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All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Bioinspired Engineering of Exploration Systems (BEES) - its Impact on Future Missions

This paper describes an overview of our "Bioinspired Engineering of Exploration Systems for Mars" ( "BEES for Mars") project. The BEES approach distills selected biologically inspired strategies utilizing motion cues/optic flow, bioinspired pattern recognition, biological visual and neural control systems, bioinspired sensing and communication techniques, and birds of prey inspired search and track algorithmic systems. Unique capabilities so enabled, provide potential solutions to future autonomous robotic space and planetary mission applications. With the first series of tests performed in September 2003, August 2004 and September 2004, we have demonstrated the BEES technologies at the El Mirage Dry Lakebed site in the Mojave Desert using Delta Wing experimental prototypes. We call these test flyers the "BEES flyer", since we are developing them as dedicated test platform for the newly developed bioinspired sensors, processors and algorithmic strategies. The Delta Wing offers a robust airframe that can sustain high G launches and offers ease of compact stowability and packaging along with scaling to small size and low ReynOld's number performance for a potential Mars deployment. Our approach to developing light weight, low power autonomous flight systems using concepts distilled from biology promises to enable new applications, of dual use to NASA and DoD needs. Small in size (0.5 -5 Kg) BEES Flyers are demonstrating capabilities for autonomous flight and sensor operability in Mars analog conditions. The BEES project team spans JPL, NASA Ames, Australian National University (ANU), Brigham Young University(BYU), DC Berkeiey, Analogic Computers Inc. and other institutions. The highlights from our recent flight demonstrations exhibiting new Mission enabling capabilities are described. Further, this paper describes two classes of potential new missions for Mars exploration: (1) the long range exploration missions, and (2) observation missions, for real time imaging of critical ephemeral phenomena, that can be enabled by use of BEES flyers. For example, such flyers can serve as a powerful black-box for critical descent and landing data and enablers for improved science missions complementing and supplementing the existing assets like landers and rovers by providing valuable exploration and quick extended low-altitude aerial coverage of the sites of interest by imaging them and distributing instruments to them. Imaging done by orbiters allows broad surface coverage at limited spatial resolution. Low altitude air-borne exploration of Mars offers a means for imaging large areas, perhaps up to several hundred kilometers, quickly and efficiently, providing a close-up birds-eye view of the planetary terrain and close-up approach to constrained difficult areas like canyons and craters. A novel approach to low-mass yet highly capable flyers is enabled by small aircraft equipped using sensors and processors and algorithms developed using BEES technology. This project is focused towards showing the direct impact of blending the best of artificial intelligence attributes and bioinspiration to create a leap beyond existing capability for our future Missions.

navigation↗
NASA NTRS1992

Experimental tests of a superposition hypothesis to explain the relationship between the vestibuloocular reflex and smooth pursuit during horizontal combined eye-head tracking in humans

1. We used a modeling approach to test the hypothesis that, in humans, the smooth pursuit (SP) system provides the primary signal for cancelling the vestibuloocular reflex (VOR) during combined eye-head tracking (CEHT) of a target moving smoothly in the horizontal plane. Separate models for SP and the VOR were developed. The optimal values of parameters of the two models were calculated using measured responses of four subjects to trials of SP and the visually enhanced VOR. After optimal parameter values were specified, each model generated waveforms that accurately reflected the subjects' responses to SP and vestibular stimuli. The models were then combined into a CEHT model wherein the final eye movement command signal was generated as the linear summation of the signals from the SP and VOR pathways. 2. The SP-VOR superposition hypothesis was tested using two types of CEHT stimuli, both of which involved passive rotation of subjects in a vestibular chair. The first stimulus consisted of a "chair brake" or sudden stop of the subject's head during CEHT; the visual target continued to move. The second stimulus consisted of a sudden change from the visually enhanced VOR to CEHT ("delayed target onset" paradigm); as the vestibular chair rotated past the angular position of the stationary visual stimulus, the latter started to move in synchrony with the chair. Data collected during experiments that employed these stimuli were compared quantitatively with predictions made by the CEHT model. 3. During CEHT, when the chair was suddenly and unexpectedly stopped, the eye promptly began to move in the orbit to track the moving target. Initially, gaze velocity did not completely match target velocity, however; this finally occurred approximately 100 ms after the brake onset. The model did predict the prompt onset of eye-in-orbit motion after the brake, but it did not predict that gaze velocity would initially be only approximately 70% of target velocity. One possible explanation for this discrepancy is that VOR gain can be dynamically modulated and, during sustained CEHT, it may assume a lower value. Consequently, during CEHT, a smaller-amplitude SP signal would be needed to cancel the lower-gain VOR. This reduction of the SP signal could account for the attenuated tracking response observed immediately after the brake. We found evidence for the dynamic modulation of VOR gain by noting differences in responses to the onset and offset of head rotation in trials of the visually enhanced VOR.(ABSTRACT TRUNCATED AT 400 WORDS).

Non-NASA Center↗
NASA NTRS1960

Tracking and Orbit-Determination Program of the Jet Propulsion Laboratory

The lunar-probe tracking program at the Jet Propulsion Laboratory has two prime objectives: (1) provide real-time predictions of the direction of the probe from various observation stations; (2) establish a reliable trajectory corresponding to the actual flight path of the probe. The tracking program, although developed for use with lunar probes, can be used for interplanetary probes if certain modifications are made. The program, as developed for the IBM 704 digital computer, has two distinct phases. First, the equations of motion and the variational equations are integrated to each observation time where the elements of the equation A (sub u) equals b [linearization of the maximum likelihood equations] are computed. The second phase is concerned with the solution of a specified subset of A (sub u) equals b. Flexibility and ease of operation have been major objectives in writing the 704 program. The number of data points and tracking stations that may be used is limited only by computing time and core storage. Input formats and operating instructions are presented for utilizing the various computational options available in the program.

Carr, Russell E.↗
NASA NTRS1996

Effectiveness of Interaural Delays Alone as Cues During Dynamic Sound Localization

The contribution of interaural time differences (ITDs) to the localization of virtual sound sources with and without head motion was examined. Listeners estimated the apparent azimuth, elevation and distance of virtual sources presented over headphones. Stimuli (3 sec., white noise) were synthesized from minimum-phase representations of nonindividualized head-related transfer functions (HRTFs); binaural magnitude spectra were derived from the minimum phase estimates and ITDs were represented as a pure delay. During dynamic conditions, listeners were encouraged to move their heads; head position was tracked and stimuli were synthesized in real time using a Convolvotron to simulate a stationary external sound source. Two synthesis conditions were tested: (1) both interaural level differences (ILDs) and ITDs correctly correlated with source location and head motion, (2) ITDs correct, no ILDs (flat magnitude spectrum). Head movements reduced azimuth confusions primarily when interaural cues were correctly correlated, although a smaller effect was also seen for ITDs alone. Externalization was generally poor for ITD-only conditions and was enhanced by head motion only for normal HRTFs. Overall the data suggest that, while ITDs alone can provide a significant cue for azimuth, the errors most commonly associated with virtual sources are reduced by location-dependent magnitude cues.

Wenzel, Elizabeth M.↗
NASA NTRS2022

Atmospheric Lunar Tide in the Low Latitude Thermosphere-Ionosphere

We present simultaneous, independent measurements of the atmospheric semidiurnal lunar tide in neutral winds and plasma velocities from NASA's Ionospheric Connection Explorer, and in atomic oxygen 135.6 nm airglow measured by the Global-scale Observations of the Limb and Disk. Westward tidal winds near 115 km at the magnetic equator occur during part of the upward phase of the in-situ plasma drift. Vertical motions associated with the field-aligned plasma velocity occur away from the magnetic equator. The morphology of the lunar tide, and the phasing between the airglow and plasma velocities are consistent with E × B drift as a mechanism for linking neutral wind and plasma perturbations. This work provides the first observational quantification of global-scale E- and F-region coupling through E × B and field-aligned vertical drifts. Plain Language Summary: Tidal winds propagating upward from the neutral atmosphere influence ionospheric dynamo electric fields and vertical plasma drifts. However, these mechanisms have never been fully identified in comprehensive and simultaneous measurements spanning the ionosphere-thermosphere-mesosphere (ITM) system. The atmospheric lunar tide is an effective marker of ITM coupling because it originates at Earth's surface, propagates vertically, and is fully sampled in daytime-only and post-sunset satellite measurements. We utilize measurements from two new NASA missions to track the lunar tide in neutral and plasma velocities, and in an electron density proxy. Our work provides observational confirmation, and quantitative estimates of F-region vertical plasma motions driven by neutral winds and electrodynamical forces

Ruth S. Lieberman↗
NASA NTRS2007

Deep Space Network Antenna Logic Controller

The Antenna Logic Controller (ALC) software controls and monitors the motion control equipment of the 4,000-metric-ton structure of the Deep Space Network 70-meter antenna. This program coordinates the control of 42 hydraulic pumps, while monitoring several interlocks for personnel and equipment safety. Remote operation of the ALC runs via the Antenna Monitor & Control (AMC) computer, which orchestrates the tracking functions of the entire antenna. This software provides a graphical user interface for local control, monitoring, and identification of faults as well as, at a high level, providing for the digital control of the axis brakes so that the servo of the AMC may control the motion of the antenna. Specific functions of the ALC also include routines for startup in cold weather, controlled shutdown for both normal and fault situations, and pump switching on failure. The increased monitoring, the ability to trend key performance characteristics, the improved fault detection and recovery, the centralization of all control at a single panel, and the simplification of the user interface have all reduced the required workforce to run 70-meter antennas. The ALC also increases the antenna availability by reducing the time required to start up the antenna, to diagnose faults, and by providing additional insight into the performance of key parameters that aid in preventive maintenance to avoid key element failure. The ALC User Display (AUD) is a graphical user interface with hierarchical display structure, which provides high-level status information to the operation of the ALC, as well as detailed information for virtually all aspects of the ALC via drill-down displays. The operational status of an item, be it a function or assembly, is shown in the higher-level display. By pressing the item on the display screen, a new screen opens to show more detail of the function/assembly. Navigation tools and the map button allow immediate access to all screens.

Ahlstrom, Harlow↗
NASA NTRS1979

An objective method for forecasting tropical cyclone intensity and motion using Nimbus-5 ESMR measurements and non-satellite derived descriptors

An empirical analysis program, based on finding an optimal representation of the data was applied to 120 observations of 29 1973 and 1974 North Pacific tropical cyclones. Each observation consists of a field of Nimbus-5 Electrically Scanning Microwave Radiometer radiation measurements at 267 grid points covering and surrounding the tropical cyclone plus nine other non-satellite derived discriptors. Forecast algorithms to estimate storm intensity and motion at 12, 24, 48, and 72 hours after each observation were developed using an independent eigen screening analysis. These algorithms were based on best track data. Independent testing of these algorithms showed that the performance of most of these algorithms were better than persistence and the algorithms forecasting 24, 48, and 72 hour maximum wind speed were better than those made operationally by the Joint Typhoon Warning Center for 1973 and 1974 that did not use best track data.

Hunter, H. E.↗
NASA NTRS1984

Dynamic response of shock waves in transonic diffuser and supersonic inlet - An analysis with the Navier-Stokes equations and adaptive grid

An existing method which solves the multi-dimensional ensemble-averaged compressible time-dependent Navier-Stokes equations in conjunction with mixing length turbulence model and shock capturing technique has been extended to include the shock-tracking adaptive grid systems. The numerical scheme for solving the governing equations is based on a linearized block implicit approach. The effects of grid-motion and grid-distribution on the calculated flow solutions have been studied in relative detail and this is carried out in the context of physically steady, shocked flows computed with non-stationary grids. Subsequently, the unsteady dynamics of the flows occurring in a supercritically operated transonic diffuser and a mixed compression supersonic inlet have been investigated with the adaptive grid systems by solving the Navier-Stokes equations.

Liu, N.-S.↗
NASA NTRS1991

Power optimal single-axis articulating strategies

Power optimal single axis articulating PV array motion for Space Station Freedom is investigated. The motivation is to eliminate one of the articular joints to reduce Station costs. Optimal (maximum power) Beta tracking is addressed for local vertical local horizontal (LVLH) and non-LVLH attitudes. Effects of intra-array shadowing are also presented. Maximum power availability while Beta tracking is compared to full sun tracking and optimal alpha tracking. The results are quantified in orbital and yearly minimum, maximum, and average values of power availability.

Kumar, Renjith R.↗
NASA NTRS1991

Evaluation of an efficient statistical transport model for turbulent droplet dispersion in dilute combusting sprays

Evaluation of an efficient statistical transport model for turbulent droplet dispersion is made for a dilute spray of methanol droplets injected into a turbulent, axisymmnetric methane-fuelled diffusion flame burning in stagnant air. In the dispersion model, a computational parcel representing a group of physical particles (droplets) is considered to have a normal probability density function (pdf) in space. The mean is determined by Lagrangian tracking through a sequence of stochastically generated turbulent eddies and the variance is evaluated from a statistical formulation based on the linearized particle equations of motion. The basic validity of this model is established through comparison with available experimental data and with theoretical predictions using a conventional stochastic direct modeling approach. The conclusion of the evaluation is that the proposed dispersion model compares favorably with experimental data and provides a valid technique for simulating turbulent combusting sprays with significant computational savings over conventional methods.

Litchford, Ron J.↗
NASA NTRS1991

Investigation of air transportation technology at Ohio University, 1990-1991

The status of the Joint University Program is given. Brief synopsis of some areas of research follow. The study of spectrum efficient methods for transmitting weather information to aircraft has resulted in definition of an improved amplitude and phase modulation process which permits reutilization of voice channels for both voice and data. The system is being implemented for testing. Multisensor navigation systems introduce increased flexibility and performance for aviation, at the expense of increased complexity. Insuring a high level of system reliability and integrity requires that faults not only be detected, but also isolated to specific elements, so that the remaining capabilities of the system may be used with confidence. An algorithm was developed. The JUP has served as a vehicle for reporting work accomplished in evoked potential vision tracking experiments to determine the engineering parameters of this input and control method. Application of GPS in an interferometric mode permits accurate measurement of differential motion; aircraft attitude may be determined using GPS only, with multiple antennas.

Lilley, Robert W.↗
NASA NTRS1993

Voyager and Pioneer Missions to the boundaries of the heliosphere

The interaction of the solar wind with the interstellar medium is expected to result in a complex, probably dynamic outer heliospheric boundary region. In increasing distance from the sun the boundary region includes the solar wind termination shock, the heliopause, and perhaps a heliobowshock. The continuing missions of Voyager 1 and 2 and Pioneer 10 and 11 provide a unique opportunity to make in situ particle and field observations of the boundaries of the heliosphere and associated phenomena. Observations already made by these spacecraft suggest that the termination shock may be located 60-100 AU from the sun. Voyager 1 will reach 60 AU in 1995 and 100 AU in 2006. NASA's Space Physics Division is planning with the Voyager and Pioneer Projects to ensure timely and maximum scientific return from spacecraft encounters with the solar wind termination region. Initial emphasis is on being able to reliably determine when an encounter is imminent, so that spacecraft tracking and spacecraft and instrument configurations can be changed to encounter modes. It is anticipated that multiple encounters with heliospheric boundaries will occur due to motion of the boundaries in response to large variations in the solar wind pressure.

Pesses, M. E.↗
NASA NTRS2000

Evaluation of Bogus Vortex Techniques with Four-Dimensional Variational Data Assimilation

The effectiveness of techniques for creating "bogus" vortices in numerical simulations of hurricanes is examined by using the Penn State/NCAR nonhydrostatic mesoscale model (MM5) and its adjoint system. A series of four-dimensional variational data assimilation (4-D VAR) experiments is conducted to generate an initial vortex for Hurricane Georges (1998) in the Atlantic Ocean by assimilating bogus sea-level pressure and surface wind information into the mesoscale numerical model. Several different strategies are tested for improving the vortex representation. The initial vortices produced by the 4-D VAR technique are able to reproduce many of the structural features of mature hurricanes. The vortices also result in significant improvements to the hurricane forecasts in terms of both intensity and track. In particular, with assimilation of only bogus sea-level pressure information, the response in the wind field is contained largely within the divergent component, with strong convergence leading to strong upward motion near the center. Although the intensity of the initial vortex seems to be well represented, a dramatic spin down of the storm occurs within the first 6 h of the forecast. With assimilation of bogus surface wind data only, an expected dominance of the rotational component of the wind field is generated, but the minimum pressure is adjusted inadequately compared to the actual hurricane minimum pressure. Only when both the bogus surface pressure and wind information are assimilated together does the model produce a vortex that represents the actual intensity of the hurricane and results in significant improvements to forecasts of both hurricane intensity and track.

Pu, Zhao-Xia↗
NASA NTRS2019

Simulation of AMVs for OSSEs

An algorithm to simulate locations of atmospheric motion vectors (AMVs) for use in observing system simulation experiments (OSSEs) is described and demonstrated. It is intended to obviate likely deficiencies in nature run data [standard meteorological parameters and aerosol tracers] if used to produce images for feature tracking. The algorithm employs probabilistic functions that are tuned based on distributions of real observations and histograms of nature run fields. For distinct observation types, the algorithm produces geographical and vertical distributions, time - mean counts, and typical spacings of simulated locations that are, at least, qualitatively similar to those of real observations and are associated with nature run cloud and water vapor fields. It thus appears suitable for generating realistic atmospheric motion vectors for use in observing system simulation experiments.

Errico, R. M.↗
NASA NTRS1972

The application of the phase space time evolution method to electron shielding

A computer technique for treating the motion of charged and neutral particles and called the phase space time evolution method was developed. This technique employs the computer's bookkeeping capacity to keep track of the time development of a phase space distribution of particles. This method was applied to a study of the penetration of electrons. A 1 MeV beam of electrons normally incident on a semi-infinite slab of aluminum was used. Results of the calculation were compared with Monte Carlo calculations and experimental results. Time-dependent PSTE electron penetration results for the same problem are presented.

Cordaro, M. C.↗
NASA NTRS1973

A laboratory simulation of a single-axis dual-level precision pointing system

The laboratory simulation of a scaled single-axis dual-level control system for a large space telescope is demonstrated. The dual-level control system consists of a coarse-body-pointing system and a fine-pointing system, which uses an image motion compensator, an image dissector tube, and digital electronics. The results of the simulation indicate that the dual-level system can be used to provide tracking capability within one-tenth of a diffraction-limited image diameter of a 3-meter f/100 telescope for stars up to a +12.3 visual magnitude.

Bullock, G. F.↗
NASA NTRS1991

An introduction to the global positioning system and some geological applications

The fundamental principles of the global positioning system (GPS) are reviewed, with consideration given to geological and geophysical applications and related accuracy requirements. Recent improvements are emphasized which relate to areas such as equipment cost, limitations in the GPS satellite constellation, data analysis, uncertainties in satellite orbits and propagation delays, and problems in resolving carrier phase cycle ambiguities. Earthquake processes and near-fault crustal deformation monitoring have been facilitated by advances in GPS data acquisition and analysis. Horizontal positioning capability has been improved by new satellite constellation, better models, and global tracking networks. New classes of tectonic problems may now be studied through GPS, such as kinematic descriptions of crustal deformation and the measurement of relative plate motion at convergent boundaries. Continued improvements in the GPS are foreseen.

Dixon, T. H.↗
NASA NTRS1999

Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers

An optimal control approach using variable-structure (sliding-mode) tracking for large angle spacecraft maneuvers is presented. The approach expands upon a previously derived regulation result using a quaternion parameterization for the kinematic equations of motion. This parameterization is used since it is free of singularities. The main contribution of this paper is the utilization of a simple term in the control law that produces a maneuver to the reference attitude trajectory in the shortest distance. Also, a multiplicative error quaternion between the desired and actual attitude is used to derive the control law. Sliding-mode switching surfaces are derived using an optimal-control analysis. Control laws are given using either external torque commands or reaction wheel commands. Global asymptotic stability is shown for both cases using a Lyapunov analysis. Simulation results are shown which use the new control strategy to stabilize the motion of the Microwave Anisotropy Probe spacecraft.

John L. Crassidis↗