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NASA NTRS2004

Proceedings from the 2nd International Symposium on Formation Flying Missions and Technologies

Topics discussed include: The Stellar Imager (SI) "Vision Mission"; First Formation Flying Demonstration Mission Including on Flight Nulling; Formation Flying X-ray Telescope in L2 Orbit; SPECS: The Kilometer-baseline Far-IR Interferometer in NASA's Space Science Roadmap Presentation; A Tight Formation for Along-track SAR Interferometry; Realization of the Solar Power Satellite using the Formation Flying Solar Reflector; SIMBOL-X : Formation Flying for High-Energy Astrophysics; High Precision Optical Metrology for DARWIN; Close Formation Flight of Micro-Satellites for SAR Interferometry; Station-Keeping Requirements for Astronomical Imaging with Constellations of Free-Flying Collectors; Closed-Loop Control of Formation Flying Satellites; Formation Control for the MAXIM Mission; Precision Formation Keeping at L2 Using the Autonomous Formation Flying Sensor; Robust Control of Multiple Spacecraft Formation Flying; Virtual Rigid Body (VRB) Satellite Formation Control: Stable Mode-Switching and Cross-Coupling; Electromagnetic Formation Flight (EMFF) System Design, Mission Capabilities, and Testbed Development; Navigation Algorithms for Formation Flying Missions; Use of Formation Flying Small Satellites Incorporating OISL's in a Tandem Cluster Mission; Semimajor Axis Estimation Strategies; Relative Attitude Determination of Earth Orbiting Formations Using GPS Receivers; Analysis of Formation Flying in Eccentric Orbits Using Linearized Equations of Relative Motion; Conservative Analytical Collision Probabilities for Orbital Formation Flying; Equations of Motion and Stability of Two Spacecraft in Formation at the Earth/Moon Triangular Libration Points; Formations Near the Libration Points: Design Strategies Using Natural and Non-Natural Ares; An Overview of the Formation and Attitude Control System for the Terrestrial Planet Finder Formation Flying Interferometer; GVE-Based Dynamics and Control for Formation Flying Spacecraft; GNC System Design for a New Concept of X-Ray Distributed Telescope; GNC System for the Deployment and Fine Control of the DARWIN Free-Flying Interferometer; Formation Algorithm and Simulation Testbed; and PLATFORM: A Formation Flying, RvD and Robotic Validation Test-bench.

Source record↗
NASA NTRS2019

Sense and Avoid Characterization of the Independent Configurable Architecture for Reliable Operations of Unmanned Systems

Abstract—Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) is a distributed software architecture developed by NASA Langley Research Center to enable safe autonomous UAS operations. ICAROUS consists of a collection formally verified core algorithms for path planning, traffic avoidance, geofence handling, and decision making that interface with an autopilot system through a publisher-subscriber middleware. The ICAROUS Sense and Avoid Characterization (ISAAC) test was designed to evaluate the performance of the onboard Sense and Avoid (SAA) capability to detect potential conflicts with other aircraft and autonomously maneuver to avoid collisions, while remaining within the airspace boundaries of the mission. The ISAAC tests evaluated the impact of separation distances and alerting times on SAA performance. A preliminary analysis of the effects of each parameter on key measures of performance is conducted, informing the choice of appropriate parameter values for different small Unmanned Aircraft Systems (sUAS) applications. Furthermore, low-power Automatic Dependent Surveillance – Broadcast (ADS-B) is evaluated for potential use to enable autonomous sUAS to sUAS deconflictions as well as to provide usable warnings for manned aircraft without saturating the frequency spectrum.

Consiglio, Maria↗
NASA NTRS1990

Theoretical line shapes for rotational spectra of HCl in Ar

An interaction potential for HCl-Ar recently derived from spectra of van der Waals complexes (Hutson,1988) has been used to obtain converged close-coupling scattering S matrices from which pressure broadening (linewidth, line shift, and line coupling) cross sections have been computed within the Fano-Ben-Reuven formalism. Linewidths agree well with experimental data with the exception of the 0-1 line at low temperatures (an error of about 15 percent at 125 K). Line shifts, especially the largest, for the 0-1 line, are also in reasonable accord with experimental data. Line coupling is predicted to be quite small. The coupled-states molecular scattering approximation is found to be accurate except at very low collision energies. The infinite-order sudden approximations, on the other hand, is not reliable for this system. Inelastic scattering out of the spectroscopic levels accounts for only a fraction of the linewidth at thermal energies, especially in the lower rotational levels.

Green, Sheldon↗
NASA NTRS2003

The Formation of Asteroid Satellites in Catastrophic Impacts: Results from Numerical Simulations

We have performed new simulations of the formation of asteroid satellites by collisions, using a combination of hydrodynamical and gravitational dynamical codes. This initial work shows that both small satellites and ejected, co-orbiting pairs are produced most favorably by moderate-energy collisions at more direct, rather than oblique, impact angles. Simulations so far seem to be able to produce systems qualitatively similar to known binaries. Asteroid satellites provide vital clues that can help us understand the physics of hypervelocity impacts, the dominant geologic process affecting large main belt asteroids. Moreover, models of satellite formation may provide constraints on the internal structures of asteroids beyond those possible from observations of satellite orbital properties alone. It is probable that most observed main-belt asteroid satellites are by-products of cratering and/or catastrophic disruption events. Several possible formation mechanisms related to collisions have been identified: (i) mutual capture following catastrophic disruption, (ii) rotational fission due to glancing impact and spin-up, and (iii) re-accretion in orbit of ejecta from large, non-catastrophic impacts. Here we present results from a systematic investigation directed toward mapping out the parameter space of the first and third of these three collisional mechanisms.

Durda, D. D.↗
NASA NTRS2000

Giant Impacts and the Distribution of Planetary Obliquities

We have conducted a set of approximately 200 numerical experiments to test the hypothesis that a giant impact leading to the formation of Earth's Moon could have occurred tens of millions of years after most of the small debris in the inner Solar System had been incorporated into terrestrial planets or been removed from the region. More than half of these simulations ended with a giant impact between two of the five terrestrial planets that were initially present. Neglecting any rotational angular momentum prior to the collision, the merged planet typically has a rotation period of less than five hours. The mean planetary obliquity is 91.7 degrees, and the median is 87.9 degrees; thus, there is no statistically significant difference between the number of bodies with prograde rotation and the number with retrograde rotation. There is a paucity of planets with obliquity close to 90 degrees, but the total number of impacts was too small for this result to be of much significance. Several encounters leading to collisions are dominated by three-body effects, with the velocity at impact being slightly less than the free-space escape velocity of the two bodies; the obliquity distribution produced by these impacts appears to be random.

Lissauer, Jack J.↗
NASA NTRS2014

Reducing Size, Weight, and Power (SWaP) of Perception Systems in Small Autonomous Aerial Systems

The objectives are to examine recent trends in the reduction of size, weight, and power (SWaP) requirements of sensor systems for environmental perception and to explore new technology that may overcome limitations in current systems. Improving perception systems to facilitate situation awareness is critical in the move to introduce increasing autonomy in aerial systems. Whether the autonomy is in the current state-of-the-art of increasing automation or is enabling cognitive decisions that facilitate adaptive behavior, collection of environmental information and fusion of that information into knowledge that can direct actuation is imperative to decisions resulting in appropriate behavior. Artificial sensory systems such as cameras, radar, LIDAR, and acoustic sensors have been in use on aircraft for many years but, due to the large size and weight of the airplane and electrical power made available through powerful engines, the SWaP requirements of these sensors was inconsequential. With the proliferation of Remote Piloted Vehicles (RPV), the trend is in significant reduction in SWaP of the vehicles. This requires at least an equivalent reduction in SWaP for the sensory systems. A survey of some currently available sensor systems and changing technology will reveal the trend toward reduction of SWaP of these systems and will predict future reductions. A new technology will be introduced that provides an example of a desirable new trend. A new device replaces multiple conventional sensory devices facilitating synchronization, localization, altimetry, collision avoidance, terrain mapping, and data communication in a single integrated, small form-factor, extremely lightweight, and low power device that it is practical for integration into small autonomous vehicles and can facilitate cooperative behavior. The technology is based on Ultra WideBand (UWB) radio using short pulses of energy rather than continuous sine waves. The characteristics of UWB yield several desirable characteristics to facilitate integration of perception for autonomous activities. The capabilities of this device and its limitations will be assessed.

Jones, Kennie H.↗
NASA NTRS2012

Hydrocarbons on Saturns Satellites: Relationship to Interstellar Dust and the Solar Nebula

To understand the origin and evolution of our Solar System, and the basic components that led to life on Earth, we study interstellar and planetary spectroscopic signatures. The possible relationship of organic material detected in carbonaceous meteorites, interplanetary dust particles (IDPs), comets and the interstellar medium have been the source of speculation over the years as the composition and processes that governed the early solar nebula have been explored to understand the extent to which primitive material survived or became processed. The Cassini VIMS has provided new data relevant to this problem. Three of Saturn's satellites, Phoebe, Iapetus, and Hyperion, are found to have aromatic and aliphatic hydrocarbons on their surfaces. The aromatic hydrocarbon signature (C-H stretching mode at 3.28 micrometers) is proportionally significantly stronger (relative to the aliphatic bands) than that seen in other Solar System bodies (e.g., comets) and materials (Stardust samples, IDPs, meteorites) and the distinctive sub-features of the 3.4 micrometer aliphatic band (CH2 and CH3 groups) are reminiscent of those widely detected throughout the diffuse ISM. Phoebe may be a captured object that originated in the region beyond the present orbit of Neptune, where the solar nebula contained a large fraction of original interstellar ice and dust that was less processed than material closer to the Sun. Debris from Phoebe now resident on Iapetus and Hyperion, as well as o Phoebe itself, thus presents a unique blend of hydrocarbons, amenable to comparisons with interstellar hydrocarbons and other Solar System materials. The dust ring surrounding Saturn, in which Phoebe is embedded, probably originated from a collision with Phoebe. Dust ring particles are the likely source of the organic-bearing materials, and perhaps the recently identified small particles of Fe detected on Saturn's satellites. Lab measurements of the absolute band strengths of representative aliphatic and aromatic molecules, together with measurements from the VIMS data, allow us to calculate the number of C atoms to find the relative abundances of C atoms in the two kinds of organic molecules. The strength of the prominent aromatic C-H stretch band relative to the aliphatic band complex in Phoebe and Iapetus indicates that the relative abundance of aromatic to aliphatic carbon is very large (greater than 200). In contract, the aromatic band is nearly imperceptible in spectra of interplanetary dust particles (IDP), returned samples from comet 91P/Wild 2, insoluable carbonaceous material in most meteorites, and the diffuse interstellar dust (DISM) (although aromatics are known in all these materials-here we consider only the spectroscopic signature)

Cruikshank, D. P.↗
NASA NTRS2015

BILLIARDS: Baseline Instrumented Lithology Lander, Inspector and Asteroid Redirection Demonstration System

BILLIARDS Baseline Instrumented Lithology Lander, Inspector, and Asteroid Redirection Demonstration System Proposed demonstration mission for Billiard-Ball concept Select asteroid pair with natural close approach to minimize cost and complexity Primary Objectives Rendezvous with a small (10m), near Earth (alpha) asteroid Maneuver the alpha asteroid to a collision with a 100m (beta) asteroid Produce a detectable deflection or disruption of the beta asteroid Secondary objectives Contribute knowledge of asteroid composition and characteristics Contribute knowledge of small-body formation Opportunity for international collaboration

Asteroid Redirection↗
NASA NTRS2015

Active Collision Avoidance for Planetary Landers

The use of automotive radar systems are being evaluated for collision avoidance in planetary landers. Our focus is to develop a low-cost, light-weight collision avoidance system that overcomes the drawbacks identified with optical-based systems. We also seek to complement the Autonomous Landing and Hazard Avoidance Technology system by providing mission planners an alternative system that can be used on low-cost, small robotic missions and in close approach. Our approach takes advantage of how electromagnetic radiation interacts with solids. As the wavelength increases, the sensitivity of the radiation to isolated solids of a specific particle size decreases. Thus, rocket exhaust-blown dust particles, which have major significance in visible wavelengths, have much less significance at radar wavelengths.

Rickman, Doug↗
NASA NTRS2012

Collisional Histories of Comets and Trojan Asteroids: Diopside, Magnesite, and Fayalite Impact Studies

Comets and asteroids have weathered dynamic histories, as evidenced by their rough surfaces. The Nice model describes a violent reshuffling of small bodies during the Late Heavy Bombardment, with collisions acting to grind these planetesimals away. This creates an additional source of impact material that can re-work the surfaces of the larger bodies over the lifetime of the solar system. Here, we investigate the possibility that signatures due to impacts (e.g. from micrometeoroids or meteoroids) could be detected in their spectra, and how that can be explained by the physical manifestation of shock in the crystalline structure of minerals. All impact experiments were conducted in the Johnson Space Center Experimental Impact Laboratory using the vertical gun. Impact speeds ranged from approx.2.0 km/s to approx.2.8 km/s. All experiments were conducted at room temperature. Minerals found in comets and asteroids were chosen as targets, including diopside (MgCaSi2O6, monoclinic pyroxene), magnesite (MgCO3, carbonate), and fayalite (FeSiO4, olivine). Impacted samples were analyzed using a Fourier Transform Infrared Spectrometer (FTIR) and a Transmission Electron Microscope (TEM). Absorbance features in the 8-13 m spectral region demonstrate relative amplitude changes as well as wavelength shifts. Corresponding TEM images exhibit planar shock dislocations in the crystalline structure, attributed to deformation at high strain and low temperatures. Elongating or shortening the axes of the crystalline structure of forsterite (Mg2SiO4, olivine) using a discrete dipole approximation model (Lindsay et al., submitted) yields changes in spectral features similar to those observed in our impacted laboratory minerals.

Lederer, S. M.↗
NASA NTRS1976

Post-Newtonian gravitational radiation from orbiting point masses

General formulas are derived which describe the gravitational radiation at large distances from a system of bodies whose sizes are small compared with their separations. The calculation is carried out through post-Newtonian order within general relativity. More explicit formulas are derived for two-body systems, and detailed results are presented for circular orbits, gravitational bremsstrahlung, and head-on collisions.

Wagoner, R. V.↗
NASA NTRS1999

External Pulsed Plasma Propulsion and Its Potential for the Near Future

This paper examines External Pulsed Plasma Propulsion (EPPP), a propulsion concept that derives its thrust from plasma waves generated from a series of small, supercritical fission/fusion pulses behind an object in space. For spacecraft applications, a momentum transfer mechanism translates the intense plasma wave energy into a vehicle acceleration that is tolerable to the rest of the spacecraft and its crew. This propulsion concept offers extremely high performance in terms of both specific impulse (Isp) and thrust-to-weight ratio, something that other concepts based on available technology cannot do, The political concerns that suspended work on this type of system (i.e. termination of Project ORION) may now not be as insurmountable as they were in 1965. The appeal of EPPP stems from its relatively low cost and reusability, fast interplanetary transit times, safety and reliability, and independence from major technological breakthroughs. In fact, a first generation EPPP system based on modern-day technology (i.e., GABRIEL - an evolutionary framework- of EPPP concepts) may very well be the only form of propulsion that could realistically be developed to perform ambitious human exploration beyond Mars in the 21st century. It could also provide the most effective approach for deterrence against collision between earth and small planetary objects - a growing concern over recent years.

Bonometti, J. A.↗
NASA NTRS1987

Collisional dynamics of perturbed particle disks in the solar system

Investigations of the collisional evolution of particulate disks subject to the gravitational perturbation of a more massive particle orbiting within the disk are underway. Both numerical N-body simulations using a novel collision algorithm and analytical kinetic theory are being employed to extend our understanding of perturbed disks in planetary rings and during the formation of the solar system. Particular problems proposed for investigation are: (1) The development and testing of general criteria for a small moonlet to clear a gap and produce observable morphological features in planetary rings; (2) The development of detailed models of collisional damping of the wavy edges observed on the Encke division of Saturn's A ring; and (3) The determination of the extent of runaway growth of the few largest planetesimals during the early stages of planetary accretion.

Roberts, W. W.↗
NASA NTRS2004

Buffer Gas Experiments in Mercury (Hg+) Ion Clock

We describe the results of the frequency shifts measured from various buffer gases that might be used as a buffer gas to increase the loading efficiency and cooling of ions trapped in a small mercury ion clock. The small mass, volume and power requirement of space clock precludes the use of turbo pumps. Hence, a hermetically sealed vacuum system, incorporating a suitable getter material with a fixed amount of inert buffer gas may be a practical alternative to the groundbased system. The collision shifts of 40,507,347.996xx Hz clock transition for helium, neon and argon buffer gases were measured in the ambient earth magnetic field. In addition to the above non-getterable inert gases we also measured the frequency shifts due to getterable, molecular hydrogen and nitrogen gases which may be used as buffer gases when incorporated with a miniature ion pump. We also examined the frequency shift due to the low methane gas partial pressure in a fixed higher pressure neon buffer gas environment. Methane gas interacted with mercury ions in a peculiar way as to preserve the ion number but to relax the population difference in the two hyperfine clock states and thereby reducing the clock resonance signal. The same population relaxation was also observed for other molecular buffer gases (N H ,) but at much reduced rate.

mercury ion clock↗
NASA NTRS2018

USA Space Debris Environment, Operations, and Research Updates

Space Missions in 2017 Earth Satellite Population Collision Avoidance Maneuvers Post mission Disposal of U.S.A. Spacecraft Space Situational Awareness (SSA) and the Space Debris Sensor (SDS) A total of 86 space launches placed more than 400 spacecraft into Earth orbits during 2017, following the trend of increase over the past decade NASA has established conjunction assessment processes for its human spaceflight and uncrewed spacecraft to avoid accidental collisions with objects tracked by the U.S. Space Surveillance Network - NASA also assists other U.S. government spacecraft owners with conjunction assessments and subsequent maneuvers The ISS has conducted 25 debris collision avoidance maneuvers since 1999 - None in 2016-2017, but an ISS visiting vehicle had one collision avoidance maneuver in 2017 During 2017 NASA executed or assisted in the execution of 21 collision avoidance maneuvers by uncrewed spacecraft - Four maneuvers were conducted to avoid debris from Fengyun-1C - Two maneuvers were conducted to avoid debris from the collision of Cosmos 2251 and Iridium 33 - One maneuver was conducted to avoid the ISS NASA has established conjunction assessment processes for its human spaceflight and uncrewed spacecraft to avoid accidental collisions with objects tracked by the U.S. Space Surveillance Network - NASA also assists other U.S. government spacecraft owners with conjunction assessments and subsequent maneuvers The ISS has conducted 25 debris collision avoidance maneuvers since 1999 - None in 2016-2017, but an ISS visiting vehicle had one collision avoidance maneuver in 2017 During 2017 NASA executed or assisted in the execution of 21 collision avoidance maneuvers by uncrewed spacecraft - Four maneuvers were conducted to avoid debris from Fengyun-1C - Two maneuvers were conducted to avoid debris from the collision of Cosmos 2251 and Iridium 33 The 2014-15 NASA Engineering and Safety Center (NESC) study on the micrometeoroid and orbital debris (MMOD) assessment for the Joint Polar Satellite System (JPSS) provided the following findings - Millimeter-sized orbital debris pose the highest penetration risk to most operational spacecraft in LEO - The most effective means to collect direct measurement data on millimetersized debris above 600 km altitude is to conduct in situ measurements - There is currently no in situ data on such small debris above 600 km altitude Since the orbital debris population follows a power-law size distribution, there are many more millimeter-sized debris than the large tracked objects - Current conjunction assessments and collision avoidance maneuvers against the tracked objects (which are typically 10 cm and larger) only address a small fraction (<1%) of the mission-ending risk from orbital debris To address the millimeter-sized debris data gap above 600 km, NASA has recently developed an innovative in situ measurement instrument - the Space Debris Sensor (SDS) - One maneuver was conducted to avoid the ISS

Liou, J.-C.↗
NASA NTRS2019

Airborne Radar for sUAS Sense and Avoid

A primary challenge for the safe integration of small UAS operations into the National Airspace System (NAS) is traffic deconfliction, both from manned and unmanned aircraft. The UAS Traffic Management (UTM) project being conducted at the National Aeronautics and Space Administration (NASA) considers a layered approach to separation provision, ranging from segregation of operations through airspace volumes (geofences) to autonomous sense and avoid (SAA) technologies for higher risk, densely occupied airspace. Cooperative SAA systems, such as Automatic Dependent Surveillance-Broadcast (ADS-B) and/or vehicle-to-vehicle communication systems provide significant additional risk mitigation but they fail to adequately mitigate collision risks for non-cooperative (non-transponder equipped) airborne aircraft. The RAAVIN (Radar on Autonomous Aircraft to Verify ICAROUS Navigation) flight test being conducted by NASA and the Mid-Atlantic Aviation Partnership (MAAP) was designed to investigate the applicability and performance of a prototype, commercially available sUAS radar to detect and track non-cooperative airborne traffic, both manned and unmanned. The radar selected for this research was a Frequency Modulated Continuous Wave (FMCW) radar with 120 degree azimuth and 80 degree elevation field of view operating at 24.55GHz center frequency with a 200 MHz bandwidth. The radar transmits 2 watts of power thru a Metamaterial Electronically Scanning Array antenna in horizontal polarization. When the radar is transmitting, personnel must be at least 1 meter away from the active array to limit nonionizing radiation exposure. The radar physical dimensions are 18.7cm by 12.1cm by 4.1cm and it weighs less than 820 grams making it well suited for installation on small UASs. The onboard, SAA capability, known as ICAROUS, (Independent Configurable Architecture for Reliable Operations of Unmanned Systems), developed by NASA to support sUAS operations, will provide autonomous guidance using the traffic radar tracks from the onboard radar. The RAAVIN set of studies will be conducted in three phases. The first phase included outdoor, ground-based radar evaluations performed at the Virginia Tech’s Kentland Farm testing range in Blacksburg, VA. The test was designed to measure how well the radar could detect and track a small UAS flying in the radar’s field of view. The radar was used to monitor 5 test flights consisting of outbound, inbound and crossing routes at different ranges and altitudes. The UAS flown during the ground test was the Inspire 2, a quad copter weighing less than 4250 grams (10 pounds) at maximum payload. The radar was set up to scan and track targets over its full azimuthal field of view from 0 to 40 degrees in elevation. The radar was configured to eliminate tracks generated from any targets located beyond 2000 meters from the radar and moving at velocities under 1.45 meters per second. For subsequent phases of the study the radar will be integrated with a sUAS platform to evaluate its performance in flight for SAA applications ranging from sUAS to manned GA aircraft detections and tracking. Preliminary data analysis from the first outdoor ground tests showed the radar performed well at tracking the vehicle as it flew outbound and repeatedly maintained a track out to 1000 meters (maximum 1387 meters) until the vehicle slowed to a stop to reverse direction to fly inbound. As the Inspire flew inbound tracks from beyond 800 meters, a reacquisition time delay was consistently observed between when the Inspire exceeds a speed of 1.45 meters per second and when the radar indicated an inbound target was present and maintained its track. The time delay varied between 6 seconds to over 37 seconds for the inbound flights examined, and typically resulted in about a 200 meter closure distance before the Inspire track was maintained. The radar performed well at both acquiring and tracking the vehicle as it flew crossing routes out past 400 meters across the azimuthal field of view. The radar and ICAROUS software will be integrated and flown on a BFD-1400-SE8-E UAS during the next phase of the RAAVIN project. The main goal at the conclusion of this effort is to determine if this radar technology can reliably support minimum requirements for SAA applications of sUAS. In particular, the study will measure the range of vehicle detections, lateral and vertical angular errors, false and missed/late detections, and estimated distance at closest point of approach after an avoidance maneuver is executed. This last metric is directly impacted by sensor performance and indicates its suitability for the task.

Szatkowski, George N.↗
NASA NTRS1983

Cloud-particle galactic gas dynamics and star formation

Galactic gas dynamics, spiral structure, and star formation are discussed in relation to N-body computational studies based on a cloud-particle model of the interstellar medium. On the small scale, the interstellar medium is seen as cloud-dominated and supernova-perturbed. It is noted that the cloud-particle model simulates cloud-cloud collisions, the formation of stellar associations, and supernova explosions as dominant local processes. On the large scale, in response to a spiral galactic gravitational field, global density waves and galactic shocks develop having large-scale characteristics similar to those found in continuum gas dynamical studies. Both the system of gas clouds and the system of young stellar associations forming from the clouds figure in the global spiral structure. However, with the attributes of neither assuming a continuum of gas (as in continuum gas dynamical studies) or requiring a prescribed equation of state (such as the isothermal condition), the cloud-particle picture retains much of the detail lost in earlier work. By detail is meant the small-scale features and structures so important in understanding the local, turbulent state of the interstellar medium as well as the degree of raggedness often seen to be superposed on the global spiral structure.

Roberts, W. W., Jr.↗
NASA NTRS1992

Proportional proximity sensing for telerobots using Coherent Laser Radar

The ability of a telerobotic manipulator to operate in confined spaces while avoiding unwanted collisions is enhanced by the accurate sensing of its proximate environment. To achieve the fidelity required for precise manipulator control, a proportional proximity sensor system with a sufficiently large measurement envelope is required. Current proximity sensors provide a binary indication of the presence of obstacles within a small envelope with coarse or no proportional measurement of their location. A proportional proximity sensor system configured as a Frequency Modulated Continuous Wave (FMCW) Coherent Laser Radar (CLR) using a semiconductor laser as the energy source is described and analyzed. The source and reflected energies mix coherently to generate a radio frequency (RF) signal whose frequency is proportional to the range. The system is tested for accuracy, range, depth of range, speed, and sensitivity and the results are presented. Techniques to derive orientation information and an application to telerobotic control are also described.

Vazquez, Sixto L.↗