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All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Robot Tracking of Human Subjects in Field Environments

Future planetary exploration will involve both humans and robots. Understanding and improving their interaction is a main focus of research in the Intelligent Systems Branch at NASA's Johnson Space Center. By teaming intelligent robots with astronauts on surface extra-vehicular activities (EVAs), safety and productivity can be improved. The EVA Robotic Assistant (ERA) project was established to study the issues of human-robot teams, to develop a testbed robot to assist space-suited humans in exploration tasks, and to experimentally determine the effectiveness of an EVA assistant robot. A companion paper discusses the ERA project in general, its history starting with ASRO (Astronaut-Rover project), and the results of recent field tests in Arizona. This paper focuses on one aspect of the research, robot tracking, in greater detail: the software architecture and algorithms. The ERA robot is capable of moving towards and/or continuously following mobile or stationary targets or sequences of targets. The contributions made by this research include how the low-level pose data is assembled, normalized and communicated, how the tracking algorithm was generalized and implemented, and qualitative performance reports from recent field tests.

Graham, Jeffrey↗
DOE OSTI2017

A Review of Underground Coal Gasification Research and Development in the United States

An intense and productive period of research and development on underground coal gasification (UCG) took place in the United States from the mid-1970’s through the late 1980’s. It began with the translation and review of Soviet literature and ended with the Rocky Mountain 1 field test. This demonstrated the feasibility of newly-developed technologies that form the basis of many UCG projects around the world today. This period began with little domestic understanding of UCG and ended with an accurate observation-based conceptual model and a corresponding predictive multi-physics mathematical model of the process. The many accomplishments of this period form the main content of this report. This report also covers recent U.S. activities and accomplishments during the period 2004-2015, and touches briefly on the Bureau of Mines efforts between 1948 and 1963. Most of the activities were funded by the United States Department of Energy and its predecessors. While private/commercially-funded activities are reviewed here, the emphasis is on government-funded work. It has a much greater extent of publicly available reports and papers, and they generally contain much greater technical detail. Field tests were the marquis activities around which an integrated multi-faceted program was built. These are described in detail in Section 4. Highlights from modeling efforts are briefly covered, as the program was integrated and well-rounded, with field results informing models and vice-versa. The primary goal of this report is to review what has been learned about UCG from the U.S. experience in aggregate. This includes observations, conclusions, lessons-learned, phenomena understood, and technology developed. The latter sections of this report review these things.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2011

Demonstration Results From Greenhouse Heating with Liquified Wood

A boiler fuel known as Lignocellulosic Boiler Fuel (LBF) was developed at the Department of Forest Products, Mississippi State University for potential application for heating agricultural buildings. LBF was field tested to heat green houses in cooperation with Natchez Trace Greenhouses (NTG) located in Kosciusko, Mississippi. MSU modified an idled natural gas boiler located at NTG to combust the LBF. Thirty gallons of bio-oil were produced at the MSU Bio-oil Research Laboratory. The bio-oil was produced from the fast-pyrolysis of southern pine (15 gal) and white oak (15 gal) feedstocks and subsequently upgraded by a proprietary process. Preliminary field testing was conducted at (NTG). The LBF was produced from each wood species was tested separately and co-fed with diesel fuel to yield three fuel formulations: (1) 100% diesel; (2) 87.5% LBF from southern pine bio-oil co-fed with 12.5% diesel and (3) 87.5% LBF from white oak co-fed with 12.5% diesel fuel formulations. Each fuel formulation was combusted in a retrofit NTG boiler. Fuel consumption and water temperature were measured periodically. Flue gas from the boiler was analyzed by gas chromatograph. The 100% diesel fuel increased water temperature at a rate of 4 °F per min. for 35 min. to achieve the target 140 °F water temperature increase. The 87.5% pine LBF fuel cofed with 12.5%) diesel attained the 140 °F water temperature increase in 62 min. at a rate of 2.3 °F per min. The 87.5% white oak LBF fuel co-fed with 12.5% diesel reached the 140 °F water temperature increase in 85 min. at a rate of 1.6 °F per min. Fuel that contained 87.5% pine LBF co-fed with 12.5% diesel yielded nitrogen and oxygen at a ratio of 5.3 and carbon dioxide and carbon monoxide at a ratio of 22.2. Fuel formulations that contained 87.5% white oak LBF co-fed with 12.5% diesel yielded nitrogen and oxygen at a ratio of 4.9 and carbon dioxide and carbon monoxide at a ratio of 16.4. Neither the pine LBF nor the white oak LBF fuel showed any measureable methane emissions from the NTG boiler flue gas. These results indicate a viable potential for mildly upgraded bio-oil to become an alternative fuel source for greenhouse operations.

Greenhouse, heating, fuel, bio-oil, pyrolysis, woo↗
NASA NTRS1983

Doppler lidar signal and turbulence study

Comparison of the second moments of the Doppler lidar signal with aircraft and tower measured parameters is being carried out. Lidar binary data tapes were successfully converted to ASCII Code on the VAX 11/780. These data were used to develop the computer programs for analyzing data from the Marshall Space Flight Center field test. Raw lidar amplitude along the first 50 forward and backward beams of Run No. 2, respectively was plotted. Plotting techniques for the same beams except with the amplitude thresholded and range corrected were developed. Plotting routines for the corresponding lidar width of the first 50 forward and backward beams were also established. The relationship between raw lidar amplitude and lidar width was examined. The lidar width is roughly constant for lidar amplitudes less than 120 dB. A field test with the NASA/MSFC ground based Doppler lidar, the instrumented NASA B-57B gust gradient aircraft, and the NASA/MSFC eight tower array was carried out. The data tape for the lidar was received and read. The aircraft data and tower data are being digitized and converted to engineering units. Velocities computed sequentially along each of the lidar beams beginning at 16:40:00, May 12, 1983 were plotted for Run No. 1.

Frost, W.↗
DOE OSTI2024

Coal-derived electrically conductive asphalt pavements for snow/ice melting: From laboratory to field

Timely removal of ice and snow from roads is critical to safe, fast, and uninterrupted transportation networks in cold regions. Constructing electrically conductive asphalt pavements to melt the ice and snow on the roads through resistive eating is an emerging alternative technology to traditional snow/ice removal approaches such as utilizing snowplow machines and deicing chemicals. Carbon-based fibers and fillers including carbon fiber and graphite have been widely reported to make electrically conductive hot mix asphalt mixtures for pavement snow/ice-melting applications. This study aimed to develop and demonstrate a novel type of electrically conductive asphalt pavements for snow/ice-melting, which utilizes electrically conductive cold mix asphalt (CMA) mixtures incorporating coal-derived carbon-based coke aggregate as resistive heating elements. Both laboratory experiments and field tests were conducted to investigate the electrical, mechanical, and thermal properties of such electrically conductive asphalt mixtures and pavements. The laboratory experiment results indicated that the electrically conductive CMA mixtures incorporating coke aggregate had sufficiently high electrical conductivity and satisfactory mechanical performance and the pavement prototype slab utilizing a thin layer of such CMA mixtures could successfully raise the pavement surface temperatures to 8.3–11.7 °C rom a low temperature of –5 °C with an input power density of 473 W/m 2 . The field test results showed that the full-scale coal-derived electrically conductive asphalt pavements were able to increase the pavement surface temperatures when electricity was applied, but the magnitude of temperature increase was highly dependent on the power density. Furthermore, it is promising to use coke aggregate to construct coal-derived electrically conductive asphalt pavements for snow/ice melting.

36 MATERIALS SCIENCE↗
DOE OSTI2014

Plutonium measurements with a fast-neutron multiplicity counter for nuclear safeguards applications

Measurements were performed at the Joint Research Centre in Ispra, Italy to field test a fast-neutron multiplicity counter developed at the University of Michigan. The measurements allowed the assessment of the system's photon discrimination abilities, efficiency when measuring neutron multiplicity, ability to characterize 240 Pu eff mass, and performance relative to a currently deployed neutron coincidence counter. We describe how this work is motivated by the need to replace and improve upon 3 He neutron detection systems for nuclear safeguards applications.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS2007

Organization's Orderly Interest Exploration: Inception, Development and Insights of AIAA's Topics Database

Since 2003, AIAA's Computer Systems and Software Systems Technical Committees (TCs) have developed a database that aids technical committee management to map technical topics to their members. This Topics/Interest (T/I) database grew out of a collection of charts and spreadsheets maintained by the TCs. Since its inception, the tool has evolved into a multi-dimensional database whose dimensions include the importance, interest and expertise of TC members and whether or not a member and/or a TC is actively involved with the topic. In 2005, the database was expanded to include the TCs in AIAA s Information Systems Group and then expanded further to include all AIAA TCs. It was field tested at an AIAA Technical Activities Committee (TAC) Workshop in early 2006 through live access by over 80 users. Through the use of the topics database, TC and program committee (PC) members can accomplish relevant tasks such as: to identify topic experts (for Aerospace America articles or external contacts), to determine the interest of its members, to identify overlapping topics between diverse TCs and PCs, to guide new member drives and to reveal emerging topics. This paper will describe the origins, inception, initial development, field test and current version of the tool as well as elucidate the benefits and insights gained by using the database to aid the management of various TC functions. Suggestions will be provided to guide future development of the database for the purpose of providing dynamics and system level benefits to AIAA that currently do not exist in any technical organization.

Marshall, Jospeh R.↗
DOE OSTI2023

A Scalable Quantum Cryptography Network for Protected Automation Communication (Final Report)

This is the final report for a CEDS-funded project aimed at developing a new quantum technology for securing utility communication networks used to control and monitor electrical grid equipment. Securing these control networks represents a unique challenge as the performance of the security solution has a direct impact on the stability and reliability of the electrical grid. Traditional, software-based solutions - developed for information networks - are not suitable for utility control networks because they introduce latency, require burdensome maintenance and upgrades, are often incompatible with legacy equipment, and introduce operational complexity that reduces grid reliability. Consequently, many U.S. utilities do not use existing solutions and, instead, protect their critical control networks through the careful isolation and obscuration of their networked equipment. With more utilities embracing grid automation, the attack surface that utilities must defend from hackers has grown to an unmanageable size. To address this situation, Qubitekk and its partners proposed and developed a hardware-based solution that can secure critical control networks without negatively impacting grid performance. This new solution is based on quantum key distribution (QKD) techniques that guarantee secure key generation and distribution across a utility control network. Through deployment and field testing of a prototype QKD system, we have shown that this solution delivers long-term network security, is technically feasible to implement and maintain on a utility’s distribution substation network and does not negatively impact grid operations. In addition, the project has identified and solved key challenges associated with generating, transmitting, and measuring coherent photonic quantum states on a real-world fiber optic network. These additional findings are playing a critical role in advancing quantum networks for quantum computing applications. An overview of the QKD prototype development effort, field testing activities and results, and additional findings relevant to emerging quantum networks are presented in this report.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS2000

The Rural Outreach Project

The Rural Outreach Project was designed to increase the diversity of NASA's workforce by: 1) Conducting educational research designed to investigate the most effective strategies for expanding innovative, NASA-sponsored pre-college programs into rural areas; 2) Field-testing identified rural intervention strategies; 3) Implementing expanded NASA educational programs to include 300 rural students who are disabled, female and/or minority; and 4) Disseminating project strategies. The Project was a partnership that included NASA Langley Research Center's Office of Education, Norfolk State University, Cooperative Hampton Roads Organizations for Minorities in Engineering (CHROME) and Paul D. Camp Community College. There were four goals and activities identified for this project; 1) Ascertain effective strategies for expanding successful NASA-sponsored urban-based, pre-college programs into rural settings; 2) Field test identified rural intervention strategies; 3) Publish or disseminate two reports, concerning project research and activities at a national conference; 4) Provide educational outreach to 300, previously underserved, rural students who are disabled, female and /or minority.

Coleman, Clarence D.↗
DOE OSTI2024

CCUS 2024, Interpreting the strain tensor Larry Murdoch Interpreting strain tensor data to characterize and monitor reservoirs for CO2 storage and other applications

Recent advances in instrumentation have made it feasible to measure the transient strain tensor caused by small changes in fluid volume or pressure in the subsurface and this has opened the door to new opportunities for characterization and monitoring during CCUS. We have demonstrated this method by deploying strainmeters at shallow depths (30 to 40m) and then conducting injection well tests in an underlying reservoir at 530m depth. The resulting data indicated that the horizontal strain at shallow strainmeters was tensile and the vertical strain was compressive. The radial strain was less than the horizontal strain, and the strain rates decreased from 100 nanostrain/day to roughly 10 ne/d over a few days (1 nanostrain = 1 part per billion strain). We then used the strain data to estimate reservoir properties, geometry and pressure through inversion of poroelastic forward models using both numerical and novel analytical methods. The average horizontal strain in the caprock resembles the transient pressure in the underlying reservoir and classic type-curve methods from transient well testing can be used for preliminary interpretations of strain data. We have developed fast, closed-form analytical solutions to a pressurized poroelastic inclusion and inhomogeneity in a half-space. Numerical models developed using finite element methods allow more details of the subsurface to be included in the inversion, but they require much longer run times and this makes inversion cumbersome using standard methods. We have developed an inversion approach that uses a proxy model created using machine learning to do most of the forward calculations. This approach markedly reduces the computational requirements and makes it feasible to use Bayesian inversion with large numerical models. Bayesian inversion is important because it provides predictions with uncertainties, which makes the results useful for decision making. We have shown with field tests and simulations that the strain tensor in the caprock is sensitive to pressure in the reservoir, reservoir properties and boundaries, and pressure in the caprock caused by leaks. These results indicate that measuring and interpreting the shallow strain tensor could be a valuable tool for both initial reservoir characterization efforts and long-term monitoring during CCUS. Recent advances in instrumentation have made it feasible to measure the transient strain tensor caused by small changes in fluid volume or pressure in the subsurface and our objective was to evaluate opportunities for strain monitoring during characterization and monitoring for CCUS. Our approach was to deploy strainmeters at shallow depths (30 to 40m) and then conduct injection well tests in an underlying reservoir at 530m depth. The results indicate that the horizontal strain at shallow strainmeters was tensile and the vertical strain was compressive. The radial strain was less than the horizontal strain, and the strain rates decreased from 100 nanostrain/day to roughly 10 ne/d over a few days (1 nanostrain = 1 part per billion strain). We then used the strain data to estimate reservoir properties, geometry and pressure through inversion of poroelastic forward models using both numerical and novel analytical methods. The average horizontal strain in the caprock resembles the transient pressure in the underlying reservoir and classic type-curve methods from transient well testing can be used for preliminary interpretations of strain data. We have developed fast, closed-form analytical solutions to a pressurized poroelastic inclusion and inhomogeneity in a half-space. Numerical models developed using finite element methods allow more details of the subsurface to be included in the inversion, but they require much longer run times and this makes inversion cumbersome using standard methods. We have developed an inversion approach that uses a proxy model created using machine learning to do most of the forward calculations. This approach markedly reduces the computational requirements and makes it feasible to use Bayesian inversion with large numerical models. Bayesian inversion is important because it provides predictions with uncertainties, which makes the results useful for decision making. In conclusion, we have shown with field tests and simulations that the strain tensor in the caprock is sensitive to pressure in the reservoir, reservoir properties and boundaries, and pressure in the caprock caused by leaks. These results indicate that measuring and interpreting the shallow strain tensor could be a valuable tool for both initial reservoir characterization efforts and long-term monitoring during CCUS.

Murdoch, Larry↗
DOE OSTI2013

Biological Performance Assessment

The BioPA provides turbine designers with a set of tools that can be used to assess biological risks of turbines during the design phase, before expensive construction begins. The toolset can also be used to assess existing installations under a variety of operating conditions, supplementing data obtained through expensive field testing. The BioPA uses computational fluid dynamics (CFD) simulations of a turbine design to quantify the exposure of passing fish to a set of known injury mechanisms. By appropriate sampling of the fluid domain, the BioPA assigns exposure probabilities to each mechanism. The exposure probabilities are combined with dose-response data from laboratory stress studies of fish to produce a set of biological BioPA Scores. These metrics provide an objective measure that can be used to compare competing turbines or to refine a new design. The BioPA process can be performed during the turbine design phase and is considerably less expensive than prototype-scale field testing.

Richmond, Marshall↗
DOE OSTI2021

Diagnostic assessment of reservoir response to fracturing: a case study from Hydraulic Fracturing Test Site (HFTS) in Midland Basin

Abstract This paper outlines a data collection and diagnostics case study involving multiple horizontal shale wells. We look at well production profiles using rate transient analysis, differences in near wellbore complexity, geologic variations within the area of interest, as well as compositional differences in the rocks based on cores obtained from within the stimulated reservoir. The Hydraulic Fracturing Test Site is a multi-well experiment involving stimulation of unconventional shale wells in the southeastern Midland portion of the Permian Basin. The targeted formations include both the upper as well as the middle Wolfcamp formations, also referred alternatively as Wolfcamp A and Wolfcamp B. Data integration and analysis shared in this paper help us understand the various geologic controls impacting well productivity, particularly the wide variance observed between the Wolfcamp A and Wolfcamp B formations. Rate transient analysis indicates similar system permeabilities for stimulated wells. However, we observe higher effective fracture half-lengths for upper Wolfcamp wells. Using observations from 3D seismic interpretations (such as pad scale faults) as well as petrophysical and image log data, we highlight the substantial differences in stimulation as we move along the well laterals from the heel toward the toe sections. These differences are further reconciled with observations from zones with high data density at the core locations through stimulated rock, as well as independent data such as microseismic emissions. At the test site, Wolfcamp A was found to be relatively quartz rich with significant heterogeneity whereas Wolfcamp B is richer in clay and organic content. This impacts the geomechanical characteristics of the rock mass with much higher natural fracture density in the shallower interval. Thus, the fracture growth is more uniform in the deeper interval and more heterogeneous with branching likely in upper interval. Increased complexity also leads to consistently better productivity from the wells in the shallower interval as demonstrated from RTA results. This case study is unique because it provides valuable insights from actual sampling of the stimulated zones in hydraulically fractured wells and helps understand impact of various factors that contribute toward variability in well production. The findings from this study provides insights into need for optimization of completion designs in the various Wolfcamp landing zones, such as optimization of cluster or fracture spacing in various Wolfcamp intervals. In addition, it provides a useful template for data collection and research direction in future field test sites of similar nature in unconventional reservoirs.

Energy & Fuels↗
NASA NTRS1999

Coherent Pulsed Lidar Sensing of Wake Vortex Position and Strength, Winds and Turbulence in the Terminal Area

NASA Langley Research Center (LaRC) has field tested a 2.0 gm, 100 Hertz, pulsed coherent lidar to detect and characterize wake vortices and to measure atmospheric winds and turbulence. The quantification of aircraft wake-vortex hazards is being addressed by the Wake Vortex Lidar (WVL) Project as part of Aircraft Vortex Spacing System (AVOSS), which is under the Reduced Spacing Operations Element of the Terminal Area Productivity (TAP) Program. These hazards currently set the minimum, fixed separation distance between two aircraft and affect the number of takeoff and landing operations on a single runway under Instrument Meteorological Conditions (IMC). The AVOSS concept seeks to safely reduce aircraft separation distances, when weather conditions permit, to increase the operational capacity of major airports. The current NASA wake-vortex research efforts focus on developing and validating wake vortex encounter models, wake decay and advection models, and wake sensing technologies. These technologies will be incorporated into an automated AVOSS that can properly select safe separation distances for different weather conditions, based on the aircraft pair and predicted/measured vortex behavior. The sensor subsystem efforts focus on developing and validating wake sensing technologies. The lidar system has been field-tested to provide real-time wake vortex trajectory and strength data to AVOSS for wake prediction verification. Wake vortices, atmospheric winds, and turbulence products have been generated from processing the lidar data collected during deployments to Norfolk (ORF), John F. Kennedy (JFK), and Dallas/Fort Worth (DFW) International Airports.

Brockman, Philip↗
DOE OSTI2025

Anomaly Identification of Synchronized Voltage Waveform for Situational Awareness of Low Inertia Systems

Inverter-based resources (IBRs) such as photovoltaics (PVs), wind turbines, and battery energy storage systems (BESSs) are widely deployed in low-carbon power systems. However, these resources typically do not provide the inertia needed for grid stability, resulting in a low-inertia power system. IBRs and lack of inertia have been known to cause anomalies such as waveform distortions and wideband oscillations in power systems due to the limited inertia level, leading to increased generation trips and load shedding. Here, to achieve effective anomaly identification, this paper proposes a synchro-waveform-based algorithm utilizing real-time synchronized voltage waveform measurements from waveform measurement units (WMUs). In the proposed method, different physical characteristics, as well as statistical features, are extracted from synchronized voltage waveform measurements to filter anomalies. Then, the anomaly identification approach based on the random forest is developed and deployed into the FNET/GridEye system considering trade-offs among accuracy, computational burden, and deployment cost. Moreover, four WMUs are specially designed and deployed on Kauai Island to receive instantaneous synchronized voltage waveform measurements. To verify the performance of the proposed algorithm, different experiments are carried out with collected field test data. The result demonstrates that the performance of the proposed synchro-waveform-based anomaly categorization algorithm can accurately identify anomalies 95.35% of the time, which has comparable performance among benchmarking algorithms.

Situational awareness↗
DOE OSTI2011

Quantifying Forest Aboveground Carbon Pools and Fluxes Using Multi-Temporal Lidar: A report on field monitoring, remote sensing MMV, GIS integration, and modeling results for forestry field validation test to quantify aboveground tree biomass and carbon

Sound policy recommendations relating to the role of forest management in mitigating atmospheric carbon dioxide (CO 2 ) depend upon establishing accurate methodologies for quantifying forest carbon pools for large tracts of land that can be dynamically updated over time. Light Detection and Ranging (LiDAR) remote sensing is a promising technology for achieving accurate estimates of aboveground biomass and thereby carbon pools; however, not much is known about the accuracy of estimating biomass change and carbon flux from repeat LiDAR acquisitions containing different data sampling characteristics. In this study, discrete return airborne LiDAR data was collected in 2003 and 2009 across ~20,000 hectares (ha) of an actively managed, mixed conifer forest landscape in northern Idaho, USA. Forest inventory plots, established via a random stratified sampling design, were established and sampled in 2003 and 2009. The Random Forest machine learning algorithm was used to establish statistical relationships between inventory data and forest structural metrics derived from the LiDAR acquisitions. Aboveground biomass maps were created for the study area based on statistical relationships developed at the plot level. Over this 6-year period, we found that the mean increase in biomass due to forest growth across the non-harvested portions of the study area was 4.8 metric ton/hectare (Mg/ha). In these non-harvested areas, we found a significant difference in biomass increase among forest successional stages, with a higher biomass increase in mature and old forest compared to stand initiation and young forest. Approximately 20% of the landscape had been disturbed by harvest activities during the six-year time period, representing a biomass loss of >70 Mg/ha in these areas. During the study period, these harvest activities outweighed growth at the landscape scale, resulting in an overall loss in aboveground carbon at this site. The 30-fold increase in sampling density between the 2003 and 2009 did not affect the biomass estimates. Overall, LiDAR data coupled with field reference data offer a powerful method for calculating pools and changes in aboveground carbon in forested systems. The results of our study suggest that multitemporal LiDAR-based approaches are likely to be useful for high quality estimates of aboveground carbon change in conifer forest systems.

09 BIOMASS FUELS↗
DOE OSTI2018

Broadband anti-reflective coatings for cosmic microwave background experiments

The desire for higher sensitivity has driven ground-based cosmic microwave background (CMB) experiments to employ ever larger focal planes, which in turn require larger reimaging optics. Practical limits to the maximum size of these optics motivates the development of quasi-optically-coupled (lenslet-coupled), multi-chroic detectors. These detectors can be sensitive across a broader bandwidth compared to waveguide-coupled detectors. However, the increase in bandwidth comes at a cost: the lenses (up to ~700 mm diameter) and lenslets (~5 mm diameter, hemispherical lenses on the focal plane) used in these systems are made from high-refractive-index materials (such as silicon or amorphous aluminum oxide) that reflect nearly a third of the incident radiation. In order to maximize the faint CMB signal that reaches the detectors, the lenses and lenslets must be coated with an anti-reflective (AR) material. The AR coating must maximize radiation transmission in scientifically interesting bands and be cryogenically stable. Such a coating was developed for the third generation camera, SPT-3G, of the South Pole Telescope (SPT) experiment, but the materials and techniques used in the development are general to AR coatings for mm-wave optics. The three-layer polytetra uoroethylene-based AR coating is broadband, inexpensive, and can be manufactured with simple tools. The coating is field tested; AR coated focal plane elements were deployed in the 2016-2017 austral summer and AR coated reimaging optics were deployed in 2017-2018.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS2011

High-Performance 3D Articulated Robot Display

In the domain of telerobotic operations, the primary challenge facing the operator is to understand the state of the robotic platform. One key aspect of understanding the state is to visualize the physical location and configuration of the platform. As there is a wide variety of mobile robots, the requirements for visualizing their configurations vary diversely across different platforms. There can also be diversity in the mechanical mobility, such as wheeled, tracked, or legged mobility over surfaces. Adaptable 3D articulated robot visualization software can accommodate a wide variety of robotic platforms and environments. The visualization has been used for surface, aerial, space, and water robotic vehicle visualization during field testing. It has been used to enable operations of wheeled and legged surface vehicles, and can be readily adapted to facilitate other mechanical mobility solutions. The 3D visualization can render an articulated 3D model of a robotic platform for any environment. Given the model, the software receives real-time telemetry from the avionics system onboard the vehicle and animates the robot visualization to reflect the telemetered physical state. This is used to track the position and attitude in real time to monitor the progress of the vehicle as it traverses its environment. It is also used to monitor the state of any or all articulated elements of the vehicle, such as arms, legs, or control surfaces. The visualization can also render other sorts of telemetered states visually, such as stress or strains that are measured by the avionics. Such data can be used to color or annotate the virtual vehicle to indicate nominal or off-nominal states during operation. The visualization is also able to render the simulated environment where the vehicle is operating. For surface and aerial vehicles, it can render the terrain under the vehicle as the avionics sends it location information (GPS, odometry, or star tracking), and locate the vehicle over or on the terrain correctly. For long traverses over terrain, the visualization can stream in terrain piecewise in order to maintain the current area of interest for the operator without incurring unreasonable resource constraints on the computing platform. The visualization software is designed to run on laptops that can operate in field-testing environments without Internet access, which is a frequently encountered situation when testing in remote locations that simulate planetary environments such as Mars and other planetary bodies.

Powell, Mark W.↗