Space Telerobotics: Remote Operation of Robots in and from Space
This presentation summarizes work done by the Intelligent Robotics Group to develop new space telerobotics.
telerobotics↗
SEARCH · Engineering Papers
Results for “Remote Work”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Investigating the Potential Range Expansion of the Vector Mosquito Aedes Aegypti in Mexico with NASA Earth Science Remote Sensing Results
In tropical and sub ]tropical regions, the mosquito Aedes aegypti is the major vector for the virus causing dengue, a serious public health issue in these areas. Through ongoing NSF- and NASA-funded studies, field surveys of Aedes aegypti and an integrated modeling approach are being used to improve our understanding of the potential range of the mosquito to expand toward heavily populated high elevation areas such as Mexico City under various climate change and socio ]economic scenarios. This work serves three primary objectives: (1) Employ NASA remotely-sensed data to supplement the environmental monitoring and modeling component of the project. These data-- for example, surface temperature, precipitation, vegetation indices, soil moisture and elevation-- are critical for understanding the habitat necessary for mosquito survival and abundance; (2) Implement training sessions to instruct scientists and students from Mexico and the U.S. on how to use remote sensing and implement the NASA SERVIR Regional Visualization and Monitoring System; (3) Employ the SERVIR framework to optimize the dissemination of key project results in order to increase their societal relevance and benefits in developing climate adaptation strategies. Field surveys of larval, pupal and adult Aedes aegypti, as well as detailed physical and social household characteristics, were conducted in the summers of 2011and 2012 at geographic scales from the household to the community along a transect from sea level to 2400 m ASL. These data are being used in models to estimate Aedes aegypti habitat suitability. In 2011, Aedes aegypti were identified at an elevation of over 2150 m in Puebla, the highest elevation at which this species has been observed.
Crosson, W. L.↗
Implementation and Performance Evaluation of a Community-Scale Adobe Evaporative Cooling Chamber for Vegetable Preservation
The construction of evaporative coolers in remote areas can increase the longevity of vegetables, improving food security and the local economy of small farmers in remote, impoverished communities without access to electricity. This work presents a 1:1 scale prototype of an 8 m 3 (2.1 × 2.1 × 2.3 m) stabilized adobe evaporative cooler, with a design based on the appropriate technology framework, and it was built as a chamber using double adobe walls, filled with wet sand, to induce evaporative cooling. Furthermore, the paper presents the prototype’s performance evaluation. The tests were carried out in the dry and wet states, with different volumes of water. The results show good performance compared with other prototypes, although the optimum watering volume could not be determined because of the high climate variance (outside temperature and humidity) that prevented the repetition of the experiments in identical operating conditions. Stabilized adobe proved to be a good choice for use in the cooler, even when subject to moisture accumulation, indicating an estimated long lifetime for the cooler. The data obtained about the efficiency of evaporative cooling show that the cooler, as expected, has its best performance on the hottest and driest days, reducing the internal temperature (up to 13.24 °C) and managing to keep the internal humidity. The cost, efficiency, durability, and replicability make the proposed evaporative cooler a feasible solution for food preservation.
42 ENGINEERING↗
Applications of ecological concepts and remote sensing technologies in archaeological site reconnaissance
The concept of integrating ecological perspectives on early man's settlement patterns with advanced remote sensing technologies shows promise for predictive site modeling. Early work with aerial imagery and ecosystem analysis is discussed with respect to the development of a major project in Maya archaeology supported by NASA and the National Geographic Society with technical support from the Mississippi State Remote Sensing Center. A preliminary site reconnaissance model will be developed for testing during the 1991 field season.
Miller, W. Frank↗
Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project
Over the past 5 years, the UAS integration into the NAS project has worked to reduce technical barriers to integration. A major focus of this work has been in support of RTCA SC-228. This committee has recently published the first UAS integration minimum performance standards (MOPS). This work has spanned detect and avoid (DAA) as well as command and control comm datalinks. I will discuss DAA efforts with focus on the human systems work. I will discuss how automation was discussed and addressed within this context. ICAO stood up a remotely piloted aircraft systems (RPAS) panel in 2014. They have developed an RPAS manual and are now working to revise existing annexes and standards and recommended practices. The Human In The System (HITS) has worked to infuse human factors guidelines into those documents. I will discuss that effort as well as how ICAO has defined and address autonomy. There is a great deal of interest in the control of multiple vehicles by a single operator. The UAS EXCOM Science and Research Panel (SARP) is holding a workshop on this topic in late June. I will discuss research performed on this topic when I worked for the Army and on-going work within the division and a NATO working group on Human-Autonomy Teaming.
Unmanned Aircraft Systems (UAS)↗
Common practices for quantifying methane emissions from plumes detected by remote sensing
This document provides a set of community-accepted practices for quantifying methane emissions based on plumes detected via spectroscopic remote sensing. Its primary goal is to promote consistency in the generation, validation, reporting, and quality assessment of methane emission estimates derived from remote sensing radiances. Developed by subject matter experts with deep experience across all stages of the measurement process, this guidance reflects a critical evaluation of current methodologies and highlights key practices needed to produce reliable, interoperable, and traceable products. The focus is specifically on methane emissions quantified from distinct plumes originating from localized sources, rather than diffuse emissions spread over large regions, which are beyond the scope of this work. This document is intended to serve both data producers and users. For producers, it offers a framework for aligning with field-recognized standards to ensure their outputs meet rigorous quality and transparency criteria. For users, it provides a reference to assess dataset fitness-for-purpose by highlighting essential metadata, assumptions, and methodological choices that underpin emission estimates. By fostering a shared understanding of best practices, this work aims to enhance comparability, confidence, and utility of remotely sensed methane emission products.
54 ENVIRONMENTAL SCIENCES↗
Stationary and drone-assisted methane plume localization with dispersion spectroscopy
This work presents stationary and mobile retroreflector-based remote sensing techniques for methane leak localization and quantification using chirped laser dispersion spectroscopy equipped with a custom laser transceiver capable of continuous tracking of a flying drone and coupled with inverse atmospheric gas dispersion modeling. The techniques demonstrate the ability to localize leaks as low as 0.13 g CH 4 ·s -1 , which are up to 25 times smaller than those typically observed at natural gas facilities, as well as actively track a moving retroreflector mounted on a lightweight (~250 g) drone to enable spatial plume reconstruction. This system exhibited a 2.3 ppm-m sensitivity over pathlengths of 40–150 m. Source localization to within ±7 m is demonstrated using a modified horizontal radial plume mapping technique with a stationary retroreflector grid. Meanwhile, the mobile system utilizing a drone-mounted retroreflector is able to localize a controlled release within ±1 m of its source location and estimate leak rates using inversion techniques assuming type B Gaussian plume stability class within ±30% error with respect to the actual low flow rate releases.
47 OTHER INSTRUMENTATION↗
S0 Uncrewed Aircraft System Measurement Characterization Field Campaign Report
The lower atmosphere contributes directly to the modulation of weather and climate. Understanding the importance of this part of the atmosphere, scientists have worked to improve the representation of the atmospheric boundary layer in numerical prediction tools. Such work depends upon information from observing systems, including remote sensors, weather balloons, and research aircraft. Recent years have seen significant advances in uncrewed aircraft systems (UAS) for atmospheric research. Those efforts have provided new perspectives on atmospheric and surface conditions, particularly from smaller UAS (sUAS) platforms. This field campaign included collection of data using several sUAS, and comparing the sUAS data to those from different observing facilities at the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility’s Southern Great Plains (SGP) observatory in Oklahoma. Over the course of one week, the Black Swift Technologies and University of Nebraska teams conducted flights for the sole purpose of system evaluation and intercomparison. In addition, these teams conducted joint flight operations at the Marshall, Oklahoma Mesonet site alongside teams from the University of Colorado, University of Oklahoma, and Oklahoma State University to collect additional data for side-by-side comparison. Platforms operated by Black Swift Technologies and the University of Nebraska under this project included one fixed-wing and two rotary-wing platforms, as well as an instrumented surface vehicle. These include the Black Swift Technologies S0 UAS, the University of Nebraska M600 UAS, a University of Nebraska-operated Meteomatics Meteodrone UAS, and the University of Nebraska CoMeT (Combined Mesonet and Tracker) vehicle. Additional details on all of these platforms can be found in de Boer et al. (in prep). In total, 95 sUAS flights were conducted for a combined total of 18.6 flight hours. The S0 was operated both to the south and north of the SGP 60 m tower, while the M600 and Meteodrone were operated directly to the east of the tower. Weather conditions were generally good, with moderate winds. Flights were conducted both to follow the extra radiosondes that were launched as part of this campaign, as well as to conduct extended statistical sampling at tower instrument heights. The later flights also provided data for statistical platform intercomparison.
54 ENVIRONMENTAL SCIENCES↗
Geothermal Fault Zone and Fluid Imaging through Joint Airborne ZTEM and Ground MT Data Inversion Analysis
This project has aimed to achieve detailed electrical resistivity resolution at geothermal reservoir scales by combining airborne natural electromagnetic (EM) field surveying (ZTEM) with ground magnetotelluric (MT) measurements to approximate an airborne MT geophysical method. MT alone is relatively expensive and may have permitting challenges in sensitive areas. Airborne ZTEM field data contains only the magnetic field, requires a background assumption, and has been limited to relatively high frequencies, thus suffering uniqueness problems. Based on proto-type 2D simulations, ZTEM ambiguities may be reduced through formal incorporation with possibly sparse ground MT soundings, which we pursued in full 3D for this project. The methodology was tested at the high-temperature Roosevelt Hot Springs geothermal system, Utah, which was considered advantageous given the near total exposure of crystalline reservoir rocks across the project area. ZTEM and ground MT survey data were acquired in 2017, subcontracted to outside parties with which we have worked in the past. These included 80 remote-referenced tensor MT soundings over the Mineral Mountains and adjacent Roosevelt Hot Spring producing geothermal system. These MT stations abut later coverage of a similar number of MT stations taken for the Utah FORGE project providing excellent total data aperture to re-solve structure beneath both project areas better than either set alone. The airborne ZTEM survey covered 704 line kilometers in E-W flight lines with a 250 m line spacing. Although this survey was timed during a maintenance-related shutdown of power production at the Roosevelt Hot Springs, other noise sources difficult to identify but including two high-voltage state-scale transmission lines compromised the ZTEM survey badly leading to unusable responses. Thus, with DOE management concurrence, the project proceeded to emphasize inversion and interpretation of the joint SubTER-FORGE MT data sets with regard to the Roosevelt Hot Springs reservoir recharge and to deep heat sources for both it and the Utah FORGE EGS project area. We also investigated the joint ZTEM-MT sampling concept with data sets from the Eleven Mile Canyon prospect area donated by the U.S. Navy (A. Sabin, PoC). Inversion of the SubTER-FORGE MT data using the HexMT 3D finite element algorithm reveals a large, low-resistivity anomaly extending sub-vertically through the depth range of the crust beneath the western Mineral Mountains. The steep conductive zone connects in the lower crust to a more tabular conductor characteristic of much of the Great Basin that generally is ascribed to current mafic magmatic underplating, hybridization and fluid release. The location of the resolved anomaly relative to the recent (0.5-0.8 Ma) eruptive centers of the Mineral Mountains implicates it as remnants of the magma body which fed these centers. This structure appears to be currently feeding heat and fluids upward into the Roosevelt Hot Springs hydrothermal system, as well as heat laterally to the FORGE project area. Separate and joint inversion models were carried out for the donated Eleven Mile Canyon MT-ZTEM data set to demonstrate concept. ZTEM only inversion showed two main alteration zones in the western portion of the project area known from geological mapping. Joint inversion including an E-W profile of MT soundings sharpened these features considerably. It also resolved in much greater detail the graben related normal faulting structure of the central project area which lies at depths exceeding the sensitivity of ZTEM alone. The sparse number of MT da-ta relative to the ZTEM required upweighting the former by a factor of several, but an exact procedure awaits future research. Our final impression is that sparse MT data can improve resolution of the subsurface over that of ZTEM alone. However, well sampled MT data are to be preferred and offer the simplicity of interpreting just one data type, and possess the superior resolution capability coming with the electric field everywhere, and from their high bandwidth.
15 GEOTHERMAL ENERGY↗
Possibilities of observing air pollution from orbital altitudes
Research carried out over a number of years has indicated the feasibility of monitoring global air pollution from orbiting satellites. Optical methods show considerable promise of measuring the burdens of pollution, both gaseous and particulates. Important pollution gases, such as sulfur dioxide, nitrogen dioxide, carbon monoxide, and ozone, as well as some hydrocarbon vapors, appear amenable to optical remote sensing. Satellite platforms for carrying out this work would not compete with ground monitoring stations but rather supplement them with a different type of data which could be integrated with ground level measurements to provide an all-embracing picture of pollution buildup, mass migration, and dissipation.
Barringer, A.↗
Thermal discharges and their role in pending power plant regulatory decisions
Federal and state laws require the imminent retrofit of offstream condenser cooling to the newer steam electric stations. Waiver can be granted based on sound experimental data, demonstrating that existing once-through cooling will not adversely affect aquatic ecosystems. Conventional methods for monitoring thermal plumes, and some remote sensing alternatives, are reviewed, using on going work at one Maryland power plant for illustration.
Miller, M. H.↗
Project communications/documentation standards manual
The standards apply to the identification and description of remote sensing technical crop estimation analysis procedures. Standard working terminology for technical project and programmatic communications among and between FCPF project technologists and managers as well as with other AgRISTARS projects and program management is established. Basic reference material for FCPF project technologists is provided. The material presented can be used as introductory training material for new technical personnel.
Waggoner, J. T.↗
Transferability and data access issues
The evolution and current operational mode of the domestic information display system (DIDS) now known as the decision information display system are described. This minicomputer based system, developed from a NASA-generated image processing system, was designed to display federal statistical data for a variety of geographic areas in the form of choropleth maps. The application of DIDS in South Carolina is discussed as well as the progress made and issues that emerged in using the data base on a state and county level. The hardware base for the system, how this user friendly system works, and the possibility of transferring data to remote systems are examined.
Ferreros, A. V.↗
Communications Headgear With Protective Features
Uncomplicated, inexpensive intercom protects head, face, and hearing. Adaptation of highly suitable stock helmet and face shield unit to stock intercom headset provided ideal unit, allowing wearer total use of hands and body while protecting head, face, and hearing. Unit allows wearer to work effectively, efficiently, and safely while communicating from remote areas that require special precautions. Total cost of fabricating unit, using stock parts and including labor, less than $100.
Ward, S. W.↗
The Factory of the Future
A brief history of aircraft production techniques is given. A flexible machining cell is then described. It is a computer controlled system capable of performing 4-axis machining part cleaning, dimensional inspection and materials handling functions in an unmanned environment. The cell was designed to: allow processing of similar and dissimilar parts in random order without disrupting production; allow serial (one-shipset-at-a-time) manufacturing; reduce work-in-process inventory; maximize machine utilization through remote set-up; maximize throughput and minimize labor.
Byman, J. E.↗
Double lead spiral platen parallel jaw end effector
The double lead spiral platen parallel jaw end effector is an extremely powerful, compact, and highly controllable end effector that represents a significant improvement in gripping force and efficiency over the LaRC Puma (LP) end effector. The spiral end effector is very simple in its design and has relatively few parts. The jaw openings are highly predictable and linear, making it an ideal candidate for remote control. The finger speed is within acceptable working limits and can be modified to meet the user needs; for instance, greater finger speed could be obtained by increasing the pitch of the spiral. The force relaxation is comparable to the other tested units. Optimization of the end effector design would involve a compromise of force and speed for a given application.
Beals, David C.↗
Wavelength tunable liquid crystal imaging filters for remote sensing from geosynchronous platforms
Recent advances in liquid crystal technology have enabled us to construct tunable birefringent filters with bandwidths between approximately 0.1 nm and 50 nm. The center wavelength of these filters can be selected electronically, in a few tens of milliseconds, with no moving parts. These liquid crystal tunable filters (LCTF's), together with existing CCD detectors, make possible a new generation of lightweight, rugged, high-resolution imaging spectrophotometers. Such instruments would be particularly interesting for remote sensing applications from geosynchronous platforms. Important advantages exist in the aperture, absence of image shift, power consumption, size, weight, and absence of high drive frequencies, compared to current instruments used or considered for multispectral scene analysis. In the present work, we have reviewed spectral requirements of planned NASA geosynchronous remote sensing missions and identified several applications of the liquid crystal tunable filter technology. We have modeled the LCTF performance in the visible and near-infrared, and carried out a literature study on space-hardening of the filter components, to evaluate the suitability of LCTF's for geosynchronous missions. We have also compared the power consumption, weight, size, reliability, and optical performance of an imaging spectrophotometer using a LCTF monochromator, to other instruments that have been put forward for remote sensing from geosynchronous platforms. We put forward some conceptual designs for LCTF's that seem to offer important reliability, over the mechanical filter wheels presently baselined for the HEPI and ALM experiments. The extremely wide acceptance angle achievable with LCTF's could also avoid the present need for large-aperture interference filters in the ALM (and LIS) experiments. Thermal vacuum testing and radiation damage analysis is required to investigate the space hardening of these new filters for geosynchronous flight.
Foukal, Peter↗
Research to Support Intelligent Data Management
This final report details the contract performance and analysis of research and development results obtained during the contract period. KT-Tech's research and development work results in the areas of registration of remotely sensed data and the test evaluation and porting of the Regional Validation Center software system are presented.
Lerner, B. T.↗