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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

Report on the Second ARM Mobile Facility (AMF2) Roll, Pitch, and Heave (RPH) Stabilization Platform: Design and Evaluation

One of the primary objectives of the U.S. Department of Energy’s Atmospheric Radiation Measurement (ARM) Climate Research Facility’s second Mobile Facility (AMF2) is to obtain reliable measurements of solar, surface, and atmospheric radiation, as well as cloud and atmospheric properties, from ocean-going vessels. To ensure that these climatic measurements are representative and accurate, many AMF2 instrument systems are designed to collect data in a zenith orientation. A pillar of the AMF2 strategy in this effort is the use of a stable platform. The purpose of the platform is to 1) mitigate vessel motion for instruments that require a truly vertical orientation and keep them pointed in the zenith direction, and 2) allow for accurate positioning for viewing or shading of the sensors from direct sunlight. Numerous ARM instruments fall into these categories, but perhaps the most important are the vertically pointing cloud radars, for which vertical motions are a critical parameter. During the design and construction phase of AMF2, an inexpensive stable platform was purchased to perform the stabilization tasks for some of these instruments. The first table compensated for roll, pitch, and yaw (RPY) and was reported upon in a previous technical report (Kafle and Coulter, 2012). Subsequently, a second table was purchased specifically for operation with the Marine W-band cloud radar (MWACR). Computer programs originally developed for RPY were modified to communicate with the new platform controller and with an inertial measurements platform that measures true ship motion components (roll, pitch, yaw, surge, sway, and heave). This platform could not be tested dynamically for RPY because of time constraints requiring its deployment aboard the container ship Horizon Spirit in September 2013. Hence the initial motion tests were conducted on the initial cruise. Subsequent cruises provided additional test results. The platform, as tested, meets all the design and performance criteria established for its use. This is a report of the results of those efforts and the critical points in moving forward

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1980

Model development for automatic guidance of a VTOL aircraft to a small aviation ship

This paper describes a detailed mathematical model which has been assembled to study automatic approach and landing guidance concepts to bring a VTOL aircraft onto a small aviation ship. The model is used to formulate system simulations which in turn are used to evaluate different guidance concepts. Ship motion (Sea State 5), wind-over-deck turbulence, MLS-based navigation, implicit model following flight control, lift fan V/STOL aircraft, ship and aircraft instrumentation errors, various steering laws, and appropriate environmental and human factor constraints are included in the model. Results are given to demonstrate use of the model and simulation to evaluate performance of the flight system and to choose appropriate guidance techniques for further cockpit simulator study.

Goka, T.↗
DOE OSTI2014

Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative to an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2016

Report on the Second ARM Mobile Facility (AMF2) Stabilization Platform: Control Strategy and Implementation

One of the primary objectives of the U.S. Department of Energy’s Atmospheric Radiation Measurement (ARM) Climate Research Facility’s second Mobile Facility (AMF2) is to obtain reliable measurements from ocean-going vessels. A pillar of the AMF2 strategy in this effort is the use of a stable platform for those instruments that 1) need to look directly at, or be shaded from, direct sunlight or 2) require a truly vertical orientation. Some ARM instruments that fall into these categories include the Multi-Filter Rotating Shadow Band Radiometer (MFRSR) and the Total Sky Imager (TSI), both of which have a shadow band mechanism, upward-looking radiometry that should be exposed only to the sky, a Microwave Radiometer (MWR) that looks vertically and at specified tilt angles, and vertically pointing radars, for which the vertical component of motion is critically important. During the design and construction phase of AMF2, an inexpensive stable platform was purchased to perform the stabilization tasks for some of these instruments. Computer programs were developed to communicate with the platform controller and with an inertial measurements platform that measures true ship motion components (roll, pitch, yaw, surge, sway, and heave). The platform was then tested on a 3-day cruise aboard the RV Connecticut during June 16-18, 2010, off the east coast of the United States. This initial test period was followed by continued development of the platform control strategy and implementation as time permitted. This is a report of the results of these efforts and the critical points in moving forward.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2017

arsclwacrbnd1kolliasshp.c1

WACR-ARSCL provides cloud boundaries and best-estimate time-height fields of radar moments. WACR ship correction observations are corrected for ship motion (pitch, roll, heave). The corrected WACRSHIPCOR measurements are combined with observations from the micropulse lidar, ceilometer, low-level clutter is identified and removed. The asiarsclwacrbnd1kolliasM1.c1 datastream contains cloud base and cloud layer boundaries.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2017

arsclwacr1kolliasshp.c1

WACR-ARSCL provides cloud boundaries and best-estimate time-height fields of radar moments. WACR ship correction observations are corrected for ship motion (pitch, roll, heave). The corrected WACRSHIPCOR measurements are combined with observations from the micropulse lidar, ceilometer, low-level clutter is identified and removed. The datastream includes best-estimate time-height fields of radar moments.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1981

Real time estimation of the heaving and pitching motions of a ship, using a Kalman filter

In the present study the estimation of the heave and pitch motion of a ship is considered, using Kalman filtering techniques. A significant part of the study is devoted to constructing appropriate models for the sea and the ship. The governing equations are obtained from hydrodynamic considerations in the form of linear differential equations with frequency dependent coefficients. In addition, nonminimum phase characteristics are obtained due to the spatial integration of the water wave forces. The resulting transfer matrix function is irrational and nonminimum phase. The conditions for a finite-dimensional approximation are considered and the impact of the various parameters is assessed. A numerical application is considered for a DD-963 destroyer.

Triantafyllou, M.↗
NASA NTRS1977

Review of US Navy VSTOL handling qualities requirements

Handling qualities requirements for V/STOL operations from small ships are considered in terms of the ship operating environment. Turbulence, wind over the deck, ship motion, visibility, and severe weather and sea conditions are among the factors discussed.

Hutchings, D. E.↗
NASA NTRS1979

Evaluation of the navigation performance of shipboard-VTOL-landing guidance systems

The objective of this study was to explore the performance of a VTOL aircraft landing approach navigation system that receives data (1) from either a microwave scanning beam (MSB) or a radar-transponder (R-T) landing guidance system, and (2) information data-linked from an aviation facility ship. State-of-the-art low-cost-aided inertial techniques and variable gain filters were used in the assumed navigation system. Compensation for ship motion was accomplished by a landing pad deviation vector concept that is a measure of the landing pad's deviation from its calm sea location. The results show that the landing guidance concepts were successful in meeting all of the current Navy navigation error specifications, provided that vector magnitude of the allowable error, rather than the error in each axis, is a permissible interpretation of acceptable performance. The success of these concepts, however, is strongly dependent on the distance measuring equipment bias. In addition, the 'best possible' closed-loop tracking performance achievable with the assumed point-mass VTOL aircraft guidance concept is demonstrated.

Mcgee, L. A.↗
NASA NTRS1979

VTOL control for shipboard landing in high sea states

A control algorithm is developed for a VTOL type aircraft landing on a small ship in rough seas. The work covers modelling the dynamics of the two vehicles, the design of an aircraft-tracking-ship-motion controller, and the specification of an actual landing control algorithm. The landing controller design is more practical and found to perform better than the hover controller. In addition to outlining a design technique, the results provide design guidelines and performance bounds for practical landing control systems.

Mcmuldroch, C. G.↗
NASA NTRS1980

An investigation of automatic guidance concepts to steer a VTOL aircraft to a small aviation facility ship

A detailed system model of a VTOL aircraft approaching a small aviation facility ship was developed and used to investigate several approach guidance concepts. A preliminary anaysis of the aircraft-vessel landing guidance requirements was conducted. The various subelements and constraints of the flight system are described including the landing scenario, lift fan aircraft, state rate feedback flight control, MLS-based navigation, sea state induced ship motion, and wake turbulence due to wind-over-deck effects. These elements are integrated into a systems model with various guidance concepts. Guidance is described in terms of lateral, vertical, and longitudinal axes steering modes and approach and landing phases divided by a nominal hover (or stationkeeping) point defined with respect to the landing pad. The approach guidance methods are evaluated, and the two better steering concepts are studied by both single pass and Monte Carlo statistical simulation runs. Four different guidance concepts are defined for further analysis for the landing phase of flight.

Sorensen, J. A.↗
NASA NTRS1980

VTOL/STOL visual study

The development of data bases and real time techniques to improve the realism of sea state, bow and stern wake, and ship motion is addressed. This system was designed for use with the Vertical Motion Simulator to perform basic studies on VTOL/STOL aircraft.

Lewandowski, F. P.↗
NASA NTRS1982

Evaluation of a trajectory command concept for manual control of carrier approaches and landings

A novel trajectory control system concept was implemented to provide manual control of a conventional jet aircraft. This concept, called Total Aircraft Flight Control System (TAFCOS), utilizes an inverse model of the aerodynamic and propulsion characteristics and employs feedforward control to provide the required acceleration command. The concept requires on-board digital computations which can easily be handled by a modern airborne computer. The system was studied in a piloted simulation of the carrier approach and landing task with primarily visual flight and guidance cues. The principal modes of vertical flight-path control investigated were vertical velocity command and vertical acceleration command. The study included manual carrier approaches with and without moderate ship motion and associated air disturbances, and tests of the effects of discrete gusts. Manual control of flight path through this new concept was shown to be feasible as an addition to an automatic control system and to have potential as an improved mode of control over conventional control for the carrier approach task.

Mcneill, W. E.↗
NASA NTRS1982

Description and evaluation of the Acoustic Profiling of Ocean Currents (APOC) system used on R. V. Oceanus cruise 96 on 11-22 May 1981

The underway current profiling system which consists of a microprocessor controlled data logger that collects and formats data from a four beam Ametek-Straza 300 kHz acoustic Doppler current profiler, heading from the ship's gyrocompass, and navigation information from a Loran-C receiver and a satellite navigation unit is discussed. Data are recorded on magnetic tape and real time is calculated. Time averaging is required to remove effects of ship motion. An intercomparison is made with a moored vector measuring current meter (VMCM). The mean difference in hourly averaged APOC and VMCM currents over the four hour intercomparison is a few mm s minus including: two Gulf Stream crossings, a warm core ring survey, and shallow water in a frontal zone to the east of Nantucket Shoals.

Joyce, T. M.↗
NASA NTRS1987

Small-scale physics of the ocean

Observations and theoretical models of small-scale phenomena in the oceans are reviewed, with a focus on progress during the period 1983-1986. Topics examined include surface layers, equatorial turbulence, off-equator mixed layers, the scaling of mixing, turbulence concepts, laboratory results, internal waves and mixing, rings, the nature of the bottom layer, double diffusion and intrusions, salt fingers, and biological interactions. Also discussed are developments in instrumentation (fast sampling profilers with upward-profiling capability, deep profilers, ship-motion correction, horizontal samplers, small submersibles, submarines, towed packages, conductivity sensors, dissolved-oxygen sensors, and acoustic Doppler current profilers) and goals for future research.

Caldwell, Douglas R.↗
NASA NTRS1994

Navy Omni-Directional Vehicle (ODV) development program

The Omni-Directional Vehicle (ODV) development program sponsored by the Office of Naval Research at the Coastal Systems Station has investigated the application of ODV technology for use in the Navy shipboard environment. ODV technology as originally received by the Navy in the form of the Cadillac-Gage Side Mover Vehicle was applicable to the shipboard environment with the potential to overcome conditions of reduced traction, ship motion, decks heeled at high angles, obstacles, and confined spaces. Under the Navy program, ODV technology was investigated and a series of experimental vehicles were built and successfully tested under extremely demanding conditions. The ODV drive system has been found to be applicable to autonomous, remotely, or manually operated vehicles. Potential commercial applications include multi-directional forklift trucks, automatic guided vehicles employed in manufacturing environments, and remotely controlled platforms used in nuclear facilities or for hazardous waste clean up tasks.

Mcgowen, Hillery↗
NASA NTRS1981

Sub-Ocean Drilling

The National Science Foundation (NSF) initialized a new phase of exploration last year, a 10 year effort jointly funded by NSF and several major oil companies, known as the Ocean Margin Drilling Program (OMDP). The OMDP requires a ship with capabilities beyond existing drill ships; it must drill in 13,000 feet of water to a depth 20,000 feet below the ocean floor. To meet requirements, NSF is considering the conversion of the government-owned mining ship Glomar Explorer to a deep ocean drilling and coring vessel. Feasibility study performed by Donhaiser Marine, Inc. analyzed the ship's characteristics for suitability and evaluated conversion requirement. DMI utilized COSMIC's Ship Motion and Sea Load Computer program to perform analysis which could not be accomplished by other means. If approved for conversion, Glomar Explorer is expected to begin operations as a drillship in 1984.

Source record↗
DOE OSTI2013

Advanced Demonstration of Motion Correction for Ship-to-Ship Passive Inspections

Passive radiation detection is a key tool for detecting illicit nuclear materials. In maritime applications it is most effective against small vessels where attenuation is of less concern. Passive imaging provides: discrimination between localized (threat) and distributed (non-threat) sources, removal of background fluctuations due to nearby shorelines and structures, source localization to an individual craft in crowded waters, and background subtracted spectra. Unfortunately, imaging methods cannot be easily applied in ship-to-ship inspections because relative motion of the vessels blurs the results over many pixels, significantly reducing sensitivity. This is particularly true for the smaller water craft where passive inspections are most valuable. In this project we performed tests and improved the performance of an instrument (developed earlier under, “Motion Correction for Ship-to-Ship Passive Inspections”) that uses automated tracking of a target vessel in visible-light images to generate a 3D radiation map of the target vessel from data obtained using a gamma-ray imager.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗