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At least 775 records · Page 43
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Certainty grids for mobile robots

A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

Moravec, H. P.↗
NASA NTRS1992

Venus gravity: Summary and coming events

The first significant dataset to provide local measures of venusian gravity field variations was that acquired from the Pioneer Venus Orbiter (PVO) during the 1979-1981 period. These observations were S-band Doppler radio signals from the orbiting spacecraft received at Earth-based tracking stations. Early reductions of these data were performed using two quite different techniques. Estimates of the classical spherical harmonics were made to various degrees and orders up to 10. At that time, solutions of much higher degree and order were very difficult due to computer limitations. These reductions, because of low degree and order, revealed only the most prominent features with poor spatial resolution and very reduced peak amplitudes.

Sjogren, W. L.↗
NASA NTRS2002

Impact of TRMM and SSM/I Rainfall Assimilation on Global Analysis and QPF

Evaluation of QPF skills requires quantitatively accurate precipitation analyses. We show that assimilation of surface rain rates derived from the Tropical Rainfall Measuring Mission (TRMM) Microwave Imager and Special Sensor Microwave/Imager (SSM/I) improves quantitative precipitation estimates (QPE) and many aspects of global analyses. Short-range forecasts initialized with analyses with satellite rainfall data generally yield significantly higher QPF threat scores and better storm track predictions. These results were obtained using a variational procedure that minimizes the difference between the observed and model rain rates by correcting the moist physics tendency of the forecast model over a 6h assimilation window. In two case studies of Hurricanes Bonnie and Floyd, synoptic analysis shows that this procedure produces initial conditions with better-defined tropical storm features and stronger precipitation intensity associated with the storm.

Hou, Arthur↗
NASA NTRS2018

Toward Integrated Seasonal Predictions of Land and Ocean Carbon Flux: Lessons from the 2015-16 El Nino

Seasonal forecasts made by coupled atmosphere-ocean general circulation models (GCMs) are increasingly able to provide skillful forecasts of climate anomalies. At some centers, the capabilities of these models are being expanded to represent carbon-climate feedbacks including ocean biogeochemistry (OB), terrestrial biosphere (TB) interactions, and fires. These advances raise the question of whether such models can support skillful forecasts of carbon fluxes.Here, we examine whether land and ocean carbon flux anomalies associated with the 2015-16 El Nino could have been predicted months in advance. This El Nino was noteworthy for the magnitude of the ocean temperature perturbation, the skill with which this perturbation was predicted, and the extensive satellite observations that can be used to track its impact. We explore this topic using NASA's Goddard Earth Observing System (GEOS) model, which routinely produces an ensemble of seasonal climate forecasts, and a suite of offline dynamical and statistical models that estimate carbon flux processes. Using GEOS forecast fields from 2015-16 to force flux model hindcasts shows that these models are able to reproduce significant features observed by satellites. Specifically, OB hindcasts are able to predict anomalies in chlorophyll distributions with lead times of 3-4 months. The ability of TB hindcasts to reproduce NDVI anomalies is driven by the skill of the climate forecast, which is greatest at short lead times over tropical landmasses. Statistical fire forecasts driven by ocean climate indices are able to predict burned area in the tropics with lead times of 3-12 months. We also integrate the ocean and land hindcast fluxes into the GEOS GCM to examine the magnitude of the atmospheric carbon dioxide anomaly and compare with satellite and ground-based observations.While seasonal forecasting remains an active area of research, these results demonstrate that forecasts of carbon flux processes can support a variety of applications, potentially allowing scientists to understand carbon-climate feedbacks as they happen and to capitalize on more flexible satellite technologies that allow areas of interest to be targeted with lead times of weeks to months. We also provide a first glimpse at the spring 2019 carbon forecast using the GEOS-based forecasting system.

Ott, L.↗
NASA NTRSDate not supplied

Observation of Stratospheric Intrusions and Ozone Transport using CrIS SiFSAP Products

The Single Field of View (SFOV) ozone (O3) profiles derived from the Cross-track Infrared Sounder (CrIS) onboard Suomi National Polar-Orbiting Partnership (SNPP), with a high horizontal resolution of approximately 14 km at nadir and good sensitivity to O3 in the upper troposphere and lower stratosphere (UTLS), provide a prominent opportunity to examine stratosphere to troposphere (STT) transport. A process-oriented analysis was performed to examine the fine-scale features of a stratospheric intrusion (SI) event on June 11-13, 2017 in the southwestern US using the CrIS SFOV products together with wind and potential velocity (PV) from models. It was found that the location and strength of O3 enhancement correlate well with the PV contours, and the intrusion depth can be characterized using the vertical cross-sections of O3 and relative humidity (RH). In addition, the capability to use total column ozone (TCO) to identify SI events was confirmed through analysis of TCO from CrIS SFOV and other satellite and reanalysis products. The ozone/PV ratio was derived using SFOV O3 and model PV, and the values, ranging from 23.2 to 35.8 ppbv PVU-1 (1 PV unit (PVU) = 10-6 km2 kg-1 s-1), are in the lower end of previous estimations. These results demonstrate the advantages of the SFOV products in monitoring the fine-scale ozone transport and thermodynamic structure of SI events, as well as their potential value for weather and climate study.

Xiaozhen Xiong↗
NASA NTRS1984

Euro-african MAGSAT Anomaly-tectonic Observations

Preliminary satellite (MAGSAT) scalar magnetic anomaly data are compiled and differentially reduced to radial polarization by equivalent point source inversion for comparison with tectonic data of Africa, Europe and adjacent marine areas. A number of associations are evident to constrain analyses of the tectonic features and history of the region. The Precambrian shields of Africa and Europe exhibit varied magnetic signatures. All shields are not magnetic highs and, in fact, the Baltic shield is a marked minimum. The reduced-to-the-pole magnetic map shows a marked tendency for northeasterly striking anomalies in the eastern Atlantic and adjacent Africa, which is coincident to the track of several hot spots for the past 100 million years. However, there is little consistency in the sign of the magnetic anomalies and the track of the hot spots. Comparison of the radially polarized anomalies of Africa and Europe with other reduced-to-the-pole magnetic satellite anomaly maps of the Western Hemisphere support the reconstruction of the continents prior to the origin of the present-day Atlantic Ocean in the Mesozoic Era.

Hinze, W. J.↗
NASA NTRS1985

Euro-African MAGSAT anomaly-tectonic observations

Preliminary satellite (MAGSAT) scalar magnetic anomaly data are compiled and differentially reduced to radial polarization by equivalent point source inversion for comparison with tectonic data of Africa, Europe and adjacent marine areas. A number of associations are evident to constrain analyses of the tectonic features and history of the region. The Precambrian shields of Africa and Europe exhibit varied magnetic signatures. All shields are not magnetic highs and, in fact, the Baltic shield is a marked minimum. The reduced-to-the-pole magnetic map shows a marked tendency for northeasterly striking anomalies in the eastern Atlantic and adjacent Africa, which is coincident to the track of several hot spots for the past 100 million years. However, there is little consistency in the sign of the magnetic anomalies and the track of the hot spots. Comparison of the radially polarized anomalies of Africa and Europe with other reduced-to-the-pole magnetic satellite anomaly maps of the Western Hemisphere support the reconstruction of the continents prior to the origin of the present-day Atlantic Ocean in the Mesozoic Era.

Hinze, W. J.↗
NASA NTRS2012

Experimental Sonic Boom Measurements on a Mach 1.6 Cruise Low-Boom Configuration

A wind tunnel test has been conducted by Gulfstream Aerospace Corporation (GAC) to measure the sonic boom pressure signature of a low boom Mach 1.6 cruise business jet in the Langley Unitary Plan Wind Tunnel at Mach numbers 1.60 and 1.80. Through a cooperative agreement between GAC and the National Aeronautics and Space Administration (NASA), GAC provided NASA access to some of the experimental data and NASA is publishing these data for the sonic boom research community. On-track and off-track near field sonic boom pressure signatures were acquired at three separation distances (0.5, 1.2, and 1.7 reference body lengths) and three angles of attack (-0.26deg, 0.26deg, and 0.68deg). The model was blade mounted to minimize the sting effects on the sonic boom signatures. Although no extensive data analysis is provided, selected data are plotted to illustrate salient features of the data. All of the experimental sonic boom pressure data are tabulated. Schlieren images of the configuration are also included.

Wilcox, Floyd J., Jr.↗
NASA NTRS2007

Coronas-F Orbit Monitoring and Re-Entry Prediction

Russian scientific satellite CORONAS-F was launched on July, 31, 2001. The object was inserted in near-circular orbit with the inclination 82.5deg and a mean altitude approx. 520 km. Due to the upper atmosphere drag CORONAS-F was permanently descended and as a result on December, 6, 2005 it has finished the earth-orbital flight, having lifetime in space approx. 4.5 years. The satellite structural features and its flight attitude control led to the significant variations of its ballistic coefficient during the flight. It was a cause of some specific difficulties in the fulfillment of the ballistic and navigation support of this space vehicle flight. Besides the main mission objective CORONAS-F also has been selected by the Inter-Agency Space Debris Coordination Committee (IADC) as a target object for the next regular international re-entry test campaign on a program of surveillance and re-entry prediction for the hazard space objects within their de-orbiting phases. Spacecraft (S/C) CORONAS-F kept its working state right up to the end of the flight - down to the atmosphere entry. This fact enabled to realization of the additional research experiments, concerning with an estimation of the atmospheric density within the low earth orbits (LEO) of the artificial satellites, and made possible to continue track the S/C during final phase of its flight by means of Russian regular command & tracking system, used for it control. Thus there appeared a unique possibility of using for tracking S/C at its de-orbiting phase not only passive radar facilities, belonging to the space surveillance systems and traditionally used for support of the IADC re-entry test campaigns, but also more precise active trajectory radio-tracking facilities from the ground control complex (GCC) applied for this object. Under the corresponding decision of the Russian side such capability of additional high-precise tracking control of the CORONAS-F flight in this period of time has been implemented. The organizing of the CORONAS-F ballistic and navigational support (BNS) and solving its main tasks (such as S/C orbit determination (OD) and its motion prediction and connected with them) both for regular mission stage and for additional flight program were realized by the group of specialists from the Mission Control Center (MCC). MCC was also assigned as a principal organization from the Russian side for participation in the 7th IADC re-entry test campaign on CORONAS-F. The CORONAS-F flight features and space environments circumstances during its flight as well as a methodology and technology of spacecraft ballistic and navigational support are given below. The BNS results for different phases of S/C flight, including the results of its re-entry predictions, obtained during the realization of the 7th IADC test campaign are submitted. The accuracy of space vehicle re-entry prediction and its dependence on various factors are analyzed in more details.

Ivanov, N. M.↗
NASA NTRS2017

Neptune Long-Lived Atmospheric Features in 2013 - 2015 from Small (28-cm) to Large (10-m) Telescopes

Since 2013, observations of Neptune with small telescopes (28-50 cm) have resulted in several detections of long-lived bright atmospheric features that have also been observed by large telescopes such as Keck II or Hubble. The combination of both types of images allows the study of the long-term evolution of major cloud systems in the planet. In 2013 and 2014 two bright features were present on the planet at southern mid-latitudes. These may have merged in late 2014, possibly leading to the formation of a single bright feature observed during 2015 at the same latitude. This cloud system was first observed in January 2015 and nearly continuously from July to December 2015 in observations with telescopes in the 2-10-m class and in images from amateur astronomers. These images show the bright spot as a compact feature at −40.1 +/- 1.6 deg planetographic latitude well resolved from a nearby bright zonal band that extended from −42 deg to −20 deg. The size of this system depends on wavelength and varies from a longitudinal extension of 8000 +/- 900 km and latitudinal extension of 6500 +/- 900 km in Keck II images in H and Ks bands to 5100 +/- 1400 km in longitude and 4500 +/- 1400 km in latitude in HST images in 657 nm. Over July to September 2015 the structure drifted westward in longitude at a rate of 24.48 +/- 0.03 deg/day or −94 +/- 3 m/s. This is about 30 m/s slower than the zonal winds measured at the time of the Voyager 2 flyby. Tracking its motion from July to November 2015 suggests a longitudinal oscillation of 16 deg in amplitude with a 90-day period, typical of dark spots on Neptune and similar to the Great Red Spot oscillation in Jupiter. The limited time covered by high-resolution observations only covers one full oscillation and other interpretations of the changing motions could be possible. HST images in September 2015 show the presence of a dark spot at short wavelengths located in the southern flank (planetographic latitude −47.0 deg) of the bright compact cloud observed throughout 2015. The drift rate of the bright cloud and dark spot translates to a zonal speed of −87.0 +/- 2.0 m/s, which matches the Voyager 2 zonal speeds at the latitude of the dark spot. Identification of a few other features in 2015 enabled the extraction of some limited wind information over this period. This work demonstrates the need of frequently monitoring Neptune to understand its atmospheric dynamics and shows excellent opportunities for professional and amateur collaborations.

dynamics↗
NASA NTRS1983

The unique cometary nebula Parsamian 13

Parsamian 13 is found to be a cometary nebula, with a deeply embedded star suffering strong absorption by silicate grains. A feature near 2.7 microns, attributed to absorption by terminal OH groups, may represent the first detection in an astrophysical environment of water ice grains diluted by another molecule, for example by CO. The bolometric luminosity suggests that this star is either an extremely young T Tauri star or an evolved low-mass star, now a red giant, high on its convective track. Most unusual is the presence of cold (50 K) TiO gas in sufficient abundance to show in absorption in the optical and very near-infrared regions; this material probably represents very recently expelled photospheric layers.

Cohen, M.↗
NASA NTRS2019

Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations Using Random Finite Sets

Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.

Schlenker, Lauren↗
NASA NTRS2019

Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations using Random Finite Sets

Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.

Schlenker, Lauren↗
NASA NTRS1971

An Empirical Method for Determining the Lunar Gravity Field

A method has been devised to determine the spherical harmonic coefficients of the lunar gravity field. This method consists of a two-step data reduction and estimation process. In the first step, a weighted least-squares empirical orbit determination scheme is applied to Doppler tracking data from lunar orbits to estimate long-period Kepler elements and rates. Each of the Kepler elements is represented by an independent function of time. The long-period perturbing effects of the earth, sun, and solar radiation are explicitly modeled in this scheme. Kepler element variations estimated by this empirical processor are ascribed to the non-central lunar gravitation features. Doppler data are reduced in this manner for as many orbits as are available. In the second step, the Kepler element rates are used as input to a second least-squares processor that estimates lunar gravity coefficients using the long-period Lagrange perturbation equations.

Ferrari, A. J.↗
NASA NTRS1974

Technology forecasting for space communication. Task one report: Cost and weight tradeoff studies for EOS and TDRS

Weight and cost optimized EOS communication links are determined for 2.25, 7.25, 14.5, 21, and 60 GHz systems and for a 10.6 micron homodyne detection laser system. EOS to ground links are examined for 556, 834, and 1112 km EOS orbits, with ground terminals at the Network Test and Tracking Facility and at Goldstone. Optimized 21 GHz and 10.6 micron links are also examined. For the EOS to Tracking and Data Relay Satellite to ground link, signal-to-noise ratios of the uplink and downlink are also optimized for minimum overall cost or spaceborne weight. Finally, the optimized 21 GHz EOS to ground link is determined for various precipitation rates. All system performance parameters and mission dependent constraints are presented, as are the system cost and weight functional dependencies. The features and capabilities of the computer program to perform the foregoing analyses are described.

Source record↗
NASA NTRS1977

TDRSS performance evaluation for TDRSS services using analytical simulation

An analytical simulation package which can predict bit error rate and tracking performance for nonlinear, bandlimited satellite links was developed for the Tracking and Data Relay Satellite System (TDRSS). It is based on analytical simulation, i.e., a combination of simulation techniques and analytical performance evaluation. This allows the use of a more realistic signal format than is possible with a purely analytical approach and maintains the advantage of short computation time on bandlimited, nonlinear channels with a noisy uplink. The link models and the main features of the program are described and an overview of the mathematical approach is given. Sample results of computer runs are provided for current power budgets and system design parameters for both forward and return links.

Braun, W. R.↗
NASA NTRS1992

Reduction of Marine Magnetic Data for Modeling the Main Field of the Earth

The marine data set archived at the National Geophysical Data Center (NGDC) consists of shipborne surveys conducted by various institutes worldwide. This data set spans four decades (1953, 1958, 1960-1987), and contains almost 13 million total intensity observations. These are often less than 1 km apart. These typically measure seafloor spreading anomalies with amplitudes of several hundred nanotesla (nT) which, since they originate in the crust, interfere with main field modeling. The source for these short wavelength features are confined within the magnetic crust (i.e., sources above the Curie isotherm). The main field, on the other hand, is of much longer wavelengths and originates within the earth's core. It is desirable to extract the long wavelength information from the marine data set for use in modeling the main field. This can be accomplished by averaging the data along the track. In addition, those data which are measured during periods of magnetic disturbance can be identified and eliminated. Thus, it should be possible to create a data set which has worldwide data distribution, spans several decades, is not contaminated with short wavelengths of the crustal field or with magnetic storm noise, and which is limited enough in size to be manageable for the main field modeling. The along track filtering described above has proved to be an effective means of condensing large numbers of shipborne magnetic data into a manageable and meaningful data set for main field modeling. Its simplicity and ability to adequately handle varying spatial and sampling constraints has outweighed consideration of more sophisticated approaches. This filtering technique also provides the benefits of smoothing out short wavelength crustal anomalies, discarding data recorded during magnetically noisy periods, and assigning reasonable error estimates to be used in the least square modeling. A useful data set now exists which spans 1953-1987.

Baldwin, R. T.↗
NASA NTRS2003

Cubic Calorimeter for High-Energy Electrons in Ultra-Long Ballooning

The concept and optimization study of a balloon-borne instrument to study high-energy (from 100 GeV to 5 TeV) cosmic ray electrons will be presented. This energy range of electrons is very interesting for the study of cosmic ray propagation and the search for the nearby sources of high-energy electrons. The instrument is based on a cubic design that allows the detection from all sides. Proton rejection is provided by stringent track analysis, which allows defining when an electron shower is exhausted while the hadron shower continues development. The collecting power of a nominal balloon-borne instrument using this concept will be over 2 square meters sr. This will provide approximately 3,000 electron events above 500 GeV for 3-month long ULDB flight. This instrument will also be capable of detecting sharp features in the high energy gamma-ray spectrum such as gamma-ray lines originating from the dark matter annihilation.

Moiseev, Alexander A.↗