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At least 577 records · Page 32
All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Towards operational atmospheric correction of airborne hyperspectral imaging spectroscopy: Algorithm evaluation, key parameter analysis, and machine learning emulators

Atmospheric correction of airborne hyperspectral imaging spectroscopy (AHIS) to obtain high-quality surface reflectance is the prerequisite for remote sensing applications. Over the last decades, different atmospheric correction methods have been developed based on radiative transfer models (RTMs), however, the relative performances of different algorithms are unclear. Automated operational atmospheric correction methods to process large-volume AHIS data in a high-accurate and high-throughput manner are still lacking. Therefore, this study proposed an operational atmospheric correction pipeline for deriving surface reflectance from AHIS data. To ensure the accuracy and efficiency of the pipeline, we focused on three specific aspects: (1) selecting a suitable RTM for the development of atmospheric lookup tables (LUTs) by comparing the commercial MODerate resolution atmospheric TRANsmission (MODTRAN) and open-sourced Library for Radiative TRANsfer (LibRadTRAN) models, where the widely-used software, Atmospheric/Topographic Correction for Airborne Imagery (ATCOR), was used as benchmarks; (2) identifying key atmospheric correction parameters and determining suitable sources for parameter retrievals including AHIS, Moderate Resolution Imaging Spectroradiometer (MODIS), and AErosol RObotic NETwork (AERONET); and (3) testing the performance of using machine learning emulators to speed up the RTM-based atmospheric correction. Results indicate that (1) atmospheric correction based on MODTRAN LUTs can produce surface reflectance accurately with mean absolute errors < 0.05 and cosine similarities > 0.98 compared to field measurements, which is comparable to the software ATCOR and slightly outperforms the LibRadTRAN LUTs; (2) sobol global sensitivity analysis demonstrates that in the atmospheric correction, visibility and water vapor are two key parameters that can be accurately derived from AHIS in contrast to MODIS or AERONET data; and (3) Random Forest emulators can produce accurate estimations of surface reflectance with mean absolute errors < 0.03 and cosine similarities > 0.98 for higher processing efficiency and determine a suitable set of wavelengths for retrieving atmospheric visibility and water vapor. In conclusion, the proposed atmospheric correction pipeline also improved the four-stream radiative transfer theory for airborne applications by considering adjacent effects from airborne surrounding pixels and can also be applied for atmospheric correction of hyperspectral data from spaceborne missions.

47 OTHER INSTRUMENTATION↗
NASA NTRS1994

A Motionless Camera

Omniview, a motionless, noiseless, exceptionally versatile camera was developed for NASA as a receiving device for guiding space robots. The system can see in one direction and provide as many as four views simultaneously. Developed by Omniview, Inc. (formerly TRI) under a NASA Small Business Innovation Research (SBIR) grant, the system's image transformation electronics produce a real-time image from anywhere within a hemispherical field. Lens distortion is removed, and a corrected "flat" view appears on a monitor. Key elements are a high resolution charge coupled device (CCD), image correction circuitry and a microcomputer for image processing. The system can be adapted to existing installations. Applications include security and surveillance, teleconferencing, imaging, virtual reality, broadcast video and military operations. Omniview technology is now called IPIX. The company was founded in 1986 as TeleRobotics International, became Omniview in 1995, and changed its name to Interactive Pictures Corporation in 1997.

Source record↗
NASA NTRS2011

In-Situ XRF Measurements in Lunar Surface Exploration Using Apollo Samples as a Standard

Samples collected during the Apollo lunar surface missions were sampled and returned to Earth by astronauts with varying degrees of geological experience. The technology used in these EVAs, or extravehicular activities, included nothing more advanced than traditional terrestrial field instruments: rock hammer, scoop, claw tool, and sample bags. 40 years after Apollo, technology is being developed that will allow for a high-resolution geochemical map to be created in the field real-time. Handheld x-ray fluorescence (XRF) technology is one such technology. We use handheld XRF to enable a broad in-situ characterization of a geologic site of interest based on fairly rapid techniques that can be implemented by either an astronaut or a robotic explorer. The handheld XRF instrument we used for this study was the Innov-X Systems Delta XRF spectrometer.

Young, Kelsey E.↗
NASA NTRSDate not supplied

Heliophysics Environmental & Radiation Measurement Experiment Suite (HERMES): A Small External Payload for the Lunar Gateway with Big Challenges

Currently scheduled for liftoff in 2024, Gateway will be an outpost orbiting the moon for astronauts headed to and from the lunar surface and serve as a staging point for deep space exploration. In January of 2020 NASA headquarters contacted Goddard Space Flight Center to request that they develop a Heliophysics instrumentation package for Gateway. This package would later become known as HERMES-Heliophysics Environmental & Radiation Measurement Experiment Suite. HERMES consists of a Miniaturized Electron pRoton Telescope (MERIT), an Electron Electrostatic Analyzer (EEA), Solar Probe Analyzers (SPAN)-A-ions, and Noise Eliminating Magnetometer Instrument in a Small Integrated System (NEMISIS), which consists of one fluxgate and two Magneto-Inductive Magnetometers. From the beginning the HERMES mission faced a number of Challenges. It was constrained to fit in a small, half meter, cube and it was required to weigh no more than 25kg. A new boom design for the magnetometer would be required and for safety reasons it must be able to retract autonomously with power removed. To complicate matters the location of the SORI-Small ORU- (Orbital Replacement Unit) Robotics Interface, the primary interface for the HERMES platform to the Gateway elements, was undetermined. Also, the mechanical, thermal and electrical interfaces are not fully defined. The Canadian Space Agency is still in process of designing the version of the SORI that will be flown on the Power and Propulsion Element (PPE) and Habitation and Logistics Outpost (HALO) elements, each of which are being developed by different contractors. At the time of initiating the HERMES project, neither of the Gateway module providers were under contract. Additionally, we would later learn the ISS heritage SORI modules were not originally designed for launching on the Gateway elements with a payload directly attached but rather were intended to be brought up on a separate carrier outfitted with launch locks and specialized launch structures from which the robotic arm on Gateway would then be used to detach the payload and install it on the SORI adapters while on orbit. Launching the integrated Payload/SORI on the PPE and HALO elements complicates the stiffness requirements and coupled loads analysis. Adding to this are serious constraints on Field-Of-View (FOV) for solar viewing and severe radiation exposure considerations brought on by slowly raising the orbit through the Van Allen Belts. Just to make things a little more challenging the budget for the entire project was intended to be a low-cost tailored Class-D mission approach. Plus, the effects of Corona VIrus Disease 2019 (COVID-19) were not factored in from the beginning. This paper will discuss what’s being done to overcome these challenges and put HERMES on track for a 2024 Launch Readiness Date (LRD).

Irving Joseph Burt↗
DOE OSTI2025

A Perspective into Operando Methods for Probing Catalytic Interfaces

Rational design of electrocatalysts for (photo)electrochemical (PEC) processes like hydrogen and oxygen evolution and CO2 reduction reactions is aided by the recent improvements in capabilities of operando measurements, where morphology, composition, and/or function are probed during active catalysis. Through operando microscopy and spectroscopy, structure, catalytic microenvironment, oxidation state, adsorbates, and products can be measured to gain a better understanding of catalyst behavior and suggest possible improvements. Visualizing evolving catalyst morphologies, surface compositions, and electrochemical behavior also helps address many fundamental research questions for a better understanding of catalytic mechanisms. Correlating morphology with chemical identity or functional behavior using a variety of innovative microscopy methods is particularly promising for guiding development of next generation catalysts, and there are also many recent examples of using AI and robotics tools to innovate and speed development. In this Perspective, advances made over the past few years in operando imaging of catalysts relevant to solar fuels will be explored, followed by an outlook on technological developments in instrumentation, sample design, and computational power that may be applied to this field.

Catalysts↗
NASA NTRS1989

Aspects of efficient and reliable multibody system simulation

Multibody system equations can be generated in various forms. All of these may be interpreted as results of two basic approaches, the augmentation- and the elimination-method. The former method yields the descriptor form of the system motion, a set of differential-algebraic equations (DAE), and the latter the state space representation, a minimal set of ordinary differential equations (ODE). Both of these methods are surveyed. Particular emphasis is on the discussion of recursive computational schemes, generating the equations of motion with a number of operations, which is proportional to the number N of system bodies (O(N)-formulations). For simulation purposes one would like to create that set of system equations, which can be generated most efficiently and for which the most efficient and reliable solution techniques are available. Numerical solution techniques for ODE have been studied in great detail and they are well-developed. By contrast, DAE have not been investigated for such a long time. In view of new developments in the latter field the generation of all the equations required for an efficient and reliable solution of DAE describing multibody system motion is discussed. These methods, i.e., an O(N)-formulation and new techniques for solving DAE, are implemented in the SIMPACK code. Its capabilities are illustrated by simulation of multibody robot models.

Schwertassek, R.↗
NASA NTRS2015

Tension Stiffened and Tendon Actuated Manipulator

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Doggett, William R.↗
NASA NTRS2019

Hinge for Use in a Tension Stiffened and Tendon Actuated Manipulator

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Doggett, William R.↗
NASA NTRSDate not supplied

Modular Open Systems Approach (MOSA) for a Robust Commercial Lunar Ecosystem

Modular Open Systems Approaches (MOSAs) have been adopted worldwide to solve a myriad of challenges. Open systems by their nature maximize accessibility, reduce barriers to entry, and prevent vendor lock. Similarly, modularity speeds innovation, fosters design re-use, and enables incremental development & growth. Architectures developed using a MOSA synergize the benefits of modularity and open systems to produce better products at lower developmental cost and risk, saving the consumer money while allowing greater developer profit margins. Specific to the challenge of lunar exploration, a MOSA will ensure interoperability among diverse commercial, government, and international partners. Complex spaceflight systems can be assembled, upgraded, and serviced far more easily and with greater commercial involvement with the use of a MOSA. By allowing partners to self-limit their scope to key strengths, they can focus on producing premier components without carrying the high risk and associated cost of auxiliary tasks they don’t specialize in. We survey commercial and Department of Defense (DoD) lessons learned in past decades, discuss DoD robotics’ experience in Iraq and Afghanistan (first without then with MOSAs), and analyze the flourishing commercial ecosystem that has resulted from DoD MOSA adoption. We explore the future of lunar operations to demonstrate the criticality of MOSA adoption in key areas at the right time. Two specific lunar technical fields are studied as examples: Power and In-Situ Resource Utilization (ISRU). Finally, recognizing that the lunar ISRU campaign will be an eminently collaborative operation requiring seamless partnering among diverse commercial, government, and international partners, a comprehensive technology development ecosystem is explored aimed at enabling ISRU in a way that systems and components are affordable for commercial partners to design, build, and sustain.

Mathew DeMinico↗
NASA NTRS2000

Rovers as Geological Helpers for Planetary Surface Exploration

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Stoker, Carol↗
NASA NTRS2001

Development and Demonstration of a Self-Calibrating Pseudolite Array for Task Level Control of a Planetary Rover

Pseudolites can extend the availability of GPS-type positioning systems to a wide range of applications not possible with satellite-only GPS. One such application is Mars exploration, where the centimeter-level accuracy and high repeatability of CDGPS would make it attractive for rover positioning during autonomous exploration, sample collection, and habitat construction if it were available. Pseudolites distributed on the surface would allow multiple rovers and/or astronauts to share a common navigational reference. This would help enable cooperation for complicated science tasks, reducing the need for instructions from Earth and increasing the likelihood of mission success. Conventional GPS Pseudolite arrays require that the devices be pre-calibrated through a Survey of their locations, typically to sub-centimeter accuracy. This is a problematic task for robots on the surface of another planet. By using the GPS signals that the Pseudolites broadcast, however, it is possible to have the array self-survey its own relative locations, creating a SelfCalibrating Pseudolite Array (SCPA). This requires the use of GPS transceivers instead of standard pseudolites. Surveying can be done either at carrier- or code-phase levels. An overview of SCPA capabilities, system requirements, and self-calibration algorithms is presented in another work. The Aerospace Robotics Laboratory at Statif0id has developed a fully operational prototype SCPA. The array is able to determine the range between any two transceivers with either code- or carrier-phase accuracy, and uses this inter-transceiver ranging to determine the at-ray geometry. This paper presents results from field tests conducted at Stanford University demonstrating the accuracy of inter-transceiver ranging and its viability and utility for array localization, and shows how transceiver motion may be utilized to refine the array estimate by accurately determining carrier-phase integers and line biases. It also summarizes the overall system requirements and architecture, and describes the hardware and software used in the prototype system.

Rock, Stephen M.↗
NASA NTRS2020

Maximum Correntropy Kalman Filter for Orientation Estimation with Application to LiDAR Inertial Odometry

Robot navigation is a prerequisite to enable many autonomous robotic operations. Propioceptive inertial measurement units (IMUs) are widely used and commonly accepted sensing devices in robotic navigation. An IMU typically consists of two-triaxis sensors: an accelerometer and a gyroscope (gyro), measuring the accelerations (accelerated motion together with gravity) and angular velocities of the sensor, respectively. In addition, some IMUs incorporate a magnetic angular rate sensor, which is a triaxis magnetometer measuring the magnetic field of the Earth. In this work, we focus on these types of IMUs (comprised of accelerometer, gyro and magnetometer).

Agha-mohammadi, Ali-akbar↗
NASA NTRSDate not supplied

Design Development of a Stable, Lightweight, Tall and Self-Deploying Lunar Tower

Deployable composite booms with spaceflight heritage are being investigated at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) and the Massachusetts Institute of Technology (MIT) Space Resources Workshop for their potential to be vertically deployed in the lunar gravity field, in support of the NASA Artemis campaign. This paper reports new design development results—after the original presentation at the NASA 2020 BIG Idea Challenge—for a 16.5-meter-tall, compact, self-deploying composite tower intended to support the exploration of lunar permanently shadowed regions by nearby robotic assets or humans. Possible applications include vertical solar arrays and the provision of elevated lines-of-sight to science or engineering payloads, in support of nearby targets operating in areas of interest that may be hard to reach. Useful elevated payloads include radio repeaters, remote sensing and imaging, navigation and power beaming systems. However, while these lightweight rollable booms have an excellent height to mass ratio, they typically exhibit axial curvature upon deployment resulting in appreciable lateral dead-load deflection of the tip mass relative to the tower base. This static deflection increases with tower height and tip mass, not only constraining the value delivered by the tower but also endangering its integrity. To develop a competitive, lightweight deployable composite boom tower, a capability to correct static deflections during and after deployment will be required. In this paper, a deployable guy wire stability system will be presented for the MIT / LaRC self-erecting composite boom lunar tower that provides real time measurements, maintains tension both actively (during deployment) and passively (post-deployment), and can serve as a reconfigurable platform to test and trade alternative stability system configurations, such as with added spreaders inspired by sailing boat masts. Using a calibrated photogrammetry system, the natural lateral deflection of the boom tip relative to the boom base at different deployed heights was recorded for different configurations. With real-time force measurements it was found that tensioned guy wires can significantly reduce the static tip deflection of a deployable composite boom under dead load and can dampen a dynamic oscillation in under a minute. It was also found that control authority is greatest where it is needed most, i.e., for the lever arm closest to being opposite the direction of deflection. For a tower height of at least 11 m and spreader length of at least 60 cm, a solution of differential tension in all three arms exists and, in principle, provides sufficient control authority to correct or significantly reduce boom tip deflections. Notably, natural deflections occur almost entirely normal to the seams of the boom cross-section, but the natural boom tip lateral deflection under dead load upon deployment was approximately 5% of boom deployed length, exceeding the manufacturing acceptance specification of 1%. Ongoing and future work includes the further investigation towards mitigating manufacture-caused lateral deflection, trading of alternative guy wire system designs, as well as the design development of a second-generation tower incorporating a more capable boom design with the learnings from the proof-of-concept system presented here.

deployable composite boom↗
NASA NTRS2016

Planning, Implementation, and Scientific Goals of the Studies of Emissions and Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys (SEAC4RS) Field Missions

The Studies of Emissions and Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys (SEAC4RS) field mission based at Ellington Field, Texas, during August and September 2013 employed the most comprehensive airborne payload to date to investigate atmospheric composition over North America. The NASA ER-2, DC-8, and SPEC Inc. Learjet flew 57 science flights from the surface to 20 km. The ER-2 employed seven remote sensing instruments as a satellite surrogate and eight in situ instruments. The DC-8 employed 23 in situ and five remote sensing instruments for radiation, chemistry, and microphysics. The Learjet used 11 instruments to explore cloud microphysics. SEAC4RS launched numerous balloons, augmented Aerosol RObotic NETwork, and collaborated with many existing ground measurement sites. Flights investigating convection included close coordination of all three aircraft. Coordinated DC-8 and ER-2 flights investigated the optical properties of aerosols, the influence of aerosols on clouds, and the performance of new instruments for satellite measurements of clouds and aerosols. ER-2 sorties sampled stratospheric injections of water vapor and other chemicals by local and distant convection. DC-8 flights studied seasonally evolving chemistry in the Southeastern U.S., atmospheric chemistry with lower emissions of NOx and SO2 than in previous decades, isoprene chemistry under high and low NOx conditions at different locations, organic aerosols, air pollution near Houston and in petroleum fields, smoke from wildfires in western forests and from agricultural fires in the Mississippi Valley, and the ways in which the chemistry in the boundary layer and the upper troposphere were influenced by vertical transport in convective clouds.

Toon, Owen B.↗
NASA NTRS2010

ATHLETE: Lunar Cargo Handling for International Lunar Exploration

As part of the Human-Robot Systems Project within the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The basic idea of ATHLETE is to have six relatively small wheels on the ends of legs. The small wheels and associated drive actuators are much less massive than the larger wheels and gears needed for an "all terrain" vehicle that cannot "walk" out of extreme terrain. The mass savings for the wheels and wheel actuators is greater than the mass penalty of the legs, for a net mass savings. Starting in 2009, NASA became engaged in detailed architectural studies for international discussions with the European Space Agency (ESA), the Japanese Space Agency (JAXA), and the Canadian Space Agency (CSA) under the auspices of the International Architecture Working Group (IAWG). ATHLETE is considered in most of the campaign options considered, providing a way to offload cargo from large Altair-class landers (having a cargo deck 6+ meters above the surface) as well as offloading international landers launched on Ariane-5 or H-2 launch vehicles. These international landers would carry provisions as well as scientific instruments and/or small rovers that would be used by international astronauts as part of an international effort to explore the moon.Work described in this paper includes architectural studies in support of the international missions as well as field testing of a half-scale ATHLETE prototype performing cargo offloading from a lander mockup, along with multi-kilometer traverse, climbing over greater than 1 m rocks, tool use, etc.

International Collaboration in Space↗
NASA NTRS1971

Research and applications: Artificial intelligence

A program of research in the field of artificial intelligence is presented. The research areas discussed include automatic theorem proving, representations of real-world environments, problem-solving methods, the design of a programming system for problem-solving research, techniques for general scene analysis based upon television data, and the problems of assembling an integrated robot system. Major accomplishments include the development of a new problem-solving system that uses both formal logical inference and informal heuristic methods, the development of a method of automatic learning by generalization, and the design of the overall structure of a new complete robot system. Eight appendices to the report contain extensive technical details of the work described.

Raphael, B.↗
NASA NTRS1993

Research and test facilities

A description is given of each of the following Langley research and test facilities: 0.3-Meter Transonic Cryogenic Tunnel, 7-by 10-Foot High Speed Tunnel, 8-Foot Transonic Pressure Tunnel, 13-Inch Magnetic Suspension & Balance System, 14-by 22-Foot Subsonic Tunnel, 16-Foot Transonic Tunnel, 16-by 24-Inch Water Tunnel, 20-Foot Vertical Spin Tunnel, 30-by 60-Foot Wind Tunnel, Advanced Civil Transport Simulator (ACTS), Advanced Technology Research Laboratory, Aerospace Controls Research Laboratory (ACRL), Aerothermal Loads Complex, Aircraft Landing Dynamics Facility (ALDF), Avionics Integration Research Laboratory, Basic Aerodynamics Research Tunnel (BART), Compact Range Test Facility, Differential Maneuvering Simulator (DMS), Enhanced/Synthetic Vision & Spatial Displays Laboratory, Experimental Test Range (ETR) Flight Research Facility, General Aviation Simulator (GAS), High Intensity Radiated Fields Facility, Human Engineering Methods Laboratory, Hypersonic Facilities Complex, Impact Dynamics Research Facility, Jet Noise Laboratory & Anechoic Jet Facility, Light Alloy Laboratory, Low Frequency Antenna Test Facility, Low Turbulence Pressure Tunnel, Mechanics of Metals Laboratory, National Transonic Facility (NTF), NDE Research Laboratory, Polymers & Composites Laboratory, Pyrotechnic Test Facility, Quiet Flow Facility, Robotics Facilities, Scientific Visualization System, Scramjet Test Complex, Space Materials Research Laboratory, Space Simulation & Environmental Test Complex, Structural Dynamics Research Laboratory, Structural Dynamics Test Beds, Structures & Materials Research Laboratory, Supersonic Low Disturbance Pilot Tunnel, Thermal Acoustic Fatigue Apparatus (TAFA), Transonic Dynamics Tunnel (TDT), Transport Systems Research Vehicle, Unitary Plan Wind Tunnel, and the Visual Motion Simulator (VMS).

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