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At least 595 records · Page 33
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

Interferometric Study of the Ice Stream in Interior Northeast Greenland

Initial work in Greenland with ERS-1 synthetic aperture radar (SAR) imagery led to the discovery of a large ice stream which carries much of the ice discharge from the northeast quadrant of the ice sheet. The ice stream was identified based on the morphology of the surface, which indicated the influence of localized rapid ice flow. Continued investigations using repeat-pass interferometry from ERS-1 and ERS-2 allowed the character of the rapid motion to be determined, mapping the onset region in the deep interior of the ice sheet as well as more rapid motion downstream. Markers were placed on the ice sheet and are being tracked with the global positioning system (GPS) survey to provide tie-points for the interferometry, which will allow the absolute velocities to be determined in this very remote area.

Fahnestock, Mark↗
NASA NTRS1999

Sea Surface Slope Statistics for Intermediate and Shore Scale Ocean Waves Measured Using a Low-Altitude Aircraft

Ocean surface remote sensing techniques often rely on scattering or emission linked to shorter- scale gravity-capillary ocean wavelets. However, it is increasingly apparent that slightly longer wavelengths of O(10 to 500 cm) are vital components in the robust sea surface description needed to link varied global remote sensing data sets. This paper describes a sensor suite developed to examine sea surface slope variations in the field using an aircraft flying at very low altitude (below 30 m) and will also provide preliminary measurements detailing changes in slope characteristics versus sea state and friction velocity. Two-dimensional surface slope is measured using simultaneous range measurements from three compact short-range laser altimeters mounted in an equilateral triangle arrangement with spacing of about 1 m. In addition, all three lasers provide independent wave elevation profiles after GPS-aided correction for aircraft altitude. Laser range precision is 1 cm rms while vertical motion correction is 15 cm rms. The measurements are made along-track at approximately 1 m intervals setting the spatial scale of the measurement to cover waves of intermediate to long scale. Products available for this array then include surface elevation, two-dimensional slope distribution, and the cross- and along-track 1-D slope distributions. To complement the laser, a down-looking mm-wave radar scatterometer is centered within the laser array to measure radar backscatter simultaneously with the laser slope. The radar's footprint is nominally 1 m in diameter. Near-vertical radar backscatter is inversely proportional to the small-scale surface slope variance and to the tilt of the underlying (laser-measured) surface facet. Together the laser and radar data provide information on wave roughness from the longest scales down to about 1 cm. These measurements are complemented by aircraft turbulence probe data that provides robust surface flux information.

Vandemack, Douglas↗
NASA NTRS1998

Minimization of Retinal Slip Cannot Explain Human Smooth-Pursuit Eye Movements

Existing models assume that pursuit attempts a direct minimization of retinal image motion or "slip" (e.g. Robinson et al., 1986; Krauzlis & Weisberger, 1989). Using occluded line-figure stimuli, we have previously shown that humans can accurately pursue stimuli for which perfect tracking does not zero retinal slip (Neurologic ARCO). These findings are inconsistent with the standard control strategy of matching eye motion to a target-motion signal reconstructed by adding retinal slip and eye motion, but consistent with a visual front-end which estimates target motion via a global spatio-temporal integration for pursuit and perception. Another possible explanation is that pursuit simply attempts to minimize slip perpendicular to the segments (and neglects parallel "sliding" motion). To resolve this, 4 observers (3 naive) were asked to pursue the center of 2 types of stimuli with identical velocity-space descriptions and matched motion energy. The line-figure "diamond" stimulus was viewed through 2 invisible 3 deg-wide vertical apertures (38 cd/m2 equal to background) such that only the sinusoidal motion of 4 oblique line segments (44 cd/m2 was visible. The "cross" was identical except that the segments exchanged positions. Two trajectories (8's and infinity's) with 4 possible initial directions were randomly interleaved (1.25 cycles, 2.5s period, Ax = Ay = 1.4 deg). In 91% of trials, the diamond appeared rigid. Correspondingly, pursuit was vigorous (mean Again: 0.74) with a V/H aspect ratio approx. 1 (mean: 0.9). Despite a valid rigid solution, the cross however appeared rigid in 8% of trials. Correspondingly, pursuit was weaker (mean Hgain: 0.38) with an incorrect aspect ratio (mean: 1.5). If pursuit were just minimizing perpendicular slip, performance would be the same in both conditions.

Stone, Leland S.↗
NASA NTRS2003

A Nonlinear, Six-Degree of Freedom Precision Formation Control Algorithm, Based on Restricted Three Body Dynamics

Precision Formation Flying is an enabling technology for a variety of proposed space-based observatories, including the Micro-Arcsecond X-ray Imaging Mission (MAXIM), the associated MAXIM pathfinder mission, and the Stellar Imager. An essential element of the technology is the control algorithm. This paper discusses the development of a nonlinear, six-degree of freedom (6DOF) control algorithm for maintaining the relative position and attitude of a spacecraft within a formation. The translation dynamics are based on the equations of motion for the restricted three body problem. The control law guarantees the tracking error convergences to zero, based on a Lyapunov analysis. The simulation, modelled after the MAXIM Pathfinder mission, maintains the relative position and attitude of a Follower spacecraft with respect to a Leader spacecraft, stationed near the L2 libration point in the Sun-Earth system.

Bauer, Frank↗
NASA NTRS2009

Technical Note: A Time-Dependent I(sub 0) Correction for Solar Occultation Instruments

Solar occultation has proven to be a reliable technique for the measurement of atmospheric constituents in the stratosphere. NASA's Stratospheric Aerosol and Gas Experiments (SAGE, SAGE II, and SAGE III) together have provided over 25 years of quality solar occultation data, a data record which has been an important resource for the scientific exploration of atmospheric composition and climate change. Herein, we describe an improvement to the processing of SAGE data that corrects for a previously uncorrected short-term timedependence in the calibration function. The variability relates to the apparent rotation of the scanning track with respect to the face of the sun due to the motion of the satellite. Correcting for this effect results in a decrease in the measurement noise in the Level 1 line-of-sight optical depth measurements of approximately 40% in the middle and upper stratospheric SAGE II and III where it has been applied. The technique is potentially useful for any scanning solar occultation instrument, and suggests further improvement for future occultation measurements if a full disk imaging system can be included.

Burton, Sharon P.↗
NASA NTRS2007

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗
NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗
NASA NTRS2020

Modeling and Control of Robot-Structure Coupling During In-Space Structure Assembly

This paper considers the problem of robot-structure coupling dynamics during in-space robotic assembly of large flexible structures. A two-legged walking robot is used as a construction agent, whose primary goal is to stably walking on the flexible structure while carrying a substructure component to a designated location. The reaction forces inserted by the structure to the walking robot are treated as bounded disturbance inputs, and a trajectory tracking robotic controller is proposed that combines the standard full state feedback motion controller and an adaptive controller to account for the disturbance inputs. In this study, a reduced-order Euler-Bernoulli beam structure model is adapted, and a finite number of co-located sensors and actuators are distributed along the span of the beam structure. The robot-structure coupling forces are treated as a bounded external forcing function to the structure, and hence an output covariance constraint problem can be formulated, in terms of linear matrix inequality, for optimal structure control by utilizing the direct output feedback controllers. The numerical simulations show the effectiveness of the proposed robot-structure modeling and control methodology.

Swei, Sean↗
NASA NTRS2023

Sea Ice Drift Tracks From Autonomous Buoys in the MOSAiC Distributed Network

A network of autonomous, ice-tethered buoys was deployed around the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) experiment in late September 2019 for a year-long drift in the Arctic Transpolar Drift Stream. The buoys were deployed as part of the MOSAiC distributed network (DN) which included 12 multi-instrumented ice stations and an additional 116 GPS buoys distributed primarily within a 40 km radius of the MOSAiC Central Observatory. Buoy coverage within the DN was maintained with additional deployments throughout the year-long drift allowing for collection of data over a full sea ice growth and melt cycle. All GPS position data from buoys deployed within the DN have been assembled and processed into the collection of 216 quality-controlled buoy drift tracks presented in this dataset covering the period 26 September 2019 – 23 May 2021. The drift tracks in this collection are ideal for studies of dynamic sea ice motion around the MOSAiC experiment at cascading spatial scales ranging from 100s of meters to 100s of km.

Angela C. Bliss↗
DOE OSTI2022

Nanoscale defect evaluation framework combining real-time transmission electron microscopy and integrated machine learning-particle filter estimation

Observation of dynamic processes by transmission electron microscopy (TEM) is an attractive technique to experimentally analyze materials’ nanoscale phenomena and understand the microstructure-properties relationships in nanoscale. Even if spatial and temporal resolutions of real-time TEM increase significantly, it is still difficult to say that the researchers quantitatively evaluate the dynamic behavior of defects. Images in TEM video are a two-dimensional projection of three-dimensional space phenomena, thus missing information must be existed that makes image’s uniquely accurate interpretation challenging. Therefore, even though they are still a clustering high-dimensional data and can be compressed to two-dimensional, conventional statistical methods for analyzing images may not be powerful enough to track nanoscale behavior by removing various artifacts associated with experiment; and automated and unbiased processing tools for such big-data are becoming mission-critical to discover knowledge about unforeseen behavior. We have developed a method to quantitative image analysis framework to resolve these problems, in which machine learning and particle filter estimation are uniquely combined. The quantitative and automated measurement of the dislocation velocity in an Fe-31Mn-3Al-3Si autunitic steel subjected to the tensile deformation was performed to validate the framework, and an intermittent motion of the dislocations was quantitatively analyzed. The framework is successfully classifying, identifying and tracking nanoscale objects; these are not able to be accurately implemented by the conventional mean-path based analysis.

36 MATERIALS SCIENCE↗
NASA NTRS1984

Effects of the motions of a platform-mounted payload on the nutational stability of a dual-spin spacecraft - A Galileo case study

In the presence of spacecraft nutation, tracking of an inertially fixed target by the Galileo scan platform requires the use of two control loops to move the scan platform and the stator in such a way as to compensate for spacecraft motion. The effect of these control loops on spacecraft nutational stability is examined using an eigenvalue analysis approach as well as several computer analysis packages. It was found that the actions of these control loops tend to drive nutation to the point of neutralizing, and even overpowering the damping actions of the spacecraft nutation damper, for pointing directions close to the spacecraft's poles. Stable and unstable zones are mapped out for two sets of spacecraft mass properties, and contributions of rotor asymmetry and stator flexibility are also discussed.

Man, G. K.↗
NASA NTRS2011

Long-Term Evolution of the Aerosol Debris Cloud Produced by the 2009 Impact on Jupiter

We present a study of the long-term evolution of the cloud of aerosols produced in the atmosphere of Jupiter by the impact of an object on 19 July 2009. The work is based on images obtained during 5 months from the impact to 31 December 2009 taken in visible continuum wavelengths and from 20 July 2009 to 28 May 2010 taken in near-infrared deep hydrogen-methane absorption bands at 2.1-2.3 micron. The impact cloud expanded zonally from approximately 5000 km (July 19) to 225,000 km (29 October, about 180 deg in longitude), remaining meridionally localized within a latitude band from 53.5 deg S to 61.5 deg S planetographic latitude. During the first two months after its formation the site showed heterogeneous structure with 500-1000 km sized embedded spots. Later the reflectivity of the debris field became more homogeneous due to clump mergers. The cloud was mainly dispersed in longitude by the dominant zonal winds and their meridional shear, during the initial stages, localized motions may have been induced by thermal perturbation caused by the impact's energy deposition. The tracking of individual spots within the impact cloud shows that the westward jet at 56.5 deg S latitude increases its eastward velocity with altitude above the tropopause by 5- 10 m/s. The corresponding vertical wind shear is low, about 1 m/s per scale height in agreement with previous thermal wind estimations. We found evidence for discrete localized meridional motions with speeds of 1-2 m/s. Two numerical models are used to simulate the observed cloud dispersion. One is a pure advection of the aerosols by the winds and their shears. The other uses the EPIC code, a nonlinear calculation of the evolution of the potential vorticity field generated by a heat pulse that simulates the impact. Both models reproduce the observed global structure of the cloud and the dominant zonal dispersion of the aerosols, but not the details of the cloud morphology. The reflectivity of the impact cloud decreased exponentially with a characteristic timescale of 15 days; we can explain this behavior with a radiative transfer model of the cloud optical depth coupled to an advection model of the cloud dispersion by the wind shears. The expected sedimentation time in the stratosphere (altitude levels 5-100 mbar) for the small aerosol particles forming the cloud is 45-200 days, thus aerosols were removed vertically over the long term following their zonal dispersion. No evidence of the cloud was detected 10 months after the impact.

Sanchez-Lavega, A.↗
NASA NTRS2012

Wavefront Compensation Segmented Mirror Sensing and Control

The primary mirror of very large submillimeter-wave telescopes will necessarily be segmented into many separate mirror panels. These panels must be continuously co-phased to keep the telescope wavefront error less than a small fraction of a wavelength, to ten microns RMS (root mean square) or less. This performance must be maintained continuously across the full aperture of the telescope, in all pointing conditions, and in a variable thermal environment. A wavefront compensation segmented mirror sensing and control system, consisting of optical edge sensors, Wavefront Compensation Estimator/Controller Soft ware, and segment position actuators is proposed. Optical edge sensors are placed two per each segment-to-segment edge to continuously measure changes in segment state. Segment position actuators (three per segment) are used to move the panels. A computer control system uses the edge sensor measurements to estimate the state of all of the segments and to predict the wavefront error; segment actuator commands are computed that minimize the wavefront error. Translational or rotational motions of one segment relative to the other cause lateral displacement of the light beam, which is measured by the imaging sensor. For high accuracy, the collimator uses a shaped mask, such as one or more slits, so that the light beam forms a pattern on the sensor that permits sensing accuracy of better than 0.1 micron in two axes: in the z or local surface normal direction, and in the y direction parallel to the mirror surface and perpendicular to the beam direction. Using a co-aligned pair of sensors, with the location of the detector and collimated light source interchanged, four degrees of freedom can be sensed: transverse x and y displacements, as well as two bending angles (pitch and yaw). In this approach, each optical edge sensor head has a collimator and an imager, placing one sensor head on each side of a segment gap, with two parallel light beams crossing the gap. Two sets of optical edge sensors are used per segment-to-segment edge, separated by a finite distance along the segment edge, for four optical heads, each with an imager and a collimator. By orienting the beam direction of one edge sensor pair to be +45 away from the segment edge direction, and the other sensor pair to be oriented -45 away from the segment edge direction, all six degrees of freedom of relative motion between the segments can be measured with some redundancy. The software resides in a computer that receives each of the optical edge sensor signals, as well as telescope pointing commands. It feeds back the edge sensor signals to keep the primary mirror figure within specification. It uses a feed-forward control to compensate for global effects such as decollimation of the primary and secondary mirrors due to gravity sag as the telescope pointing changes to track science objects. Three segment position actuators will be provided per segment to enable controlled motions in the piston, tip, and tilt degrees of freedom. These actuators are driven by the software, providing the optical changes needed to keep the telescope phased.

Redding, David C.↗
NASA NTRS1998

Development of a Sunspot Tracking System

Large solar flares produce a significant amount of energetic particles which pose a hazard for human activity in space. In the hope of understanding flare mechanisms and thus better predicting solar flares, NASA's Marshall Space Flight Center (MSFC) developed an experimental vector magnetograph (EXVM) polarimeter to measure the Sun's magnetic field. The EXVM will be used to perform ground-based solar observations and will provide a proof of concept for the design of a similar instrument for the Japanese Solar-B space mission. The EXVM typically operates for a period of several minutes. During this time there is image motion due to atmospheric fluctuation and telescope wind loading. To optimize the EXVM performance an image motion compensation device (sunspot tracker) is needed. The sunspot tracker consists of two parts, an image motion determination system and an image deflection system. For image motion determination a CCD or CID camera is used to digitize an image, than an algorithm is applied to determine the motion. This motion or error signal is sent to the image deflection system which moves the image back to its original location. Both of these systems are under development. Two algorithms are available for sunspot tracking which require the use of only one row and one column of image data. To implement these algorithms, two identical independent systems are being developed, one system for each axis of motion. Two CID cameras have been purchased; the data from each camera will be used to determine image motion for each direction. The error signal generated by the tracking algorithm will be sent to an image deflection system consisting of an actuator and a mirror constrained to move about one axis. Magnetostrictive actuators were chosen to move the mirror over piezoelectrics due to their larger driving force and larger range of motion. The actuator and mirror mounts are currently under development.

Taylor, Jaime R.↗
NASA NTRS1980

Equations for determining aircraft motions for accident data

Procedures for determining a comprehensive accident scenario from a limited data set are reported. The analysis techniques accept and process data from either an Air Traffic Control radar tracking system or a foil flight data recorder. Local meteorological information at the time of the accident and aircraft performance data are also utilized. Equations for the desired aircraft motions and forces are given in terms of elements of the measurement set and certain of their time derivatives. The principal assumption made is that aircraft side force and side-slip angle are negligible. An estimation procedure is outlined for use with each data source. For the foil case, a discussion of exploiting measurement redundancy is given. Since either formulation requires estimates of measurement time derivatives, an algorithm for least squares smoothing is provided.

Bach, R. E., Jr.↗
NASA NTRS1995

Implementation of a state of the art automated system for the production of cloud/water vapor motion winds from geostationary satellites

The research objectives in this proposal were part of a continuing program at UW-CIMSS to develop and refine an automated geostationary satellite winds processing system which can be utilized in both research and operational environments. The majority of the originally proposed tasks were successfully accomplished, and in some cases the progress exceeded the original goals. Much of the research and development supported by this grant resulted in upgrades and modifications to the existing automated satellite winds tracking algorithm. These modifications were put to the test through case study demonstrations and numerical model impact studies. After being successfully demonstrated, the modifications and upgrades were implemented into the NESDIS algorithms in Washington DC, and have become part of the operational support. A major focus of the research supported under this grant attended to the continued development of water vapor tracked winds from geostationary observations. The fully automated UW-CIMSS tracking algorithm has been tuned to provide complete upper-tropospheric coverage from this data source, with data set quality close to that of operational cloud motion winds. Multispectral water vapor observations were collected and processed from several different geostationary satellites. The tracking and quality control algorithms were tuned and refined based on ground-truth comparisons and case studies involving impact on numerical model analyses and forecasts. The results have shown the water vapor motion winds are of good quality, complement the cloud motion wind data, and can have a positive impact in NWP on many meteorological scales.

Velden, Christopher↗