one ConOps scenario, each Marsbee would carry an integrated stereographic video camera and the swarm could construct a 3D topographic map of the local surface for rover path planning. These flying scouts would provide a "third-dimension" to the rover capabilities. In other scenarios, each part of the swarm of Marsbees could carry pressure and temperature sensors for atmospheric sampling, or small spectral analyzers for identification of mineral outcroppings. In each scenario, the rover acts as a recharging and deployment/return station and data and communication hub. Human exploration of Mars is one of the major objectives of NASA and commercial entities such as SpaceX and Boeing. The identified innovations unique to the bio-inspired flapping Marsbee provide viable multi-mode flying mobility for Martian atmospheric and terrain exploration. A swarm of Marsbees provides an enhanced reconfigurable Mars exploration system that is resilient to individual component failures. These Marsbees can carry sensors and wireless communication devices in combination with a Mars rover and helicopters. These enhanced sensing and information gathering abilities can contribute to the following NASA Mars mission objectives: i) "Determine the habitability of an environment", ii) "Obtain surface weather measurements to validate global atmospheric models", and iii) "Prepare for human exploration on Mars." Various commercial entities, e.g. SpaceX and Boeing, are investing in technologies to transport humans to Mars.

Kang, Chang-kwon↗
NASA NTRS2021

LiDAR-Inertial Based Navigation and Mapping for Precision Landing

Future lander missions will travel to ambitious, scientifically interesting locations near rough and dangerous terrain. They will need to operate with limited prior information about the terrain, and under varying lighting conditions. Landing safely and precisely in the face of these challenges is difficult for existing vision-based landing systems, which require detailed orbital reconnaissance, a priori hazard maps, and impose time-of-day restrictions on landing to ensure similar lighting conditions in orbital and descent imagery. Advanced 3D imaging LiDAR systems currently under development, and originally intended for single-scan hazard detection, have the potential to be operated continuously from altitudes of up to 5 km. Used together with existing inertial measurement units (IMUs), these sensors open a path-to-flight for a full navigation and mapping system, which could replace or augment a traditional landing sensor suite. A landing system based around these sensors can perform accurate altimetry, map-relative localization (MRL), LiDAR-inertial odometry, and map refinement in an illumination-insensitive manner, over unknown or partially known terrain. This paper outlines preliminary work on a LiDAR-inertial landing system that: estimates the spacecraft trajectory during entry, descent, and landing (EDL); and maps the topography of the terrain below, for future use in hazard detection and avoidance. An incremental, factor graph based, smoothing approach is used to solve for the maximum a posteriori trajectory of spacecraft states. Integrated IMU measurements and features tracked in adjacent range and intensity images are used to estimate motion (LiDAR-inertial odometry). LiDAR scans are binned into motion-corrected digital elevation models (DEMs), which are matched to an existing orbital topographic map to provide absolute position information (MRL). The estimated trajectory is then used to project the LiDAR scans into the map frame, creating a variable-resolution quadtree topographic map suitable for hazard detection and avoidance. Existing topographic maps from throughout the solar system (i.e., Earth, the Moon, Mars, Ceres, Vesta, Europa, Enceladus, and Eros) are upsampled for use in EDL simulations. The Mars 2020 Lander Vision System Simulator (LVSS) is extended to simulate LiDAR-inertial data for realistic EDL trajectories. Results of the algorithm operating on the simulated data are presented. Estimated spacecraft trajectory and refined map are compared to ground truth to assess estimation accuracy.

Katake, Anup↗