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At least 577 records · Page 32

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NASA NTRS2006

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.

Thienel, Julie K.↗

NASA NTRS2006

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

Thienel, Julie K.↗

NASA NTRS2007

Continued Development of a Global Heat Transfer Measurement System at AEDC Hypervelocity Wind Tunnel 9

Heat transfer rates are an extremely important consideration in the design of hypersonic vehicles such as atmospheric reentry vehicles. This paper describes the development of a data reduction methodology to evaluate global heat transfer rates using surface temperature-time histories measured with the temperature sensitive paint (TSP) system at AEDC Hypervelocity Wind Tunnel 9. As a part of this development effort, a scale model of the NASA Crew Exploration Vehicle (CEV) was painted with TSP and multiple sequences of high resolution images were acquired during a five run test program. Heat transfer calculation from TSP data in Tunnel 9 is challenging due to relatively long run times, high Reynolds number environment and the desire to utilize typical stainless steel wind tunnel models used for force and moment testing. An approach to reduce TSP data into convective heat flux was developed, taking into consideration the conditions listed above. Surface temperatures from high quality quantitative global temperature maps acquired with the TSP system were then used as an input into the algorithm. Preliminary comparison of the heat flux calculated using the TSP surface temperature data with the value calculated using the standard thermocouple data is reported.

Kurits, Inna↗

NASA NTRS2007

Learning Grasp Strategies Composed of Contact Relative Motions

Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

Platt, Robert, Jr.↗

NASA NTRS2008

Experimentation for the Maturation of Deep Space Cryogenic Refueling Technologies

This report describes the results of the "Experimentation for the Maturation of Deep Space Cryogenic Refueling Technology" study. This study identifies cryogenic fluid management technologies that require low-gravity flight experiments bring technology readiness levels to 5 to 6; examines many possible flight experiment options; and develops near-term low-cost flight experiment concepts to mature the core technologies. A total of 25 white papers were prepared by members of the project team in the course of this study. The full text of each white paper is included and 89 relevant references are cited. The team reviewed the white papers that provided information on new or active concepts of experiments to pursue and assessed them on the basis of technical need, cost, return on investment, and flight platform. Based on on this assessment the "Centaur Test Bed for Cryogenic Fluid Management" was rated the highest. "Computational Opportunities for Cryogenics for Cryogenic and Low-g Fluid Systems" was ranked second, based on its high scores in state of the art and return on investment, even though scores in cost and time were second to last. "Flight Development Test Objective Approach for In-space Propulsion Elements" was ranked third.

Chato, David J.↗

NASA NTRS2006

Improving Grasp Skills Using Schema Structured Learning

Abstract In the control-based approach to robotics, complex behavior is created by sequencing and combining control primitives. While it is desirable for the robot to autonomously learn the correct control sequence, searching through the large number of potential solutions can be time consuming. This paper constrains this search to variations of a generalized solution encoded in a framework known as an action schema. A new algorithm, SCHEMA STRUCTURED LEARNING, is proposed that repeatedly executes variations of the generalized solution in search of instantiations that satisfy action schema objectives. This approach is tested in a grasping task where Dexter, the UMass humanoid robot, learns which reaching and grasping controllers maximize the probability of grasp success.

Platt, Robert↗

NASA NTRS2007

Engineered Structured Sorbents for the Adsorption of Carbon Dioxide and Water Vapor from Manned Spacecraft Atmospheres: Applications and Modeling 2007/2008

In NASA s Vision for Space Exploration, humans will once again travel beyond the confines of earth s gravity, this time to remain there for extended periods. These forays will place unprecedented demands on launch systems. They must not only blast out of earth s gravity well as during the Apollo moon missions, but also launch the supplies needed to sustain a larger crew over much longer periods. Thus all spacecraft systems, including those for the separation of metabolic carbon dioxide and water from a crewed vehicle, must be minimized with respect to mass, power, and volume. Emphasis is also placed on system robustness both to minimize replacement parts and ensure crew safety when a quick return to earth is not possible. This paper describes efforts to improve on typical packed beds of sorbent pellets by making use of structured sorbents and alternate bed configurations to improve system efficiency and reliability. The development efforts described offer a complimentary approach combining testing of subscale systems and multiphysics computer simulations to characterize the regenerative heating substrates and evaluation of engineered structured sorbent geometries. Mass transfer, heat transfer, and fluid dynamics are included in the transient simulations.

Knox, James C.↗

NASA NTRS2007

ShareSync: A Solution for Deterministic Data Sharing over Ethernet

As part of upgrading the Contact Dynamics Simulation Laboratory (CDSL) at the NASA Marshall Space Flight Center (MSFC), a simple, cost effective method was needed to communicate data among the networked simulation machines and I/O controllers used to run the facility. To fill this need and similar applicable situations, a generic protocol was developed, called ShareSync. ShareSync is a lightweight, real-time, publish-subscribe Ethernet protocol for simple and deterministic data sharing across diverse machines and operating systems. ShareSync provides a simple Application Programming Interface (API) for simulation programmers to incorporate into their code. The protocol is compatible with virtually all Ethernet-capable machines, is flexible enough to support a variety of applications, is fast enough to provide soft real-time determinism, and is a low-cost resource for distributed simulation development, deployment, and maintenance. The first design cycle iteration of ShareSync has been completed, and the protocol has undergone several testing procedures including endurance and benchmarking tests and approaches the 2001ts data synchronization design goal for the CDSL.

Dunn, Daniel J., II↗

NASA NTRS2009

A Method for Retrieving Ground Flash Fraction from Satellite Lightning Imager Data

A general theory for retrieving the fraction of ground flashes in N lightning observed by a satellite-based lightning imager is provided. An "exponential model" is applied as a physically reasonable constraint to describe the measured optical parameter distributions, and population statistics (i.e., mean, variance) are invoked to add additional constraints to the retrieval process. The retrieval itself is expressed in terms of a Bayesian inference, and the Maximum A Posteriori (MAP) solution is obtained. The approach is tested by performing simulated retrievals, and retrieval error statistics are provided. The ability to retrieve ground flash fraction has important benefits to the atmospheric chemistry community. For example, using the method to partition the existing satellite global lightning climatology into separate ground and cloud flash climatologies will improve estimates of lightning nitrogen oxides (NOx) production; this in turn will improve both regional air quality and global chemistry/climate model predictions.

Koshak, William J.↗

NASA NTRS2007

High-Energy-Density, Low-Temperature Li/CFx Primary Cells

High-energy-density primary (nonrechargeable) electrochemical cells capable of relatively high discharge currents at temperatures as low as -40 C have been developed through modification of the chemistry of commercial Li/CFx cells and batteries. The commercial Li/CFx units are not suitable for high-current and low-temperature applications because they are current limited and their maximum discharge rates decrease with decreasing temperature. The term "Li/CFx" refers to an anode made of lithium and a cathode made of a fluorinated carbonaceous material (typically graphite). In commercial cells, x typically ranges from 1.05 to 1.1. This cell composition makes it possible to attain specific energies up to 800 Wh/kg, but in order to prevent cell polarization and the consequent large loss of cell capacity, it is typically necessary to keep discharge currents below C/50 (where C is numerically equal to the current that, flowing during a charge or discharge time of one hour, would integrate to the nominal charge or discharge capacity of a cell). This limitation has been attributed to the low electronic conductivity of CFx for x approx. 1. To some extent, the limitation might be overcome by making cathodes thinner, and some battery manufacturers have obtained promising results using thin cathode structures in spiral configurations. The present approach includes not only making cathodes relatively thin [.2 mils (.0.051 mm)] but also using sub-fluorinated CFx cathode materials (x < 1) in conjunction with electrolytes formulated for use at low temperatures. The reason for choosing sub-fluorinated CFx cathode materials is that their electronic conductivities are high, relative to those for which x > 1. It was known from recent prior research that cells containing sub-fluorinated CFx cathodes (x between 0.33 and 0.66) are capable of retaining substantial portions of their nominal low-current specific energies when discharged at rates as high as 5C at room temperature. However, until experimental cells were fabricated following the present approach and tested, it was not known whether or to what extent low-temperature performance would be improved.

Whitacre, Jay↗

NASA NTRS2011

Efficient Kriging Algorithms

More efficient versions of an interpolation method, called kriging, have been introduced in order to reduce its traditionally high computational cost. Written in C++, these approaches were tested on both synthetic and real data. Kriging is a best unbiased linear estimator and suitable for interpolation of scattered data points. Kriging has long been used in the geostatistic and mining communities, but is now being researched for use in the image fusion of remotely sensed data. This allows a combination of data from various locations to be used to fill in any missing data from any single location. To arrive at the faster algorithms, sparse SYMMLQ iterative solver, covariance tapering, Fast Multipole Methods (FMM), and nearest neighbor searching techniques were used. These implementations were used when the coefficient matrix in the linear system is symmetric, but not necessarily positive-definite.

Memarsadeghi, Nargess↗

NASA NTRS2012

Autonomous Onboard Science Data Analysis for Comet Missions

Coming years will bring several comet rendezvous missions. The Rosetta spacecraft arrives at Comet 67P/Churyumov-Gerasimenko in 2014. Subsequent rendezvous might include a mission such as the proposed Comet Hopper with multiple surface landings, as well as Comet Nucleus Sample Return (CNSR) and Coma Rendezvous and Sample Return (CRSR). These encounters will begin to shed light on a population that, despite several previous flybys, remains mysterious and poorly understood. Scientists still have little direct knowledge of interactions between the nucleus and coma, their variation across different comets or their evolution over time. Activity may change on short timescales so it is challenging to characterize with scripted data acquisition. Here we investigate automatic onboard image analysis that could act faster than round-trip light time to capture unexpected outbursts and plume activity. We describe one edge-based method for detect comet nuclei and plumes, and test the approach on an existing catalog of comet images. Finally, we quantify benefits to specific measurement objectives by simulating a basic plume monitoring campaign.

comets↗

NASA NTRS2012

Mapping Impervious Surface Expansion using Medium-resolution Satellite Image Time Series: A Case Study in the Yangtze River Delta, China

Cities have been expanding rapidly worldwide, especially over the past few decades. Mapping the dynamic expansion of impervious surface in both space and time is essential for an improved understanding of the urbanization process, land-cover and land-use change, and their impacts on the environment. Landsat and other medium-resolution satellites provide the necessary spatial details and temporal frequency for mapping impervious surface expansion over the past four decades. Since the US Geological Survey opened the historical record of the Landsat image archive for free access in 2008, the decades-old bottleneck of data limitation has gone. Remote-sensing scientists are now rich with data, and the challenge is how to make best use of this precious resource. In this article, we develop an efficient algorithm to map the continuous expansion of impervious surface using a time series of four decades of medium-resolution satellite images. The algorithm is based on a supervised classification of the time-series image stack using a decision tree. Each imerpervious class represents urbanization starting in a different image. The algorithm also allows us to remove inconsistent training samples because impervious expansion is not reversible during the study period. The objective is to extract a time series of complete and consistent impervious surface maps from a corresponding times series of images collected from multiple sensors, and with a minimal amount of image preprocessing effort. The approach was tested in the lower Yangtze River Delta region, one of the fastest urban growth areas in China. Results from nearly four decades of medium-resolution satellite data from the Landsat Multispectral Scanner (MSS), Thematic Mapper (TM), Enhanced Thematic Mapper plus (ETM+) and China-Brazil Earth Resources Satellite (CBERS) show a consistent urbanization process that is consistent with economic development plans and policies. The time-series impervious spatial extent maps derived from this study agree well with an existing urban extent polygon data set that was previously developed independently. The overall mapping accuracy was estimated at about 92.5% with 3% commission error and 12% omission error for the impervious type from all images regardless of image quality and initial spatial resolution.

Gao, Feng↗

NASA NTRS2014

Development of Modeling Approaches for Nuclear Thermal Propulsion Test Facilities

High efficiency of rocket propul-sion systems is essential for humanity to venture be-yond the moon. Nuclear Thermal Propulsion (NTP) is a promising alternative to conventional chemical rock-ets with relatively high thrust and twice the efficiency of the Space Shuttle Main Engine. NASA is in the pro-cess of developing a new NTP engine, and is evaluat-ing ground test facility concepts that allow for the thor-ough testing of NTP devices. NTP engine exhaust, hot gaseous hydrogen, is nominally expected to be free of radioactive byproducts from the nuclear reactor; how-ever, it has the potential to be contaminated due to off-nominal engine reactor performance. Several options are being investigated to mitigate this hazard potential with one option in particular that completely contains the engine exhaust during engine test operations. The exhaust products are subsequently disposed of between engine tests. For this concept (see Figure 1), oxygen is injected into the high-temperature hydrogen exhaust that reacts to produce steam, excess oxygen and any trace amounts of radioactive noble gases released by off-nominal NTP engine reactor performance. Water is injected to condense the potentially contaminated steam into water. This water and the gaseous oxygen (GO2) are subsequently passed to a containment area where the water and GO2 are separated into separate containment tanks.

Jones, Daniel R.↗

NASA NTRS2014

Development of Modeling Approaches for Nuclear Thermal Propulsion Test Facilities

No abstract available

Jones, D.↗

NASA NTRS2014

NASA TechPort Entry for Coiled Brine Recovery Assembly (CoBRA) CL IR&D Project

The Coiled Brine Recovery Assembly (CoBRA) project will result in a proof-of-concept demonstration for a lightweight, compact, affordable, regenerable and disposable solution to brine water recovery. The heart of CoBRA is an evaporator that produces water vapor from brine. This evaporator leverages a novel design that enables passive transport of brine from place to place within the system. While it will be necessary to build or modify a system for testing the CoBRA concept, the emphasis of this project will be on developing the evaporator itself. This project will utilize a “test early, test often” approach, building at least one trial evaporator to guide the design of the final product.

Pensinger, Stuart↗

NASA NTRS2014

Extending 3D Near-Cloud Corrections from Shorter to Longer Wavelengths

Satellite observations have shown a positive correlation between cloud amount and aerosol optical thickness (AOT) that can be explained by the humidification of aerosols near clouds, and/or by cloud contamination by sub-pixel size clouds and the cloud adjacency effect. The last effect may substantially increase reflected radiation in cloud-free columns, leading to overestimates in the retrieved AOT. For clear-sky areas near boundary layer clouds the main contribution to the enhancement of clear sky reflectance at shorter wavelengths comes from the radiation scattered into clear areas by clouds and then scattered to the sensor by air molecules. Because of the wavelength dependence of air molecule scattering, this process leads to a larger reflectance increase at shorter wavelengths, and can be corrected using a simple two-layer model. However, correcting only for molecular scattering skews spectral properties of the retrieved AOT. Kassianov and Ovtchinnikov proposed a technique that uses spectral reflectance ratios to retrieve AOT in the vicinity of clouds; they assumed that the cloud adjacency effect influences the spectral ratio between reflectances at two wavelengths less than it influences the reflectances themselves. This paper combines the two approaches: It assumes that the 3D correction for the shortest wavelength is known with some uncertainties, and then it estimates the 3D correction for longer wavelengths using a modified ratio method. The new approach is tested with 3D radiances simulated for 26 cumulus fields from Large-Eddy Simulations, supplemented with 40 aerosol profiles. The results showed that (i) for a variety of cumulus cloud scenes and aerosol profiles over ocean the 3D correction due to cloud adjacency effect can be extended from shorter to longer wavelengths and (ii) the 3D corrections for longer wavelengths are not very sensitive to unbiased random uncertainties in the 3D corrections at shorter wavelengths.

aerosol optical depth↗

NASA NTRS2014

Energetic Electrons in Dipolarization Events: Spatial Properties and Anisotropy

Using the electromagnetic fields of an MHD simulation of magnetotail reconnection, flow bursts, and dipolarization, we further investigate the acceleration of electrons to suprathermal energies. Particular emphasis is on spatial properties and anisotropies as functions of energy and time. The simulation results are compared with Time History of Events and Macroscale Interactions during Substorms observations. The test particle approach successfully reproduces several observed injection features and puts them into a context of spatial maps of the injection region(s): a dominance of perpendicular anisotropies farther down the tail and closer to the equatorial plane, an increasing importance of parallel anisotropy closer to Earth and at higher latitudes, a drop in energy fluxes at energies below approximately 10 keV, coinciding with the plasma density drop, together with increases at higher energy, a triple peak structure of flux increases near 0 deg, 90 deg, and 180 deg, and a tendency of flux increases to extend to higher energy closer to Earth and at lower latitudes. We identified the plasma sheet boundary layers and adjacent lobes as a main source region for both increased and decreased energetic electron fluxes, related to the different effects of adiabatic acceleration at high and low energies. The simulated anisotropies tend to exceed the observed ones, particularly for perpendicular fluxes at high energies. The most plausible reason is that the MHD simulation lacks the effects of anisotropy-driven microinstabilities and waves, which would reduce anisotropies.

anisotropy↗