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All sources NASA NTRS DOE OSTI

DOE OSTI2020

LiDAR-Aided Interior Orientation Parameters Refinement Strategy for Consumer-Grade Cameras Onboard UAV Remote Sensing Systems

Unmanned aerial vehicles (UAVs) are quickly emerging as a popular platform for 3D reconstruction/modeling in various applications such as precision agriculture, coastal monitoring, and emergency management. For such applications, LiDAR and frame cameras are the two most commonly used sensors for 3D mapping of the object space. For example, point clouds for the area of interest can be directly derived from LiDAR sensors onboard UAVs equipped with integrated global navigation satellite systems and inertial navigation systems (GNSS/INS). Imagery-based mapping, on the other hand, is considered to be a cost-effective and practical option and is often conducted by generating point clouds and orthophotos using structure from motion (SfM) techniques. Mapping with photogrammetric approaches requires accurate camera interior orientation parameters (IOPs), especially when direct georeferencing is utilized. Most state-of-the-art approaches for determining/refining camera IOPs depend on ground control points (GCPs). However, establishing GCPs is expensive and labor-intensive, and more importantly, the distribution and number of GCPs are usually less than optimal to provide adequate control for determining and/or refining camera IOPs. Moreover, consumer-grade cameras with unstable IOPs have been widely used for mapping applications. Therefore, in such scenarios, where frequent camera calibration or IOP refinement is required, GCP-based approaches are impractical. To eliminate the need for GCPs, this study uses LiDAR data as a reference surface to perform in situ refinement of camera IOPs. The proposed refinement strategy is conducted in three main steps. An image-based sparse point cloud is first generated via a GNSS/INS-assisted SfM strategy. Then, LiDAR points corresponding to the resultant image-based sparse point cloud are identified through an iterative plane fitting approach and are referred to as LiDAR control points (LCPs). Finally, IOPs of the utilized camera are refined through a GNSS/INS-assisted bundle adjustment procedure using LCPs. Seven datasets over two study sites with a variety of geomorphic features are used to evaluate the performance of the developed strategy. The results illustrate the ability of the proposed approach to achieve an object space absolute accuracy of 3–5 cm (i.e., 5–10 times the ground sampling distance) at a 41 m flying height.

47 OTHER INSTRUMENTATION↗

NASA NTRS1981

Stability of magnetically suspended optics in a vibration environment

The improving resolution capabilities of large spaceborne optical experiments are placing ever-increasing demands on platform stability in a vibration environment. The present paper discusses the principles of magnetic suspension systems as a promising alternative to conventional methods. The disadvantages of various conventional pointing mount geometrics are discussed, including the CG-mount approach and end-mount pointing, and advantages of a system whereby the payload has a high degree of isolation from the carrier in translation are pointed out. The Annular Suspension and Pointing System Vernier System is then presented as a hardware realization of a complete magnetic suspension system consisting of six magnetic bearing assemblies controlling six degrees of freedom of payload motion in a standardized end-mount configuration. A model of a simplified two-degrees-of-freedom isolation and pointing unit is considered and the transfer function from carrier translation to payload pointing is derived. The function is evaluated for several degenerate cases corresponding to conventional mounting techniques and magnetic suspension. Analytical performance predictions show a stability of better than 0.01 arcsec for a wide range of payloads in the worst-case shuttle disturbance environment.

Hamilton, B. J.↗

DOE OSTI2022

Layered structures of assembled imine-linked macrocycles and two-dimensional covalent organic frameworks give rise to prolonged exciton lifetimes

Ordered organic materials and assemblies have great potential to be tailored to have desirable properties for optoelectronic applications, such as long exciton lifetime and high directional exciton mobility. Framework materials, such as two-dimensional covalent organic frameworks (2D COFs), as well as their truncated macrocyclic analogues, are versatile platforms to organize functional aromatic systems into designed assemblies and robust materials. In this study we investigate the exciton dynamics in a 2D COF, its corresponding hexagonal macrocycle, and extended nanotubes comprised of stacked macrocycles. The excitonic behavior of these three systems provide an understanding of excitonic processes that occur in the plane of the covalently bonded 2D macromolecules and between layers of the nanotubes and 2D COF. The nanotube and analogous 2D COF exhibit longer excited-state lifetimes (~100 ps) compared to the individual, solvated macrocycles (<0.5 ps). These differences are attributed to the internal conversion facilitated by the internal motions of the imine linkages which are significantly reduced in the assembled macrocycles in the nanotube and 2D COF sheets in the layered structures. The exciton diffusion processes in the assembled nanotubes and 2D COF systems were characterized by the autocorrelations of the transition dipole moment of the excitons, giving the depolarization time constants for both systems to be ~1 ps. This work also reveals the anisotropic exciton dynamics related to the in-plane and inter-plane structural factors in these systems. These studies provide guidance for the design of future COF materials, where the longer excited state lifetimes imparted by assembly are beneficial for optoelectronic applications.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2023

Sensitivity analysis of numerical modeling input parameters on floating offshore wind turbine loads

Abstract. Floating wind turbines must withstand a unique and challenging set of loads from the wind and ocean environment. To de-risk development, accurate predictions of these loads are necessary. Uncertainty in modeling predictions leads to larger required safety factors, increasing project costs and the levelized cost of energy. Complex aero-hydro-elastic modeling tools use many input parameters to represent the wind, waves, current, aerodynamic loads, hydrodynamic loads, and structural properties. It is helpful to understand which of these parameters ultimately drives a design. In this work, an ultimate and fatigue-proxy load sensitivity analysis was performed with 35 different input parameters, using an elementary effects approach to identify the most influential parameters for a case study involving the National Renewable Energy Laboratory (NREL) 5 MW baseline wind turbine atop the OC4-DeepCwind semisubmersible during normal operation. The importance of each parameter was evaluated using 14 response quantities of interest across three operational wind speed conditions. The study concludes that turbulent wind velocity standard deviation is the parameter with the strongest sensitivity; this value is important not just for turbine loads, but also for the global system response. The system center of mass in the wind direction is found to have the highest impact on the system rotation and tower loads. The current velocity is found to be the most dominating parameter for the system global motion and consequently the mooring loads. All tested wind turbulence parameters in addition to the standard deviation are also found to be influential. Wave characteristics are influential for some fatigue-proxy loading but do not significantly impact the extreme ultimate loads in these operational load cases. The required number of random seeds for stochastic environmental conditions is considered to ensure that the sensitivities are due to the input parameters and not due to the seed. The required number of analysis points in the parameter space is identified so that the conclusions represent a global sensitivity. The results are specific to the platform, turbine, and choice of parameter ranges, but the demonstrated approach can be applied widely to guide focus in parameter uncertainty.

17 WIND ENERGY↗

NASA NTRS1980

Shuttle-era experiments in the area of plasma flow interactions with bodies in space

A new experimental approach is discussed that can be adopted for studies in the area of plasma flow interactions with bodies in space. The potential use of the Space Shuttle/Orbiter as a near-earth plasma laboratory for studies in space plasma physics and particularly in solar system plasmas is discussed. This new experimental approach holds great promise for studies in the supersonic and sub-Alfvenic flow regime which has applications to the motion of natural satellites around their mother planets in the solar-system (e.g., the satellite Io around the planet Jupiter). A well conceived experimental and theoretical program can lead to a better physical understanding regarding the validity and range of applicability of using gasdynamic, kinetic, and fluid approaches in describing collisionless plasma flow interactions with bodies in a variety of flow regimes. In addition to the above scientific aspects of the program, significant technological advances can be achieved regarding the interaction of space probes in planetary atmospheres/ionospheres and the reliability of using various plasma diagnostic devices on board spacecraft and large space platforms.

Samir, U.↗

NASA NTRS1978

Distribution of atmospheric ozone and how it is measured

The total amount of ozone in a vertical column has been measured spectroscopically at near ultraviolet and visible wavelengths, using ground- and satellite-based instruments. The vertical distribution of ozone from the surface up to approximately 100 km has been measured by a variety of techniques - chemical and optical - and from a number of observing platforms, including balloon, rocket, and satellite platforms. The various methods presently used for determining the atmospheric ozone distribution are reviewed, along with a discussion of their advantages and disadvantages. The observed average distribution of total ozone for the period 1958-1975 shows the expected geographic and seasonal variations. The variations of total ozone, including hemispheric differences, are clearly associated with large-scale circulation processes in the lower stratosphere. Approximately ten years of observations of the vertical ozone distribution, up through the ozone maximum, also show geographic and seasonal variations strongly related to the lower stratosphere circulation. The distribution above the maximum, however, results from the interaction of photochemistry and stratospheric motions.

London, J.↗

NASA NTRS1973

Free-Flight Test Results of Scale Models Simulating Viking Parachute/Lander Staging

This report presents the results of Viking Aerothermodynamics Test D4-34.0. Motion picture coverage of a number of Scale model drop tests provides the data from which time-position characteristics as well as canopy shape and model system attitudes are measured. These data are processed to obtain the instantaneous drag during staging of a model simulating the Viking decelerator system during parachute staging at Mars. Through scaling laws derived prior to test (Appendix A and B) these results are used to predict such performance of the Viking decelerator parachute during staging at Mars. The tests were performed at the NASA/Kennedy Space Center (KSC) Vertical Assembly Building (VAB). Model assemblies were dropped 300 feet to a platform in High Bay No. 3. The data consist of an edited master film (negative) which is on permanent file in the NASA/LRC Library. Principal results of this investigation indicate that for Viking parachute staging at Mars: 1. Parachute staging separation distance is always positive and continuously increasing generally along the descent path. 2. At staging, the parachute drag coefficient is at least 55% of its prestage equilibrium value. One quarter minute later, it has recovered to its pre-stage value.

Polutchko, Robert J.↗

NASA NTRS1991

Aircraft Ship Operations

The interest in the use of shipborne aircraft is widespread among NATO countries. Major weapons systems like aircraft carriers with conventional fixed-wing aircraft, VSTOL aircraft or helicopters embarked, are operated by the United States, the United Kingdom, France, Italy and Spain. Nearly all NATO countries employ various classes of smaller ships as helicopter platforms for amphibious assault, anti-submarine warfare or search and rescue. The deployment of aircraft on board ships presents unusual and difficult technical and operational problems. Considering the multi-national interest in aircraft/ship operations it was considered meaningful and timely for the Flight Mechanics Panel to sponsor a symposium on this topic. This symposium considered problems of mutual interest connected with fixed and rotary wing aircraft operations from ships, and the application of new technology to enhance such operations. The Symposium reviewed and assessed the current problems and possible future progress in: - The ship environment in terms of wind, temperature, precipitation, turbulence and deck motion. - Guidance, Controls and Displays, primarily in the approach and landing phase. - Flight Test and Simulation Techniques. - Launch, Recovery and Handling Systems Developments. - Operational/Pilot Views. - Future Developments.

Aircraft carriers↗

NASA NTRS1991

Lunar rovers and local positioning system

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Avery, James↗

DOE OSTI2022

Few-femtosecond resolved imaging of laser-driven nanoplasma expansion

Abstract The free expansion of a planar plasma surface is a fundamental non-equilibrium process relevant for various fields but as-yet experimentally still difficult to capture. The significance of the associated spatiotemporal plasma motion ranges from astrophysics and controlled fusion to laser machining, surface high-harmonic generation, plasma mirrors, and laser-driven particle acceleration. Here, we show that x-ray coherent diffractive imaging can surpass existing approaches and enables the quantitative real-time analysis of the sudden free expansion of laser-heated nanoplasmas. For laser-ionized SiO 2 nanospheres, we resolve the formation of the emerging nearly self-similar plasma profile evolution and expose the so far inaccessible shell-wise expansion dynamics including the associated startup delay and rarefaction front velocity. Our results establish time-resolved diffractive imaging as an accurate quantitative diagnostic platform for tracing and characterizing plasma expansion and indicate the possibility to resolve various laser-driven processes including shock formation and wave-breaking phenomena with unprecedented resolution.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2023

Role of Intradomain Heterogeneity on Ion and Polymer Dynamics in Block Polymer Electrolytes: Investigating Interfacial Mobility and Ion-Specific Dynamics and Transport

Block polymers show promise as solid-state battery electrolytes due to the optimization of conductive and mechanical properties enabled via tuning of block chemistry and length. We investigate a polystyrene-block-poly(oligo-oxyethylene methacrylate) (PS-b-POEM) electrolyte doped with various lithium salts to investigate the role of molecular structure on ion transport properties and on local ion dynamics and associations. Anion charge becomes more delocalized with increasing size, reducing the coupling between salt ions while increasing coupling between ion and polymer chain motions and creating a more mobile overall environment. We observe support for this ion-polymer coupling via 1 H, 7 Li and 19 F NMR spectroscopy, from which we obtain ion-specific mobility transition temperatures that differ from the polymer glass transition temperature. We also note faster transport and weaker local energetic interactions with anion size using temperature-dependent NMR diffusometry. 1 H NMR spectroscopy further elucidates polymer chain dynamics and enables quantification of the temperature-dependent fraction of the conducting block that is immobile near the PS-POEM domain interface. As a result, NMR thus represents a species-specific and timescale-specific platform to quantify phase and interface behavior, and to correlate ion-specific transport with polymer chain dynamics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2020

Approaching the Strain-Free Limit in Ultrathin Nanomechanical Resonators

Ultrathin mechanical structures are ideal building platforms to pursue the ultimate limit of nanomechanical resonators for applications in sensing, signal processing, and quantum physics. Unfortunately, as the thickness of the vibrating structures is reduced, the built-in strain of the structural materials plays an increased role in determining the mechanical performance of the devices. As a consequence, it is very challenging to fabricate resonators working in the modulus-dominant regime, where their dynamic behavior is exclusively determined by the device geometry. In this Letter, we report ultrathin doubly clamped nanomechanical resonators with aspect ratios as large as L/t similar to 5000 and working in the modulus-dominant regime. Here, we observed room temperature thermomechanically induced motion of multiple vibration modes with resonant frequencies closely matching the predicted values of Euler-Bernoulli beam theory under an axial strain of 6.3 x 10 -8 . The low strain of the devices enables a record frequency tuning ratio of more than 50 times. These results illustrate a new strategy for the quantitative design of nanomechanical resonators with unprecedented performance.

77 NANOSCIENCE AND NANOTECHNOLOGY↗

NASA NTRS2003

EVA Robotic Assistant Project: Platform Attitude Prediction

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Nickels, Kevin M.↗

DOE OSTI2026

A fractional calculus framework for open quantum dynamics: From Liouville to Lindblad to memory kernels

Open quantum systems exhibit dynamics ranging from unitary evolution to irreversible dissipation. While the Gorini–Kossakowski–Sudarshan–Lindblad equation uniquely characterizes Markovian completely positive and trace-preserving (CPTP) evolution, many physical platforms display non-Markovian features such as algebraic relaxation and coherence backflow. Fractional calculus provides a natural way to model such long-memory behavior through power-law temporal kernels introduced by fractional time derivatives. Here, we develop a unified framework that embeds fractional master equations within the broader hierarchy of open-system formalisms. The fractional equation forms a structured subclass of memory-kernel models, reduces to the Lindblad form at unit order, and, through Bochner–Phillips subordination, admits a CPTP representation as an average over Lindblad semigroups. Its resolvent structure further connects fractional dynamics to established non-Markovian approaches, including Nakajima–Zwanzig kernels and hierarchical equations of motion, providing a compact surrogate for long-memory effects. This formulation positions fractional calculus as a rigorous and practical language for modeling non-Markovian quantum dynamics in chemical physics and physical chemistry, providing a CPTP-preserving, computationally efficient surrogate for structured condensed-phase environments where long-time memory and dissipation play a central role.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS1986

A plasma generator utilizing the high intensity ASTROMAG magnets

The magnet configuration for the proposed particle astrophysics magnet facility (ASTROMAG) on the space station includes a cusp magnetic field with an intensity of a few tesla. With these large magnets (or others) located in the outer ionosphere, many quite interesting and unique plasma physics experiments become possible. First there are studies utilizing the magnet alone to examine the supersonic, sub-Alfvenic interaction with the ambient medium; the scale length for the magnet perturbation is approx. 20 m. The magnetic field geometry when combined with the Earth's and their relative motion will give rise to a host of plasma phenomena: ring nulls, x-points, ion-acoustic and lower-hybrid shocks, electron heating (possible shuttle glow without a surface) launching of Alfvenwaves, etc. Second, active experiments are possible for a controlled study of fundamental plasma phenomena. A controlled variable species plasma can be made by using an RF ion source; use of two soft iron rings placed about the line cusp would give an adequate resonance zone (ECH or ICH) and a confining volume suitable for gas efficiency. The emanating plasma can be used to study free expansion of plasma along and across field lines (polar wind), plasma flows around the space platform, turbulent mixing in the wake region, long wavelength spectrum of convecting modes, plasma-dust interactions, etc.

Sullivan, James D.↗

NASA NTRS2008

Small Autonomous Aircraft Servo Health Monitoring

Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

Quintero, Steven↗

NASA NTRS1991

Demonstration of precise estimation of polar motion parameters with the global positioning system: Initial results

Data from the Global Positioning System (GPS) were used to determine precise polar motion estimates. Conservatively calculated formal errors of the GPS least squares solution are approx. 10 cm. The GPS estimates agree with independently determined polar motion values from very long baseline interferometry (VLBI) at the 5 cm level. The data were obtained from a partial constellation of GPS satellites and from a sparse worldwide distribution of ground stations. The accuracy of the GPS estimates should continue to improve as more satellites and ground receivers become operational, and eventually a near real time GPS capability should be available. Because the GPS data are obtained and processed independently from the large radio antennas at the Deep Space Network (DSN), GPS estimation could provide very precise measurements of Earth orientation for calibration of deep space tracking data and could significantly relieve the ever growing burden on the DSN radio telescopes to provide Earth platform calibrations.

Lichten, S. M.↗

NASA NTRS1961

An Experimental Study of Boiling in Reduced and Zero Gravity Fields

A pool boiling apparatus was mounted on a counterweighted platform which could be dropped a distance of nine feet. By varying the size of the counterweight, the effective gravity field on the equipment was adjusted between zero and unity. A study of boiling burnout in water indicated that a variation in the critical heat flux according to the one quarter power of gravity was reasonable. A consideration of the transient burnout process was necessary in order to properly interpret the data. A photographic study of nucleate boiling showed how the velocity of freely rising vapor bubbles decreased as gravity was reduced. The bubble diameters at the time of breakoff from the heated surface were found to vary inversely as gravity to the 1/3.5 power. Motion pictures were taken to illustrate both nucleate and film boiling in the low gravity range.

Usiskin, C. M.↗