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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 595 records · Page 33
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

A vision system for a Mars rover

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Wilcox, Brian H.↗
NASA NTRS1988

Decentralized adaptive control

A decentralized adaptive control is proposed to stabilize and track the nonlinear, interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.

Oh, B. J.↗
NASA NTRS1988

Transient performance evaluation of an integrated heat pipe-thermal storage system

Transient performance tests of an integrated heat pipe-thermal storage system have been conducted. This system was developed as a part of an Organic Rankine Cycle-Solar Dynamic Power System receiver for future power systems. The integrated system consists of potassium heat pipe elements that incorporate thermal energy storage canisters within the vapor space and an organic fluid (toluene) heater tube used as the condenser region of the heat pipe. The transient performance tests determined the operating characteristics and power input limits of the integrated heat pipe-thermal storage unit under conditions corresponding to re-acquisition of the sun during emergence from eclipse conditions and to the initial start-up of the solar dynamic power system. The tests demonstrated that the heat pipe-thermal storage element is not limited under conditions corresponding to emergence from eclipse during normal orbital operations and the heat pipe will successfully start-up from the frozen condition with full input power at the onset. Details of the test procedures and results of the tests are presented in this paper.

Keddy, E.↗
NASA NTRS1988

Large scale structure of the sun's corona

Results concerning the large-scale structure of the solar corona obtained by observations at meter-decameter wavelengths are reviewed. Coronal holes observed on the disk at multiple frequencies show the radial and azimuthal geometry of the hole. At the base of the hole there is good correspondence to the chromospheric signature in He I 10,830 A, but at greater heights the hole may show departures from symmetry. Two-dimensional imaging of weak-type III bursts simultaneously with the HAO SMM coronagraph/polarimeter measurements indicate that these bursts occur along elongated features emanating from the quiet sun, corresponding in position angle to the bright coronal streamers. It is shown that the densest regions of streamers and the regions of maximum intensity of type II bursts coincide closely. Non-flare-associated type II/type IV bursts associated with coronal streamer disruption events are studied along with correlated type II burst emissions originating from distant centers on the sun.

Kundu, Mukul R.↗
NASA NTRS1988

An estimate of equatorial wave energy flux at 9- to 90-day periods in the Central Pacific

Deep fluctuations in current along the equator in the Central Pacific are dominated by coherent structures which correspond closely to narrow-band propagating equatorial waves. Currents were measured roughly at 1500 and 3000 m depths at five moorings between 144 and 148 deg W from January 1981 to March 1983, as part of the Pacific Equatorial Ocean Dynamics program. In each frequency band resolved, a single complex empirical orthogonal function accounts for half to three quarters of the observed variance in either zonal or meridional current. Dispersion for equatorial first meridional Rossby and Rossby gravity waves is consistent with the observed vertical-zonal coherence structure. The observations indicate that energy flux is westward and downward in long first meridional mode Rossby waves at periods 45 days and longer, and eastward and downward in short first meridional mode Rossby waves and Rossby-gravity waves at periods 30 days and shorter. A local minimum in energy flux occurs at periods corresponding to a maximum in upper-ocean meridional current energy contributed by tropical instability waves. Total vertical flux across the 9- to 90-day period range is 2.5 kW/m.

Eriksen, Charles C.↗
NASA NTRS1989

Properties of possible polar rings around Neptune

The near-polar-position rings whose possible existence and character around Neptune are presently considered correspond to the equilibrium configuration of a test-particle orbital plane in the gravitational potential of Neptune and Triton. At these equilibria, of which two whose invariable-plane nodal line is approximately perpendicular to the nodal line of Triton on the same plane are dynamically stable, the orbit of the test particle maintains a fixed orientation with respect to the invariable plane and the node of triton on that plane. The stable equilibria are noted to correspond to a maximum of the total energy for a given semimajor axis; their stability is found to remain unperturbed despite collisions among particles.

Borderies, Nicole↗
NASA NTRS1989

Determination of longitudinal aerodynamic derivatives using flight data from an icing research aircraft

A flight test was performed with the NASA Lewis Research Center's DH-6 icing research aircraft. The purpose was to employ a flight test procedure and data analysis method, to determine the accuracy with which the effects of ice on aircraft stability and control could be measured. For simplicity, flight testing was restricted to the short period longitudinal mode. Two flights were flown in a clean (baseline) configuration, and two flights were flown with simulated horizontal tail ice. Forty-five repeat doublet maneuvers were performed in each of four test configurations, at a given trim speed, to determine the ensemble variation of the estimated stability and control derivatives. Additional maneuvers were also performed in each configuration, to determine the variation in the longitudinal derivative estimates over a wide range of trim speeds. Stability and control derivatives were estimated by a Modified Stepwise Regression (MSR) technique. A measure of the confidence in the derivative estimates was obtained by comparing the standard error for the ensemble of repeat maneuvers, to the average of the estimated standard errors predicted by the MSR program. A multiplicative relationship was determined between the ensemble standard error, and the averaged program standard errors. In addition, a 95 percent confidence interval analysis was performed for the elevator effectiveness estimates, C sub m sub delta e. This analysis identified the speed range where changes in C sub m sub delta e could be attributed to icing effects. The magnitude of icing effects on the derivative estimates were strongly dependent on flight speed and aircraft wing flap configuration. With wing flaps up, the estimated derivatives were degraded most at lower speeds corresponding to that configuration. With wing flaps extended to 10 degrees, the estimated derivatives were degraded most at the higher corresponding speeds. The effects of icing on the changes in longitudinal stability and control derivat

Ranaudo, R. J.↗
NASA NTRS1989

A physical model for earthquakes. III - Thermodynamical approach and its relation to nonclassical theories

An earthquake theory based on fundamental thermodynamical considerations was developed using two principles. The first principle is that physical systems, including fault systems, tend toward a state of minimal Helmholtz free energy, which corresponds to static equilibrium. The second postulate is that, if the system is not at minimal free energy, thermodynamic forces arise which drive the system back toward a minimum. According to this theory, the propagation of a fracture, or the formation of a slip on a frictional surface, are manifestations of the physics which attempt to return the system to minimal free energy. It is shown that the process of return to minimal free energy by the system corresponds to the production of entropy, thereby rendering the process irreversible.

Rundle, John B.↗
NASA NTRS1988

Numerical simulation of the atmospheric response ito the time-varying El Nino SST anomalies during May 1982 through October 1983

An attempt is made to simulate the atmospheric circulation anomalies corresponding to the observed SST anomalies in the Pacific Ocean for the 18-month period of May 1982 through October 1983. A GCM is first integrated for 25 months with monthly climatological boundary conditions of SST, soil moisture, sea, ice, and albedo. Starting from day 165 of this 'control' integration, which corresponds to May 1, the 18-month integration is carried out with the same boundary conditions except that the observed monthly SST anomalies for May 1982-October 1983 are added to the climatological values in the Pacific from 40 S to 60 N. The evolution of the model-simulated circulation and rainfall anomalies are compared to actual observations for the same period, and remarkable agreement is found.

Fennessy, M. J.↗
NASA NTRS1989

Observational constraints on an embedded cloud model for the soft X-ray diffuse background

The reason for the observed anticorrelation between soft X-ray diffuse background (SXRB) and neutral hydrogen column densities are considered. Using the B and C band data from an all-sky survey of the SXRB, as well as data in the Be band, it is shown that the Jakobsen and Kahn (1986) embedded cloud model, in which several statistical properties of the SXRB in the B and C bands were used to constrain their model parameters, cannot fit the observed band ratios, except in the limit in which virtually all of the emission originates in the near side of the absorbing gas. It was also shown that model parameters corresponding to appreciably mixed emission and absorption, as proposed by Bunner et al. (1969) and Davidsen et al. (1972), do not fit the data. Model parameters corresponding to the absorption models of Bowyer et al. (1968), Bunner et al. (1969), Davidsen et al. (1972), and Yentis et al. (1972), cannot fit the data unless the absorbing material is more strongly clumped than is permitted by 21-cm observations.

Burrows, D. N.↗
NASA NTRS1989

Measurements of argon broadened Lorentz width and pressure-induced line shift coefficients in the nu4 band of (C-12)H4

Room temperature argon broadened halfwidth and pressure-induced line shift coefficients have been determined for 118 transitions in the nu4 band of (C-12)H4 from analysis of high resolution laboratory absorption spectra recorded with the McMath Fourier transform spectrometer operated on Kitt Peak by the National Solar Observatory. Transitions up to J-double-prime = 12 have been measured using a nonlinear least-squares spectral fitting procedure. The variation of the measured halfwidth coefficients with symmetry type and rotational quantum number is very similar to that measured previously for N2 and air broadening, but the absolute values of the argon broadening coefficients are all smaller. On average, the ratio of the argon broadened halfwidth coefficient to the corresponding N2 broadened halfwidth coefficient is 0.877 + or - 0.017 (2 Sigma). More than 95 percent of the pressure-induced shifts are negative with values ranging from -0.0081 to +0.0055/cm atm. The pressure shifts in argon are nearly equal to corresponding values measured previously in N2 and air.

Rinsland, Curtis P.↗
NASA NTRS1989

Coordination of two redundant robots

A solution is presented for the optimal force distributions of two redundant coordinating robots. Two robots whose end-effectors firmly grasp a common inertial load form a closed-chain structure, and thus the robots must observe a set of constraint conditions on (1) the end-effector positions, orientations, linear and angular velocities and (2) the forces and torques inserted onto the end-effectors by the load. To achieve the maximum load capability, the optimal force distribution under the known posture is developed. If the robots are redundant, joint solutions may be obtained if some optimization criterion such as manipulability is imposed. The singularity, manipulability, and force ellipsoids are investigated in terms of the two manipulator Jacobian matrices. The manipulability is shown to correspond to the cascade structure, while the force ellipsoid corresponds to the parallel structure in terms of the manipulator Jacobian matrices.

Tao, Jian M.↗
NASA NTRS1989

Novel techniques for data decomposition and load balancing for parallel processing of vision systems: Implementation and evaluation using a motion estimation system

Computer vision systems employ a sequence of vision algorithms in which the output of an algorithm is the input of the next algorithm in the sequence. Algorithms that constitute such systems exhibit vastly different computational characteristics, and therefore, require different data decomposition techniques and efficient load balancing techniques for parallel implementation. However, since the input data for a task is produced as the output data of the previous task, this information can be exploited to perform knowledge based data decomposition and load balancing. Presented here are algorithms for a motion estimation system. The motion estimation is based on the point correspondence between the involved images which are a sequence of stereo image pairs. Researchers propose algorithms to obtain point correspondences by matching feature points among stereo image pairs at any two consecutive time instants. Furthermore, the proposed algorithms employ non-iterative procedures, which results in saving considerable amounts of computation time. The system consists of the following steps: (1) extraction of features; (2) stereo match of images in one time instant; (3) time match of images from consecutive time instants; (4) stereo match to compute final unambiguous points; and (5) computation of motion parameters.

Choudhary, Alok Nidhi↗
NASA NTRS1989

Laboratory evaluation and application of microwave absorption properties under simulated conditions for planetary atmospheres

Radio absorptivity data for planetary atmospheres obtained from spacecraft radio occultation experiments and earth-based radio astronomical observations can be used to infer abundances of microwave absorbing atmospheric constituents in those atmospheres, as long as reliable information regarding the microwave absorbing properties of potential constituents is available. Work performed has shown that laboratory measurements of the millimeter-wave opacity of ammonia between 7.5 mm and 9.3 mm and also at the 3.2 mm wavelength require a different lineshape to be used in the theoretical prediction for millimeter-wave ammonia opacity than was previously used. The recognition of the need to make such laboratory measurements of simulated planetary atmospheres over a range of temperatures and pressures which correspond to the altitudes probed by both radio occultation experiments and radio astronomical observations, and over a range of frequencies which correspond to those used in both radio occultation experiments and radio astronomical observations, has led to the development of a facility at Georgia Tech which is capable of making such measurements. It has been the goal of this investigation to conduct such measurements and to apply the results to a wide range of planetary observations, both spacecraft and earth-based, in order to determine the identity and abundance profiles of constituents in those planetary atmospheres.

Steffes, Paul G.↗
NASA NTRS1989

A knowledge-based machine vision system for space station automation

A simple knowledge-based approach to the recognition of objects in man-made scenes is being developed. Specifically, the system under development is a proposed enhancement to a robot arm for use in the space station laboratory module. The system will take a request from a user to find a specific object, and locate that object by using its camera input and information from a knowledge base describing the scene layout and attributes of the object types included in the scene. In order to use realistic test images in developing the system, researchers are using photographs of actual NASA simulator panels, which provide similar types of scenes to those expected in the space station environment. Figure 1 shows one of these photographs. In traditional approaches to image analysis, the image is transformed step by step into a symbolic representation of the scene. Often the first steps of the transformation are done without any reference to knowledge of the scene or objects. Segmentation of an image into regions generally produces a counterintuitive result in which regions do not correspond to objects in the image. After segmentation, a merging procedure attempts to group regions into meaningful units that will more nearly correspond to objects. Here, researchers avoid segmenting the image as a whole, and instead use a knowledge-directed approach to locate objects in the scene. The knowledge-based approach to scene analysis is described and the categories of knowledge used in the system are discussed.

Chipman, Laure J.↗
NASA NTRS1989

Connectionist model-based stereo vision for telerobotics

Autonomous stereo vision for range measurement could greatly enhance the performance of telerobotic systems. Stereo vision could be a key component for autonomous object recognition and localization, thus enabling the system to perform low-level tasks, and allowing a human operator to perform a supervisory role. The central difficulty in stereo vision is the ambiguity in matching corresponding points in the left and right images. However, if one has a priori knowledge of the characteristics of the objects in the scene, as is often the case in telerobotics, a model-based approach can be taken. Researchers describe how matching ambiguities can be resolved by ensuring that the resulting three-dimensional points are consistent with surface models of the expected objects. A four-layer neural network hierarchy is used in which surface models of increasing complexity are represented in successive layers. These models are represented using a connectionist scheme called parameter networks, in which a parametrized object (for example, a planar patch p=f(h,m sub x, m sub y) is represented by a collection of processing units, each of which corresponds to a distinct combination of parameter values. The activity level of each unit in the parameter network can be thought of as representing the confidence with which the hypothesis represented by that unit is believed. Weights in the network are set so as to implement gradient descent in an energy function.

Hoff, William↗
NASA NTRS1989

Spatial displays as a means to increase pilot situational awareness

Experiences raise a number of concerns for future spatial-display developers. While the promise of spatial displays is great, the cost of their development will be correspondingly large. The knowledge and skills which must be coordinated to ensure successful results is unprecedent. From the viewpoint of the designer, basic knowledge of how human beings perceive and process complex displays appears fragmented and largely unquantified. Methodologies for display development require prototyping and testing with subject pilots for even small changes. Useful characterizations of the range of differences between individual users is nonexistent or at best poorly understood. The nature, significance, and frequency of interpretation errors associated with complex integrated displays is unexplored and undocumented territory. Graphic displays have intuitive appeal and can achieve face validity much more readily than earlier symbolic displays. The risk of misleading the pilot is correspondingly greater. Thus while some in the research community are developing the tools and techniques necessary for effective spatial-display development, potential users must be educated about the issues so that informed choices can be made. The scope of the task facing all is great. The task is challenging and the potential for meaningful contributions at all levels is high indeed.

Fadden, Delmar M.↗
NASA NTRS1989

Experimental verification of dynamic simulation

The dynamics model here is a backhoe, which is a four degree of freedom manipulator from the dynamics standpoint. Two types of experiment are chosen that can also be simulated by a multibody dynamics simulation program. In the experiment, recorded were the configuration and force histories; that is, velocity and position, and force output and differential pressure change from the hydraulic cylinder, in the time domain. When the experimental force history is used as driving force in the simulation model, the forward dynamics simulation produces a corresponding configuration history. Then, the experimental configuration history is used in the inverse dynamics analysis to generate a corresponding force history. Therefore, two sets of configuration and force histories--one set from experiment, and the other from the simulation that is driven forward and backward with the experimental data--are compared in the time domain. More comparisons are made in regard to the effects of initial conditions, friction, and viscous damping.

Yae, K. Harold↗