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NASA NTRS1991

Reliable fusion of control and sensing in intelligent machines

Although robotics research has produced a wealth of sophisticated control and sensing algorithms, very little research has been aimed at reliably combining these control and sensing strategies so that a specific task can be executed. To improve the reliability of robotic systems, analytic techniques are developed for calculating the probability that a particular combination of control and sensing algorithms will satisfy the required specifications. The probability can then be used to assess the reliability of the design. An entropy formulation is first used to quickly eliminate designs not capable of meeting the specifications. Next, a framework for analyzing reliability based on the first order second moment methods of structural engineering is proposed. To ensure performance over an interval of time, lower bounds on the reliability of meeting a set of quadratic specifications with a Gaussian discrete time invariant control system are derived. A case study analyzing visual positioning in robotic system is considered. The reliability of meeting timing and positioning specifications in the presence of camera pixel truncation, forward and inverse kinematic errors, and Gaussian joint measurement noise is determined. This information is used to select a visual sensing strategy, a kinematic algorithm, and a discrete compensator capable of accomplishing the desired task. Simulation results using PUMA 560 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗

NASA NTRS1978

Preamplifier Noise in VLF Receivers

Noise specifications for junction field-effect transistors are presented in different ways depending on the particular semiconductor manufacturer. Arithmetic involved in converting these specifications to equivalent RMS noise in microvolts developed at the preamplifier input terminal is reviewed. These methods were useful for estimating the noise performance of high input impedance preamplifiers used with E-field antennas operating in the range of 1 KHz to 10 MHz. Both the JFET MPF-102 transistor and the COS/MOS CA3600 transistor array provided amplification for VLF receivers where the internally generated noise was well below the atmospheric noise level. The CA3600 transistor array provided better performance because of the more symmetrical complementary MOS transistor transfer characteristics than a single N-type biased JFET transistor. The CMOS amplifier resulted in self-compensating gain characteristics over a very wide temperature range from -55 to +125 C.

Burhans, R. W.↗

NASA NTRS1980

Radio frequency arraying method for receivers

A method and apparatus for increasing the signal to noise ratio of a receiving facility for coherent frequency reception by arraying receiving systems using separate antennas for each, or one antenna for all systems are presented. One system is operated with a carrier tracking loop to provide a first local oscillator frequency for the first and all other systems arrayed, with individual tracking loops in all other systems operated at IF for tracking out any phase differences due to separate group delays using an adjustable phase shifter for a second reference to compensate for different group delays in the antenna and low noise amplifier of each of the other systems. The second IF output of all systems is summed into the first system. This technique may also be used when two systems are arrayed to an antenna designed for circular or linear polarization diversity reception to effectively provide the same signal to noise ratio for both polarized signal transmission channels that would result from matched polarization. An arrangement adapted to high rate telemetry reception is disclosed. With additional components, the same arrangement is adapted to provide low rate telemetry reception as well.

Brockman, M. H.↗

NASA NTRS1998

Satellite Microwave Radar Observations of Antarctic Sea Ice

Historical data on Antarctic sea ice extent and concentration have traditionally been derived from visible and near-infrared images acquired by the polar-orbiting National Oceanic and Atmospheric Agency's (NOAA) meteorological satellites, using the Advanced Very High Resolution Radiometer (AVHRR), and more recently by the Defense Meteorological Satellite Program's Operational Linescan System (OLS). The limitation of these systems is that the majority of energy imparted to the Antarctic sea-ice system is transferred during b6y fast-moving low pressure systems. Since the Southern Ocean sea-ice cover is completely bounded at its lower latitude limit by open ocean, these "polar lows" transport large amounts of moisture (contained in warm air masses) over the outer ice cover. The result is that most, if not all, noteworthy periods of wind- and temperature-driven dynamic changes in the ice cover are accompanied by periods where the region is blanketed by cloud, and when the atmosphere is inherently more electromagnetically opaque. During storms, the probability with which the area is cloud covered is extremely high, thereby ruling out use of visible or near-infrared images as a practical method of monitoring the associated changes in ice conditions. Instead, Nimbus-7 Scanning Multichannel Microwave Radiometer (SMMR) and DMSP Special Sensor Microwave/imager (SSM/I) have been the primary workhorses to build up a microwave record of Antarctic sea-ice characteristics. Similar problems, however, occur in passive microwave retrievals of sea-ice concentration, and the algorithms are called into question during these periods of change. The influence of water vapor in the atmosphere alone can modify the ice concentration retrievals by fractions exceeding 105, and that retrievals of ice concentration must compensate for the atmospheric water vapor and liquid water contents.

Drinkwater, Mark R.↗

NASA NTRS1992

Control design of a UH-60 rotorcraft via CLTR and direct optimization

High-performance rotorcraft controller design is characterized by the need to compensate for both the longitudinal and lateral dynamics simultaneously. Rather than leaving these modes largely decoupled, one often needs for performance consideration to incorporate direct mode decoupling as a part of the controller design, especially when the system model includes high-frequency dynamics from the rotor and lag states. In addition to the usual design considerations of stability augmentation, a high-performance rotorcraft such as the UH-60 would also require a good command bandwidth and decoupling in the heave, yaw, pitch and roll command responses. In this paper, the method of closed-loop transfer recovery (CLTR) and direct optimization are applied to the control design of a UH-60 rotorcraft.

Vansteenwyk, Brett↗

NASA NTRS2021

Comparison of Type 2 versus Type 3 Carrier Tracking Loops under High Dynamic Signal Conditions

Virtually all deep-space missions today and in the past employed Type 2 tracking loops in their spacecraft receivers. This was acceptable since the uplink from a single ground antenna makes use of very accurate trajectory information where the radiated frequency is Doppler compensated. However, in the desire to conserve ground resources, the technique of Multiple Uplinks per Antenna (MUPA) is being considered when using a single ground antenna to uplink to a constellation of spacecraft within its beam. This single frequency technique requires the use of non-standard signal acquisition techniques since the constellation may realize different orbits and trajectories around a planetary body leading to varying Doppler offsets and dynamics at each member spacecraft. In such a case, a Type 2 tracking loop may not suffice. An earlier study discussed the various methods for acquiring signals in spacecraft receivers with uncompensated Doppler at the uplink station. In the earlier study, three methods of achieving acquisition and lock were discussed for signals with large Doppler frequency offsets as well as high dynamics; 1) a step-and-sweep signal search algorithm, 2) an FFT signal search algorithm, and, 3) on-board tuning of the signal using uploaded trajectory information or lookup tables. On-board tuning appeared a feasible solution given the trend towards utilizing software-defined radios (SDRs). In the absence of on-board tuning, a search algorithm (e.g., step-and-sweep or FFT) could be utilized in the SDR. One such consideration is in the design of the tracking loop filter, where a Type 3 loop may be more amenable to handling large uncompensated Doppler effects. This report presents an analysis of comparing performance of Type 2 versus Type 3 carrier tracking loops when acquiring and tracking signals with large Doppler dynamics.

Abraham, Douglas↗

NASA NTRS2000

General Purpose Fortran Program for Discrete-Ordinate-Method Radiative Transfer in Scattering and Emitting Layered Media: An Update of DISORT

This update reports a state-of-the-art discrete ordinate algorithm for monochromatic unpolarized radiative transfer in non-isothermal, vertically inhomogeneous, but horizontally homogeneous media. The physical processes included are Planckian thermal emission, scattering with arbitrary phase function, absorption, and surface bidirectional reflection. The system may be driven by parallel or isotropic diffuse radiation incident at the top boundary, as well as by internal thermal sources and thermal emission from the boundaries. Radiances, fluxes, and mean intensities are returned at user-specified angles and levels. DISORT has enjoyed considerable popularity in the atmospheric science and other communities since its introduction in 1988. Several new DISORT features are described in this update: intensity correction algorithms designed to compensate for the 8-M forward-peak scaling and obtain accurate intensities even in low orders of approximation; a more general surface bidirectional reflection option; and an exponential-linear approximation of the Planck function allowing more accurate solutions in the presence of large temperature gradients. DISORT has been designed to be an exemplar of good scientific software as well as a program of intrinsic utility. An extraordinary effort has been made to make it numerically well-conditioned, error-resistant, and user-friendly, and to take advantage of robust existing software tools. A thorough test suite is provided to verify the program both against published results, and for consistency where there are no published results. This careful attention to software design has been just as important in DISORT's popularity as its powerful algorithmic content.

Tsay, Si-Chee↗

DOE OSTI2025

Computational alchemy clarifies origins of alloy strengthening

Solid solution strengthening (SSS) is widely used to enhance mechanical properties of metals. Originally developed for dilute alloys, classical SSS theories are presently challenged by the rise of complex concentrated alloys (CCA) with nearly equiatomic compositions. Here, we propose and develop a method of “computational alchemy” in which interatomic interactions are modified to systematically vary two key physical parameters defining SSS - atomic size misfit and elastic stiffness misfit - over a maximally wide range of two misfits. The resulting alchemical alloys are subjected to massive (~10 8 atoms) molecular dynamics (MD) simulations reproducing full complexity of plastic strength response. At variance with prevailing views, stiffness misfit is observed to contribute to SSS on par if not more than size misfit. Furthermore, depending on exactly how two misfits are combined, they result in synergistic (amplification) or antagonistic (compensation) effect on alloy strengthening. Unlike real CCAs in which each component element comes with its own specific size and stiffness, our alchemical model alloys span the space of two misfits continuously revealing trends in alloy strengthening unrecognized so far. Our study demonstrates unique value of intentionally unrealistic models for gaining deep physical insights into material behaviors that are difficult to reveal otherwise.

36 MATERIALS SCIENCE↗

DOE OSTI2022

Defect-driven anomalous transport in fast-ion conducting solid electrolytes

We report solid-state ionic conduction is a key enabler of electrochemical energy storage and conversion. The mechanistic connections between material processing, defect chemistry, transport dynamics, and practical performance are of considerable importance, but remain incomplete. Here, inspired by studies of fluids and biophysical systems, we re-examine anomalous diffusion in the iconic two-dimensional fast-ion conductors, the β- and β"-aluminas. Using large-scale simulations, we reproduce the frequency dependence of alternating-current ionic conductivity data. We show how the distribution of charge-compensating defects, modulated by processing, drives static and dynamic disorder, which lead to persistent sub-diffusive ion transport at macroscopic timescales. We deconvolute the effects of repulsions between mobile ions, the attraction between the mobile ions and charge-compensating defects, and geometric crowding on ionic conductivity. Our quantitative framework based on these model solid electrolytes connects their atomistic defect chemistry to macroscopic performance with minimal assumptions and enables mechanism-driven 'atoms-to-device' optimization of fast-ion conductors.

25 ENERGY STORAGE↗

DOE OSTI2021

Using Distributed Dynamic Voltage Restorers to Improve the Frequency Stability of Low-Inertia Networked Microgrids

This paper elucidates the novel concept of using distributed dynamic voltage restorers (DVRs), which are traditionally used to compensate for voltage sags, to improve the frequency stability of low-inertia networked microgrids. During frequency transients, the distributed DVRs rapidly regulate load voltages within an acceptable range, resulting in a fast change of load power consumption and helping improve frequency stability. To enable large-scale network simulation, a phasor-based model of DVRs is developed and validated against real data from a commercially available device. Finally, simulation results of a modified IEEE 123-node test feeder that comprises three microgrids and six DVRs verify the effectiveness of the proposed method.

Du, Wei↗

NASA NTRS2005

Linear Thermal Expansion Measurements of Lead Magnesium Niobate (PMN) Electroceramic Material for the Terrestrial Planet Finder Coronagraph

Linear thermal expansion measurements of nine samples of Lead Magnesium Niobate (PMN) electroceramic material were recently performed in support of NASA's Terrestrial Planet Finder Coronagraph (TPF-C) mission. The TPF-C mission is a visible light coronagraph designed to look at roughly 50 stars pre- selected as good candidates for possessing earth-like planets. Upon detection of an earth-like planet, TPF-C will analyze the visible-light signature of the planet's atmosphere for specific spectroscopic indicators that life may exist there. With this focus, the project's primary interest in PMN material is for use as a solid-state actuator for deformable mirrors or compensating optics. The nine test samples were machined from three distinct boules of PMN ceramic manufactured by Xinetics Inc. Thermal expansion measurements were performed in 2005 at NASA Jet Propulsion Laboratory (JPL) in their Cryogenic Dilatometer Facility. All measurements were performed in vacuum with sample temperature actively controlled over the range of 270K to 3 10K. Expansion and contraction of the test samples with temperature was measured using a JPL developed interferometric system capable of sub-nanometer accuracy. Presented in this paper is a discussion of the sample configuration, test facilities, test method, data analysis, test results, and future plans.

Terrestrial Planet Finder (TPF)↗

NASA NTRS2010

Investigation of Loop Heat Pipe Survival and Restart After Extreme Cold Environment Exposure

NASA plans human exploration near the South Pole of the Moon, and other locations where the environment is extremely cold. This paper reports on the heat transfer performance of a loop heat pipe (LHP) exposed to extreme cold under the simulated reduced gravitational environment of the Moon. A common method of spacecraft thermal control is to use a LHP with ammonia working fluid. Typically, a small amount of heat is provided either by electrical heaters or by environmental design, such that the LHP condenser temperature never drops below the freezing point of ammonia. The concern is that a liquid-filled, frozen condenser would not restart, or that a thawing condenser would damage the tubing due to the expansion of ammonia upon thawing. This paper reports the results of an experimental investigation of a novel approach to avoid these problems. The LHP compensation chamber (CC) is conditioned such that all the ammonia liquid is removed from the condenser and the LHP is nonoperating. The condenser temperature is then reduced to below that of the ammonia freezing point. The LHP is then successfully restarted.

Golliher, Eric↗

NASA NTRS2017

Investigation of Desiccants and CO2 Sorbents for Advanced Exploration Systems 2016-2017

Advanced Environmental Control and Life Support System (ECLSS) design is critical for manned space flight beyond Earth. Current systems enable extended missions in low-Earth orbit, but for deep-space missions, not only will astronauts be outside the reach of resupply operations from Earth but they will also need to handle malfunctions and compensate for the degradation of materials. These two daunting challenges must be overcome for long-term independent space flight. In order to solve the first, separation and recycling of onboard atmosphere is required. Current systems utilize space vacuum to fully regenerate CO2 sorbent beds, but this is not sustainable. The second challenge stems from material and performance degradation due to operational cycling and on-board contaminants. This report will review the recent work by the ECLSS team at Marshall Space Flight Center towards overcoming these challenges by characterizing materials via novel methods and by assessing new air revitalization systems.

Knox, Jim↗

NASA NTRS2017

Material Analysis and System Design for Exploration Life Support Systems 2017

Knox, Jim↗

DOE OSTI2022

Tuning the Structural and Magnetic Properties in Mixed Cation Mn x Co 2– x P 2 S 6

The metal thiophosphates (MTP), M 2 P 2 S 6, are a versatile class of van der Waals materials, which are notable for the possibility of tuning their magnetic properties with the incorporation of different transition-metal cations. Further, they also offer opportunities to probe the independent and synergistic role of the magnetically active cation sublattice when coupled to P 2 Q 6 polyhedra. Herein, we report the structural, magnetic, and electronic properties of the series of MTPs, Mn x Co 2– x P 2 S 6 ( x = 0.25, 0.5, 1, 1.5, 1.75) synthesized by the P 2 S 5 flux method. In this work, structural and elemental analysis indicates a homogeneous stoichiometry in the Mn x Co 2– x P 2 S 6 compounds. We observe that a correlation is apparent between the intensities of specific Raman modes and Raman shifts with respect to the alloying ratio between Mn and Co. Magnetic susceptibility measurements indicate that the alloyed systems adopt an ordered antiferromagnetic (AFM) configuration with a dependence of the Néel temperature on the alloying ratio. A possible magnetic frustration behavior was observed for the composition MnCoP 2 S 6 due to magnetic moment compensation as the alloying ratio between Mn and Co approaches parity. Interestingly, mixed oxidation states of the metal cation species are also observed in Mn x Co 2– x P 2 S 6 along with a linear dependence of the work function on the alloying ratio of Mn and Co.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS2010

Multiparallel Three-Dimensional Optical Microscopy

Multiparallel three-dimensional optical microscopy is a method of forming an approximate three-dimensional image of a microscope sample as a collection of images from different depths through the sample. The imaging apparatus includes a single microscope plus an assembly of beam splitters and mirrors that divide the output of the microscope into multiple channels. An imaging array of photodetectors in each channel is located at a different distance along the optical path from the microscope, corresponding to a focal plane at a different depth within the sample. The optical path leading to each photodetector array also includes lenses to compensate for the variation of magnification with distance so that the images ultimately formed on all the photodetector arrays are of the same magnification. The use of optical components common to multiple channels in a simple geometry makes it possible to obtain high light-transmission efficiency with an optically and mechanically simple assembly. In addition, because images can be read out simultaneously from all the photodetector arrays, the apparatus can support three-dimensional imaging at a high scanning rate.

Nguyen, Lam K.↗

NASA NTRS2010

Planning of an Experiment for VLBI Tracking of GNSS Satellites

As a preparation for future possible orbit determination of global navigation satellite system (GNSS) satellites by VLBI observations an initial three-station experiment was planned and performed in January 2009. The goal was to get first experience and to verify the feasibility of using the method for accurate satellite tracking. GNSS orbits related to a satellite constellation can be expressed in the Terrestrial Reference Frame. A comparison with orbit results that might be obtained by VLBI can give valuable information on how the GNSS reference frame and the VLBI reference frame are linked. We present GNSS transmitter specifications and experimental results of the observations of some GLONASS satellites together with evaluations for the expected signal strengths at telescopes. The satellite flux densities detected on the Earth s surface are very high. The narrow bandwidth of the GNSS signal partly compensates for potential problems at the receiving stations, and signal attenuation is necessary. Attempts to correlate recorded data have been performed with different software.

Tornatore, Vincenza↗

NASA NTRS2023

Differential Saccade-Pursuit Coordination Under Sleep Loss and Low-Dose Alcohol

Introduction: Ocular tracking of a moving object requires tight coordination between smooth pursuit and saccadic eye movements. Normally, pursuit drives gaze velocity to closely match target velocity, with residual position offsets corrected by catch-up saccades. However, how/if common stressors affect this coordination is largely unknown. This study seeks to elucidate the effects of acute and chronic sleep loss, and low-dose alcohol, on saccade-pursuit coordination, as well as that of caffeine. Methods: We used an ocular tracking paradigm to assess three metrics of tracking (pursuit gain, saccade rate, saccade amplitude) and to compute “ground lost” (from reductions in steady-state pursuit gain) and “ground recouped” (from increases in steady-state saccade rate and/or amplitude). We emphasize that these are measures of relative changes in positional offsets, and not absolute offset from the fovea. Results: Under low-dose alcohol and acute sleep loss, ground lost was similarly large. However, under the former, it was nearly completely recouped by saccades, whereas under the latter, compensation was at best partial. Under chronic sleep restriction and acute sleep loss with a caffeine countermeasure, the pursuit deficit was dramatically smaller, yet saccadic behavior remained altered from baseline. In particular, saccadic rate remained significantly elevated, despite the fact that ground lost was minimal. Discussion: This constellation of findings demonstrates differential impacts on saccade-pursuit coordination with low-dose alcohol impacting only pursuit, likely through extrastriate cortical pathways, while acute sleep loss not only disrupts pursuit but also undermines saccadic compensation, likely through midbrain/brainstem pathways. Furthermore, while chronic sleep loss and caffeine-mitigated acute sleep loss show little residual pursuit deficit, consistent with uncompromised cortical visual processing, they nonetheless show an elevated saccade rate, suggesting residual midbrain and/or brainstem impacts.

smooth pursuit↗