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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations Using Random Finite Sets

Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.

Schlenker, Lauren↗
NASA NTRS2019

Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations using Random Finite Sets

Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.

Schlenker, Lauren↗
NASA NTRS1993

Issues in NASA program and project management. Special Report: 1993 conference

This volume is the seventh in an ongoing series on aerospace project management at NASA. Articles in this volume cover the 1993 Conference: perspectives in NASA program/project management; the best job in aerospace; improvements in project management at NASA; strategic planning...mapping the way to NASA's future; new NASA procurement initiatives; international cooperation; and industry, government and university partnership. A section on resources for NASA managers rounds out the publication.

Hoffman, ED↗
NASA NTRS2013

NMA Analysis Center

The Norwegian Mapping Authority (NMA) has during the last few years had a close cooperation with Norwegian Defence Research Establishment (FFI) in the analysis of space geodetic data using the GEOSAT software. In 2012 NMA has taken over the full responsibility for the GEOSAT software. This implies that FFI stopped being an IVS Associate Analysis Center in 2012. NMA has been an IVS Associate Analysis Center since 28 October 2010. NMA's contributions to the IVS as an Analysis Centers focus primarily on routine production of session-by-session unconstrained and consistent normal equations by GEOSAT as input to the IVS combined solution. After the recent improvements, we expect that VLBI results produced with GEOSAT will be consistent with results from the other VLBI Analysis Centers to a satisfactory level.

Kierulf, Halfdan Pascal↗
NASA NTRS2025

Simultaneous Localization and Mapping for Spacecraft Rendezvous and Proximity Operations Using Random Finite Sets

Future space missions require spacecraft to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current navigation filters used for RPO can have difficulty when optical sensors are used, due to complications with data association, high measurement uncertainty, and clutter. This paper provides an initial demonstration of the feasibility of using random finite set (RFS) filters for spacecraft relative navigation and pose estimation. Spacecraft relative navigation is formulated as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. Simulated flash LIDAR measurements are processed using a Gaussian Mixture Probability Hypothesis Density (GMPHD) filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer over time. Results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario.

David E Gaylor↗
NASA NTRS1999

Immunogenetics of the Elephant Seal

The goals of this cooperative agreement fall into three categories: 1) A basic description of Immunogenetic variation in the northern elephant seal genome; 2) A basic genetic map of the northern elephant seal genome; 3). Microevolutionary forces in the northern elephant seal genome. The results described in this report were acquired using funds from this cooperative agreement together with funds from a National Science Foundation Dissertation Improvement Grant.

Garza, John Carlos↗
DOE OSTI2024

Computational design of non-porous pH-responsive antibody nanoparticles

Abstract Programming protein nanomaterials to respond to changes in environmental conditions is a current challenge for protein design and is important for targeted delivery of biologics. Here we describe the design of octahedral non-porous nanoparticles with a targeting antibody on the two-fold symmetry axis, a designed trimer programmed to disassemble below a tunable pH transition point on the three-fold axis, and a designed tetramer on the four-fold symmetry axis. Designed non-covalent interfaces guide cooperative nanoparticle assembly from independently purified components, and a cryo-EM density map closely matches the computational design model. The designed nanoparticles can package protein and nucleic acid payloads, are endocytosed following antibody-mediated targeting of cell surface receptors, and undergo tunable pH-dependent disassembly at pH values ranging between 5.9 and 6.7. The ability to incorporate almost any antibody into a non-porous pH-dependent nanoparticle opens up new routes to antibody-directed targeted delivery.

Biochemistry & Molecular Biology↗
NASA NTRS1984

MWR, Meteor Wind Radars

The requirements of a state of the art meteor wind radar, and acceptable comprises in the interests of economy, are detailed. Design consideration of some existing and proposed radars are discussed. The need for international cooperation in mesopause level wind measurement, such as that being fostered by the MAP GLOBMET (Global Meteor Observations System) project, is emphasized.

Roper, R. G.↗
NASA NTRS1973

ERTS-1 applications to Minnesota land use mapping

Land use class definitions that can be operationally employed with ERTS-1 imagery are being developed with the cooperation of personnel from several state, regional, and federal agencies with land management responsibilities within the state and the University of Minnesota. Investigations of urban, extractive, forest, and wetlands areas indicate that it is feasible to subdivide each of these classes into several sub-classes with the use of ERTS-1 images from one or more time periods.

Brown, D.↗
NASA NTRS1976

On the computational cost of approximating and recognizing noise-perturbed straight lines and quadratic arcs in the plane

Recognition of underlying straight lines and quadratic arcs in line drawings, and approximation of very noisy data by such line/curve segments, is addressed as a subproblem of the more general problem of optimum recognition of complicated line/curve drawings. Some specific algorithms are presented with extensions and interpretations for more complicated applications, and a data generation model is developed for the problem. Data are generated as a perturbation of a single underlying straight line or an elliptic or hyperbolic arc. Recursive estimation techniques, minimization of central processing unit time, decision making with controlled error probabilities, and modeling and recognition of pictures consisting of noisy curves are dealt with. Applications envisaged include: picture data compression, contour line representation in maps, intelligent data searches, and ballistic missile decoy tracking.

Cooper, D. B.↗
NASA NTRS1998

Rapid Prototyping Roadmapping

Roadmapping has long been thought of as a process for getting from point A to point B within a single discipline. Roadmapping for Rapid Prototyping has multiple paths of which we will diagram in this meeting. When you consider the dynamic change that the computer has made in both developing as well as manufacturing products, we could only assume that further electronic medium matched with mechanical inventions will continue. This industry roadmap is intended to point and lead us to the promised manufacturing land. We hope to reduce the inherent risk associated with technology development by providing a clear goal of mapping to a manufacturing process. The work of DoE in 1994 was excellent and began a journey that would benefit the decision makers and allow for choices that would be good investment decisions. While this work included government agencies, this map is broader and includes industry and academia input.

Cooper, Kenneth G.↗
NASA NTRS1993

Supporting research and technology activities in the preparation of a three-dimensional map of the infrared sky

The final report for the period 15 Mar. 1986 to 31 Mar. 1993 for the Cooperative Agreement is presented. The purpose of this Cooperative Agreement was to collaborate with NASA civil servant and contractor personnel, and other Institute personnel in a project to use all available cataloged astronomical infrared data to construct a detailed three dimensional model of the infrared sky. Areas of research included: IRAS colors of normal stars and the infrared excesses in Be stars; galactic structure; how to use the observed IRAS source counts as a function of position to deduce the physical structure of the galaxy; IRAS properties of metal-poor stars; IRAS database studies; and solar space exploration including projects such as the Space Station Gas-Grain Simulator and the Mars Rover/Sample Return Mission.

Tarter, Jill C.↗
NASA NTRS2014

Colorado Lightning Mapping Array Collaborations through the GOES-R Visiting Scientist Program

For the past two years, the GOES‐R Proving Ground has solicited proposals for its Visiting Scientist Program. NASA's Short‐term Prediction Research and Transition (SPoRT) Center has used this opportunity to support the GOES‐R Proving Ground by expanding SPoRT's total lightning collaborations. In 2012, this expanded the evaluation of SPoRT's pseudo‐geostationary lightning mapper product to the Aviation Weather Center and Storm Prediction Center. This year, SPoRT has collaborated with the Colorado Lightning Mapping Array (COLMA) and potential end users. In particular, SPoRT is collaborating with the Cooperative Institute for Research in the Atmosphere (CIRA) and Colorado State University (CSU) to obtain these data in real‐time. From there, SPoRT is supporting the transition of these data to the local forecast offices in Boulder, Colorado and Cheyenne, Wyoming as well as to Proving Ground projects (e.g., the Hazardous Weather Testbed's Spring Program and Aviation Weather Center's Summer Experiment). This presentation will focus on the results of this particular Visiting Scientist Program trip. In particular, the COLMA data are being provided to both forecast offices for initial familiarization. Additionally, several forecast issues have been highlighted as important uses for COLMA data in the operational environment. These include the utility of these data for fire weather situations, situational awareness for both severe weather and lightning safety, and formal evaluations to take place in the spring of 2014.

Stano, Geoffrey T.↗
NASA NTRS1993

Application of the CIRSSE cooperating robot path planner to the NASA Langley truss assembly problem

A method for autonomously planning collision free paths for two cooperating robots in a static environment was developed at the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The method utilizes a divide-and-conquer type of heuristic and involves non-exhaustive mapping of configuration space. While there is no guarantee of finding a solution, the planner was successfully applied to a variety of problems including two cooperating 9 degrees of freedom (dof) robots. Although developed primarily for cooperating robots the method is also applicable to single robot path planning problems. A single 6 dof version of the planner was implemented for the truss assembly east, at NASA Langley's Automated Structural Assembly Lab (ASAL). The results indicate that the planner could be very useful in addressing the ASAL path planning problem and that further work along these lines is warranted.

Weaver, Jonathan M.↗
NASA NTRS1973

A study of the utilization of ERTS-1 data from the Wabash River Basin

The author has identified the following significant results. In soil association mapping, computerized analysis of ERTS-1 MSS data has yielded images which will prove useful in the ongoing Cooperative Soil Survey program, involving the Soil Conservation Service of USDA and other state and local agencies. In the present mode of operation, a soil survey for a county may take up to 5 years to be completed. Results indicate that a great deal of soils information can be extracted from ERTS-1 data by computer analysis. This information is expected to be very valuable in the premapping conference phase of a soil survey, resulting in more efficient field operations during the actual mapping. In the earth surface features mapping effort it was found that temporal data improved the classification accuracy of forest classification in Tippecanoe County, Indiana. In water resources study a severe scanner look angle effect was observed in the aircraft scanner data of a test lake which was not present in ERTS-1 data of the same site. This effect was greatly accentuated by surface roughness caused by strong winds. Quantitative evaluation of urban features classification in ERTS-1 data was obtained. An 87.1% test accuracy was obtained for eight categories in Marion County, Indiana.

Landgrebe, D. A.↗
DOE OSTI2025

Intermolecular Interactions in Direct Air Capture Materials: Insights from Charge Density Analysis

Direct air capture (DAC) materials enable the removal of CO 2 from the atmosphere, but improving their efficiency requires a detailed understanding of the intermolecular interactions that govern CO 2 sorption and release. Here, we present an experimental electron density study of methylglyoxal-bis(iminoguanidine) (MGBIG), a promising DAC material, using high-resolution X-ray and neutron diffraction data combined with quantum crystallographic analysis. This approach bridges theoretical and experimental data by quantifying electron density distributions and revealing how hydrogen bonds stabilize CO 2 -derived carbonate phases and may influence the desorption behavior. We identify distinct hydrogen-bonding environments in two crystalline carbonate phases: P1, a transient kinetic product, and P3, a thermodynamically stable phase. Multipolar refinement and electrostatic potential and multipole moment calculations precisely map electron density distributions, revealing key hydrogen bonds involved in CO 2 capture. Topological analysis of electron density highlights a cooperative hydrogen-bonding network in the thermodynamically favored P3 phase, where enhanced electron density delocalization and water-mediated interactions contribute to a more stable lattice. Energetic analyses confirm that stronger hydrogen bonding networks enhance the stability of P3 with a binding energy of −607.0 kJ/mol and greater lattice stability (−847.3 kJ/mol) compared to P1 (−302.5 and −571.0 kJ/mol, respectively). Electrostatic potential maps further illustrate polarization patterns that may influence the stability of the binding of CO 2 and release conditions. These findings establish a direct experimental framework for linking electron density distributions to intermolecular interactions in DAC materials, providing a rational design strategy for optimizing sorbents with improved CO 2 capture efficiency and reduced energy demands.

Electron density↗
NASA NTRS1993

Planning collision free paths for two cooperating robots using a divide-and-conquer C-space traversal heuristic

A method was developed to plan feasible and obstacle-avoiding paths for two spatial robots working cooperatively in a known static environment. Cooperating spatial robots as referred to herein are robots which work in 6D task space while simultaneously grasping and manipulating a common, rigid payload. The approach is configuration space (c-space) based and performs selective rather than exhaustive c-space mapping. No expensive precomputations are required. A novel, divide-and-conquer type of heuristic is used to guide the selective mapping process. The heuristic does not involve any robot, environment, or task specific assumptions. A technique was also developed which enables solution of the cooperating redundant robot path planning problem without requiring the use of inverse kinematics for a redundant robot. The path planning strategy involves first attempting to traverse along the configuration space vector from the start point towards the goal point. If an unsafe region is encountered, an intermediate via point is identified by conducting a systematic search in the hyperplane orthogonal to and bisecting the unsafe region of the vector. This process is repeatedly applied until a solution to the global path planning problem is obtained. The basic concept behind this strategy is that better local decisions at the beginning of the trouble region may be made if a possible way around the 'center' of the trouble region is known. Thus, rather than attempting paths which look promising locally (at the beginning of a trouble region) but which may not yield overall results, the heuristic attempts local strategies that appear promising for circumventing the unsafe region.

Weaver, Johnathan M.↗
NASA NTRS1981

The LANDSAT system operated in Brazil by CNPq/INPE - results obtained in the area of mapping and future perspectives

The LANDSAT system, operated in the country by CNPg/INPE since 1973, systematically acquires, produces, and distributes both multispectral and panchromatic images obtained through remote sensing satellites to thousands of researchers and technicians involved in the natural resources survey. To cooperate in the solution of national problems, CNPq/INPE is developing efforts in the area of manipulation of those images with the objective of making them useful as planimetric bases for the simple revision of already published maps or for its utilization as basic material in regions not yet reliability mapped. The results obtained from performed tests are presented and the existing limitations are discussed. The new system purchased to handle data from the next series of LANDSAT as well as from MAPSAT and SPOT which will be in operation within the 80's decade, and are designed not only for natural resources survey but also for the solution of cartographic problems.

Dejesusparada, N.↗