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At least 397 records · Page 22

Mobile Autonomous Humanoid Assistant

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

Telerobotic control of a mobile coordinated robotic server, executive summary

This interim report continues with the research effort on advanced adaptive controls for space robotics systems. In particular, previous results developed by the principle investigator and his research team centered around fuzzy logic control (FLC) in which the lack of knowledge of the robotic system as well as the uncertainties of the environment are compensated for by a rule base structure which interacts with varying degrees of belief of control action using system measurements. An on-line adaptive algorithm was developed using a single parameter tuning scheme. In the effort presented, the methodology is further developed to include on-line scaling factor tuning and self-learning control as well as extended to the multi-input, multi-output (MIMO) case. Classical fuzzy logic control requires tuning input scale factors off-line through trial and error techniques. This is time-consuming and cannot adapt to new changes in the process. The new adaptive FLC includes a self-tuning scheme for choosing the scaling factors on-line. Further the rule base in classical FLC is usually produced by soliciting knowledge from human operators as to what is good control action for given circumstances. This usually requires full knowledge and experience of the process and operating conditions, which limits applicability. A self-learning scheme is developed which adaptively forms the rule base with very limited knowledge of the process. Finally, a MIMO method is presented employing optimization techniques. This is required for application to space robotics in which several degrees-of-freedom links are commonly used. Simulation examples are presented for terminal control - typical of robotic problems in which a desired terminal point is to be reached for each link. Future activities will be to implement the MIMO adaptive FLC on an INTEL microcontroller-based circuit and to test the algorithm on a robotic system at the Mars Mission Research Center at North Carolina State University.

Lee, Gordon↗

A high quality voice coder with integrated echo canceller and voice activity detector for mobile satellite applications

In the last decade, low bit rate speech coding research has received much attention resulting in newly developed, good quality, speech coders operating at as low as 4.8 Kb/s. Although speech quality at around 8 Kb/s is acceptable for a wide variety of applications, at 4.8 Kb/s more improvements in quality are necessary to make it acceptable to the majority of applications and users. In addition to the required low bit rate with acceptable speech quality, other facilities such as integrated digital echo cancellation and voice activity detection are now becoming necessary to provide a cost effective and compact solution. In this paper we describe a CELP speech coder with integrated echo canceller and a voice activity detector all of which have been implemented on a single DSP32C with 32 KBytes of SRAM. The quality of CELP coded speech has been improved significantly by a new codebook implementation which also simplifies the encoder/decoder complexity making room for the integration of a 64-tap echo canceller together with a voice activity detector.

Kondoz, A. M.↗

Weather Information Communication Technologies for Increased Safety and Mobility in the National Airspace System

The purpose of the NASA Glenn Research Center Weather Information Communications (WINCOMM) project was to develop advanced communications and information technologies to enable the high-quality and timely dissemination of strategic weather information between the flight deck and ground users as well as tactical turbulence hazard information between relevant aircraft and to the ground. This report will document and reference accomplishments on the dissemination of weather information during the en route phase of flight from ground-based weather information providers to the flight deck (ground-to-air), from airborne meteorological sensors to ground users (air-to-ground), and weather turbulence and icing hazard information between relevant aircraft (air-to-air). In addition, references in this report will demonstrate the architecture necessary to implement and perform successful transmission and reception of weather information to the cockpit, show that weather information flow does not impact "normal" traffic, demonstrate the feasibility of operational implementation, and lay foundation for future data link development.

Hilderman, Don R.↗

ACTS Aeronautical Terminal Experiment System Description and Link Analysis

During the summer of 1994, the performance of an experimental mobile satellite communication system was demonstrated to industry and government representatives by the NASA Lewis Research Center (LeRC) and the Jet Propulsion Laboratory (JPL). The system was based on the advanced communications technology satellite (ACTS) and consisted of a K-/Ka-band active monolithic microwave integrated circuit (MMIC) phased array antenna system, ACTS mobile terminal (AMT) and link evaluation terminal (LET). A LeRC research aircraft, Learjet model 25, was outfitted with the active MMIC phased array antenna system and AMT and served as the experimental 20/30 Ghz aeronautical terminal. The LET at LeRC in Cleveland, OH, was interfaced with portions of fixed-AMT equipment and together provided the gateway station functions including ACTS interface and public service telephone network (PSTN) interface. The ACTS was operated in its microwave switch matrix (MSM) mode with a spot beam for the Learjet and another spot beam dedicated to the LET. The Learjet was flown over several major cities across the US and demonstrated the feasibility of a full-duplex compressed voice links for an aeronautical terminal through the 20/30 Ghz ACTS channel. This paper presents a technical description of the system including the MMIC phased array antenna system, AMT, Learjet, LET, and ACTS. The array antenna system consists of a 30 Ghz transmit array (LeRc/Texas Instruments) and two 20 Ghz receive arrays (USAF Rome Lab., Boeing, and Martin Marietta), each one very small with sufficient performance for a satellite voice link. The AMT consists of 2.4/4.8/9.6 Kbps voice coder/decoder, modem, PSTN interface and RF/IF converters. Link analysis is presented and compared to the actual performance data collected during the demonstration flights.

Sohn, Philip↗

ACTS aeronautical terminal experiment: System description and link analysis

During the summer of 1994, the performance of an experimental mobile satellite communication system was demonstrated to the industry and government representatives by the NASA Lewis Research Center (LeRC) and the Jet Propulsion Laboratory (JPL). The system was based on the Advanced Communications Technology Satellite (ACTS) and consisted of an K-/Ka-band active MMIC phased array antenna system, ACTS Mobile Terminal (AMT) and Link Evaluation Terminal (LET). A LeRC research aircraft, Learjet Model 25, was outfitted with the active MMIC phased array antenna system and AMT and served as the experimental 20/30 Ghz aeronautical terminal. The LET at LeRC in Cleveland, OH was interfaced with portions of fixed-AMT equipment and together provided the gateway station functions including ACTS satellite interface and Public Service Telephone Network (PSTN) interface. The ACTS was operated in its Microwave Switch Matrix (MSM) mode with a spot beam for the Learjet and another spot beam dedicated to the LET. The Learjet was flown over several major cities across the US and demonstrated the feasibility of full-duplex compressed voice link for an aeronautical terminal through the 20/30 Ghz ACTS satellite channel. This paper will present a technical description of the system including the MMIC phased array antenna system, AMT, Learjet, LET and ACTS satellite. The array antenna system consists of a 30 Ghz transmit array (LeRC/Texas Instruments) and two 20 Ghz receive arrays (USAF Rome Lab/Boeing and Martin Marietta), each one very small with sufficient performance for satellite voice link. The AMT consists of 2.4/4.8/9.6 Kbps voice coder/decoder, modem, PSTN interface and RF/IF converters. Link analysis will be presented and compared to the actual performance data collected during the demonstration flights.

Sohn, Philip↗

Advanced physical-chemical life support systems research

A proposed NASA space research and technology development program will provide adequate data for designing closed loop life support systems for long-duration manned space missions. This program, referred to as the Pathfinder Physical-Chemical Closed Loop Life Support Program, is to identify and develop critical chemical engineering technologies for the closure of air and water loops within the spacecraft, surface habitats or mobility devices. Computerized simulation can be used both as a research and management tool. Validated models will guide the selection of the best known applicable processes and in the development of new processes. For the integration of the habitat system, a biological subsystem would be introduced to provide food production and to enhance the physical-chemical life support functions on an ever-increasing basis.

Evanich, Peggy L.↗

Enabling Ultralow Volume Analysis with a High-Resolution Ion Mobility Mass Spectrometry Platform

Of all the molecules thought to exist in the universe, it is estimated that researchers only know the chemical structures of 5% of them. Identifying the chemical structures of the remaining 95% has proven extremely challenging because many molecules exhibit low abundance, are contained in small volumes (e.g., <10 nL), do not readily ionize, exhibit similar structures to other molecules, etc. No single analytical technique exists to definitively identify the structure of an unknown molecule, and thus multiple different molecular measurements are typically made (i.e., multi-modal approach). Ion mobility (IMS) and mass spectrometry (MS) are two key tools that researchers use to determine the chemical structures of unknown molecules, and recently high-resolution and ultrahigh resolution IMS-MS instruments have provided greater confidence than ever before. However, HR-IMS-MS instruments typically exhibit low ion utilization efficiency, meaning they require large amounts of sample for an analysis (e.g., >10 µL). Unfortunately, this limitation prohibits the analysis of small volume samples where many unknown molecules exist. Described herein are the efforts made to enable the analysis of ultralow volumes with an HR-IMS-MS platform. A new scanning technique, termed a ‘stuttered traveling wave scan’, was developed as a replacement for the dual-gated scanning technique and works by halting the traveling waves after allowing ions to separate and then repeatedly restarting and stopping the traveling waves to incrementally move ions from the SLIM to the Orbitrap. Ions were stored inside the SLIM while the TWs were stopped, allowing the Orbitrap to perform high-resolution mass analysis. When the Orbitrap was ready, the TWs were restarted for short periods of time (<10 ms) to move ions from the SLIM to the Orbitrap. It was discovered that lower TW amplitudes and speeds than used during IMS separation were required to produce IMS peaks with the highest signal intensities and best resolving powers. The stuttered TW scan was found to produce similar resolutions and signal intensities compared to the dual-gated scanning technique. A new IMS design possessing an intersecting ‘tee’ with a reversible traveling wave was also developed to improve ion utilization efficiency during cyclic operation, which is necessary when only a single IMS spectrum can be acquired, such as when analyzing ultralow volume samples. The new capabilities described in this report lay the groundwork for acquiring HR-IMS-MS spectra of ultralow volume biological samples, such as single cells, where HR-IMS-MS can help elucidate the structures of unknown compounds.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Investigate the Security of Electric Vehicle (EV) Ecosystem Applications

Apps that run on mobile devices are one of critical components of the electric vehicle (EV) ecosystem and pose possible threat actor points of entry that may impact the trust and security of EV charging systems in the future. Mobile apps often rely on communication between cloud servers and users, thereby creating potential points of entry for cyberattacks. Although app stores such as Apple App Store or Google Play Store generally test the security of apps, the cyber aspects may not be sufficient for many entities including DOD, federal fleets, and commercial entities. A more thorough inspection and the ability to influence developers is imminently needed. This research studies security attributes and vulnerabilities of a sample of mobile applications that support key user functions in the EV ecosystem. The study shows that all analyzed apps have security risks, categorized as either high or medium or both and a comprehensive cybersecurity guideline for developing mobile apps is necessary.

33 ADVANCED PROPULSION SYSTEMS↗

Evaluation of the Radioactive Material Release in the Harborview Research and Training Building and Implications for Emergency Response

On May 2, 2019, during the 137 Cs source recovery operation, a source capsule in a research irradiator containing approximately 77.1 TBq was breached. Based on a geometric reconstruction analysis of the damage to the capsule, approximately 46.3 GBq (0.04%) was impacted by the chop saw (grinder) inside a Mobile Hot Cell (MHC) on the loading dock at the University of Washington Harborview Research and Training (HRT) Building. A very small fraction of the material impacted, less than 1%) was released from the Mobile Hot Cell and then to the rest of the HRT Building. The objectives of this project were to assess the accidental release of 137 CsCl and its implications related to emergency response methods and the ramifications of 137 CsCl transport. The phenomenology of this event was also compared with past alkali halide dispersal events. The vast number of measurements and samples collected by the remediation contractors, the Department of Energy's Nuclear Emergency Support Team, and the small number of retrospective samples collected by the authors informed the analysis. The techniques included (1) autoradiography and electron microscopy of samples collected from the HRT Building and the irradiator, (2) 3D visualization of deposition on surfaces and within the ventilation system, and (3) a study of the damage to the source capsule to evaluate the Cs particle size and particle composition due to the grinding accident. Subsequently, the cesium contaminant transport through the numerous pathways in the building was reconstructed to assess the deposition on surfaces as a function of particle size. The implications for emergency response are relevant to data quality and management. A Data Quality Objective (DQO) guides data collection methods so that they have appropriate accuracy and precision for the intended application. Recommendations were made with respect to the sample collection protocols and sample archival.

61 RADIATION PROTECTION AND DOSIMETRY↗

Interference Analysis for an Aeronautical Mobile Airport Communications System

The next generation of aeronautical communications for airport surface applications has been identified through a NASA research program and an international collaborative future communications study. The result, endorsed by both the United States and European regulatory agencies is called AeroMACS (Aeronautical Mobile Airport Communications System) and is based upon the IEEE 802.16e mobile wireless standard. Coordinated efforts to develop appropriate aviation standards for the AeroMACS system are now underway within RTCA (United States) and Eurocae (Europe). AeroMACS will be implemented in a recently allocated frequency band, 5091- 5150 MHz. As this band is also occupied by fixed satellite service uplinks, AeroMACS must be designed to avoid interference with this incumbent service. The aspects of AeroMACS operation that present potential interference to the fixed satellite service are under analysis in order to enable the definition of standards that assure that such interference will be avoided. The NASA Glenn Research Center has been involved in this analysis, and the first results of modeling and simulation efforts directed at this analysis are the subject of this paper.12

Wilson, Jeffrey D.↗

Interference Analysis for an Aeronautical Mobile Airport Communications System

The next generation of aeronautical communications for airport surface applications has been identified through a NASA research program and an international collaborative future communications study. The result, endorsed by both the United States and European regulatory agencies is called AeroMACS (Aeronautical Mobile Airport Communications System) and is based upon the IEEE 802.16e mobile wireless standard. Coordinated efforts to develop appropriate aviation standards for the AeroMACS system are now underway within RTCA (United States) and Eurocae (Europe). AeroMACS will be implemented in a recently allocated frequency band, 5091-5150 MHz. As this band is also occupied by fixed satellite service uplinks, AeroMACS must be designed to avoid interference with this incumbent service. The aspects of AeroMACS operation that present potential interference to the fixed satellite service are under analysis in order to enable the definition of standards that assure that such interference will be avoided. The NASA Glenn Research Center has been involved in this analysis, and the first results of modeling and simulation efforts directed at this analysis are the subject of this presentation.

Wilson, Jeffrey D.↗

Enhancement of the Magnetoresistance in the Mobility‐Engineered Compensated Metal Pt 5 P 2

Abstract The magnetoresistance (MR) in nonmagnetic materials continues to be a fertile research area in materials science. The search for giant, positive MR has been limited to a rather small window of materials such as high‐mobility semimetals in single‐crystalline form. Here, the observation of a very large positive MR in metallic Pt 5 P 2 in polycrystalline form is reported. The observations reveal that improvement of the crystallinity results in a significant enhancement of the positive MR, exceeding 10 000% at 9 T, comparable to high‐mobility semimetals. Based on first‐principles calculations combined with magnetotransport and thermoelectric measurements, the Fermi surface of Pt 5 P 2 is found to consist of a collection of multiple electron and hole pockets compensating one another, along with a characteristic pocket continuously connected to the adjacent Brillouin zone, together with possible topologically protected band crossings. This work extends the landscape of high MR candidate materials to polycrystalline metals, which demonstrates the importance of crystallinity and purity of the samples for the optimization of the MR.

36 MATERIALS SCIENCE↗

A description of results from the handbook on signal fade degradation for the land mobile satellite service

During the period 1983 to 1988 a series of experiments were undertaken by the Electrical Engineering Research Laboratory of the University of Texas and the Applied Physics Laboratory of the Johns Hopkins University in which propagation impairment effects were investigated for the Land Mobile Satellite Service (LMSS). The results of these efforts have appeared in a number of publications, technical reports, and conference proceedings. The rationale for the development of a 'handbook' was to locate the salient and useful results in one single document for use by communications engineers, designers of planned LMSS communications systems, and modelers of propagation effects. Where applicable, the authors have also drawn from the results of other related investigations. A description of sample results contained in this handbook which should be available in the latter part of 1990 is given.

Goldhirsh, Julius↗

Vehicle Automation Benefits and Challenges for Passenger Transport System Beyond Automated Driving

The National Renewable Energy Laboratory has been researching the implementation of fully automated passenger transport systems to be operated within dense urban settings, referred to as Automated Mobility Districts, based on roadway vehicle automation as opposed to track or train-based automation. This research, now in its third phase, is presently addressing the full spectrum of benefits and challenges of full automation of passenger transport systems with respect to fleet electrification and the associated multimodal, large fleet operational management, benefits beyond simply automating the driving tasks. The focal points summarized in the paper and presentation address the benefit-analysis of fleet automation to address added complexities imposed on the multi-fleet operational management when there is a simultaneous implementation of an on-demand service mode that connects with and optimizes the effectiveness of legacy transit systems and new sub-regional autonomous vehicle fleets, with specific emphasis on enhanced ability to better meet peak ridership demand. The research also begins to address challenges in operations arising from lack of personnel present to handle unexpected customer and system needs. Combined, this research articulates vehicle automation benefits and challenges beyond simply automating the driving tasks, addressing additional operational benefits automation provides to address the added complexities imposed by electrification and on-demand modes of operation.

33 ADVANCED PROPULSION SYSTEMS↗

DICER: Data Intensive Computing Environment and Runtime for Evaluating Unprecedented Scale of Geospatial-Temporal Human Mobility Data

With the significant increase in sources and volume of human mobility data through commercial data vendors as well as microsimulation of cities, the scale of geospatial-temporal data to analyze and assess for mobility characterization has grown to the level of Big Data. There are mobility related commercial organizations deploying scalable computing, but often the system architecture, workflow, and intermediate processing components are not fully disclosed in relevant scope. Current research literature has a notable lack of studies demonstrating architectures and workflows for human mobility analytics that are implemented on a TeraByte scale of geospatial-temporal data. In this context, this paper presents a hyperscale-level system solution named DICER (Data Intensive Computing Environment and Runtime) for processing and analytics of geospatial-temporal data at big data scale. Although the cluster computing architecture of DICER with Apache Spark job running on Kubernetes cluster is not new, there are innovations in the workflow, hierarchical processing logic, and a wide range of intermediate preprocessing and mobility metrics calculation. We have performed case studies to validate the effectiveness of DICER system solution by performing detailed analytics and assessment of human mobility microsimulation output at three different scopes and scale, including a usecase with 16.97 TeraByte and 259.2 Billion rows of data. In addition, we have presented another case study of utilizing DICER to perform the same mobility processing and comparative analytics on large-scale commercially available geospatial-temporal data. All these case studies validate the efficiency and usefulness of DICER in computing population mobility characteristics from geospatial-temporal trajectory data at an unprecedented scale (not only just data volume, but also combination of: number of user entities, temporal frequency, spatial resolution, data duration).

De, Debraj↗

A Psychoacoustic Test for Urban Air Mobility Vehicle Sound Quality

This paper describes a psychoacoustic test in the Exterior Effects Room (EER) at the NASA Langley Research Center. The test investigated the degree to which sound quality metrics (sharpness, tonality, etc.) are predictive of annoyance to notional sounds of Urban Air Mobility (UAM) vehicles (i.e., air taxis). A suite of 136 unique (4.6 second duration) UAM rotor noise stimuli was generated. These stimuli were based on aeroacoustic predictions of a NASA reference UAM quadrotor aircraft under two flight conditions. The synthesizer changed rotor noise parameters such as the blade passage frequency, the relative level of broadband self-noise, and the relative level of tonal motor noise. With loudness constant, the synthesis parameters impacted sound quality in a way that created a spread of predictors both in synthesizer parameters and in sound quality metrics. Forty subjects listened to the suite of UAM noise stimuli in the EER and judged each sound individually on a standard scale of annoyance. Additionally, a subset of the UAM noise stimuli were compared to a reference sound that varied in loudness. From these responses, the relative effect of changes in loudness or changes in other sound quality metrics on annoyance was evaluated. This paper covers background and motivation for the test, details of how the sound stimuli were generated, and details of the test design and execution. Test results investigate how sound quality may affect perceived annoyance to UAM vehicle noise, indicating the importance of sharpness, tonality, impulsiveness, and roughness on annoyance to UAM noise.

UAM↗

Cloud phase and macrophysical properties over the Southern Ocean during the MARCUS field campaign

To investigate the cloud phase and macrophysical properties over the Southern Ocean (SO), the Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Mobile Facility (AMF2) was installed on the Australian icebreaker research vessel (R/V) Aurora Australis during the Measurements of Aerosols, Radiation, and Clouds over the Southern Ocean (MARCUS) field campaign (41 to 69° S, 60 to 160° E) from October 2017 to March 2018. To examine cloud properties over the midlatitude and polar regions, the study domain is separated into the northern (NSO) and southern (SSO) parts of the SO, with a demarcation line of 60°S. The total cloud fractions (CFs) were 77.9 %, 67.6 %, and 90.3 % for the entire domain, NSO and SSO, respectively, indicating that higher CFs were observed in the polar region. Low-level clouds and deep convective clouds are the two most common cloud types over the SO.

54 ENVIRONMENTAL SCIENCES↗