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At least 847 records · Page 47
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

Bidirectional Brush Seals: Post-Test Analysis

A post-test analysis of a set of inside-diameter/outside-diameter (ID/OD) bidirectional brush seals used in three-port wave rotor tests was undertaken to determine brush bristle and configuration wear, pullout, and rotor coating wear. The results suggest that sharp changes in the pressure profiles were not well reflected in bristle tip configuration patterns or wear. Also, positive-to-negative changes in axial pressure gradients appeared to have little effect on the backing plates. Although the brushes had similar porosities, they had very different unpacked arrays. This difference could explain the departure of experimental data from computational fluid dynamics flow predictions for well-packed arrays at higher pressure drops. The rotor wear led to "car-track" scars (upper and lower wear bands) with a whipped surface between the bands. Those bands may have resulted from bristle stiffening at the fence and gap plates during alternate portions of the rotor cycle. Within the bristle response range the wear surface reflected the pressure distribution effect on bristle motion. No sacrificial metallurgical data were taken. The bristles did wear, with correspondingly more wear on the ID brush configurations than on the OD configurations; the complexity in constructing the ID brush was a factor.

Hendricks, Robert C.↗
NASA NTRS2000

Dry Air Entrainment into Hurricane Earl

Hurricane Earl formed in the Gulf of Mexico in September 1998. It quickly was upgraded from a tropical disturbance to tropical storm status and then to a hurricane. Earl possessed hybrid (tropical and extratropical) characteristics throughout its lifetime. The system maintained and erratic track, which led to wide variability in the operational track forecasts. It eventually made landfall on the Florida panhandle on 2 September and raced northeastward. During August and September 1998, NASA conducted the third Convection and Moisture Experiment (CAMEX-3). The experiment was focused on studying hurricanes with an emphasis toward developing a better understanding of their intensification and motion. Earl provides a unique opportunity to utilize high spatial and temporal resolution data collected from the DC-8 and high altitude ER-2 NASA platforms, which flew over Earl as it made landfall. These data can also be put into broader view provided by other instruments from the Geosychronous Operational Environmental Satellites (GOES) and the Tropical Rainfall Measuring Mission (TRMM) satellites. Hurricane Earl was affected by entrainment of dry air from the northwest. Hurricane Isis was intensifying and approaching the Mexican Pacific coast with its associated outflow potentially affecting the inflow into Earl as the storm neared Florida. In addition, a longwave synoptic trough circulation was present over the eastern U.S. Either or both of these could be responsible for the dry air into the system. This paper will focus on identifying the source of the dry by using upper-level wind and moisture fields derived from the GOES 6.7 um water vapor imagery. We will attempt to relate the large-scale observations to those from the NASA aircraft. An infrared instrument onboard the ER-2 also has a similar wavelength and may be able to confirm some of the GOES findings. In addition, a microwave radiometer with 4 channels focused on measuring precipitation and its associated ice scattering was also aboard the ER-2. The microwave observations will allow the authors to relate the entrainment to precipitation changes near the flight path of the aircraft.

Guillory, Anthony R.↗
NASA NTRS1999

Entrainment of Upper Level Dry Air Into Hurricane Earl

Hurricane Earl formed in the Gulf of Mexico in September 1998. It quickly was upgraded from a tropical disturbance to tropical storm status and then to a hurricane. Earl possessed hybrid (tropical and extratropical) characteristics throughout its lifetime. The system maintained and erratic track, which led to wide variability in the operational track forecasts. It eventually made landfall on the Florida panhandle on 2 September and raced northeastward. During August and September 1998, NASA conducted the third Convection and Moisture Experiment (CAMEX-3). The experiment was focused on studying hurricanes with an emphasis toward developing a better understanding of their intensification and motion. Earl provides a unique opportunity to utilize high spatial and temporal resolution data collected from the DC-8 and high altitude ER-2 NASA platforms, which flew over Earl as it made landfall. These data can also be put into broader view provided by other instruments from the Geosynchronous Operational Environmental Satellites (GOES) and the Tropical Rainfall Measuring Mission (TRMM) satellites. Hurricane Earl was affected by entrainment of dry air from the northwest. Hurricane Isis was intensifying and approaching the Mexican Pacific coast with its associated outflow potentially affecting the inflow into Earl as the storm neared Florida. In addition, a longwave synoptic trough circulation was present over the eastern U.S. Either or both of these could be responsible for the dry air into the system. This paper will focus on identifying the source of the dry by using upper-level wind and moisture fields derived from the GOES 6.7 um water vapor imagery. We will attempt to relate the large-scale observations to those from the NASA aircraft. An infrared instrument onboard the ER-2 also has a similar wavelength and may be able to confirm some of the GOES findings. In addition, a microwave radiometer with 4 channels focused on measuring precipitation and its associated ice scattering was also aboard the ER-2. The microwave observations will allow the authors to relate the entrainment to precipitation changes near the flight path of the aircraft.

Guillory, Anthony R.↗
NASA NTRS1976

Showride

New entertainment product, a cross between an amusement park ride and a wide screen movie has been developed with assistance of NASA's Industrial Application Center at the University of Southern California. 'Showride' synchronizes sight, sound and feelings of movement. Center provided literature searches of holographic display systems, motion cues, piloted flight simulation and other sophisticated technologies. Result is a total sensory experience. Participants sit in a small 12 person cabin that reflects any design scheme, such as a spaceship, submarine, or room. The front of each cabin is completely filled by a giant movie screen. A four track audio system envelopes you in sound.

Source record↗
NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗
NASA NTRS1978

Nodding feed antenna for communications with satellites in synchronous orbit

The design, fabrication, and performance of a parabolic, ground receiving antenna system with a feed that nods in one axis producing a maximum beam deviation 1.1 deg from boresight is described. The antenna design was: (1)to lower the weight (and the subsequent cost) of the supporting structure and the actuator motors for a tracking antenna by moving just the feed; (2) to use a manual tracking system eliminating the need for expensive electronic controls or computers; (3) to provide for several hours of unattended operation; and (4)to permit operation of the antenna by unskilled personnel. Also described are some physical and orbital phenomenon that effect the operation or design of the antenna. One is the motion of a nearly geostationary satellite due to gravitational forces from the sun, the moon, and other stellar bodies. Others are the rotation of the nodding axis and the feed polarization as a function of the location of the station on the earth. A comparison of per unit cost was made for one unit and a quantity of 100.

Smetana, J.↗
NASA NTRS1999

Calibration of the Geosar Dual Frequency Interferometric SAR

GeoSAR is an airborne, interferometric Synthetic Aperture Radar (INSAR) system for terrain mapping, currently under development by a consortium including NASA's Jet Propulsion Laboratory (JPL), Calgis, Inc., and the California Department of Conservation (CalDOC) with funding provided by the Topographic Engineering Center (TEC) of the U.S. Army Corps of Engineers and the Defense Advanced Research Projects Agency (DARPA). The radar simultaneously maps swaths on both sides of the aircraft at two frequencies, X-Band and P-Band. For the P-Band system, data is collected for two across track interferometric baselines and at the crossed polarization. The aircraft position and attitude are measured using two Honeywell Embedded GPS Inertial Navigation Units (EGI) and an Ashtech Z12 GPS receiver. The mechanical orientation and position of the antennas are actively measured using a Laser Baseline Metrology System (LBMS). In the GeoSAR motion measurement software, these data are optimally combined with data from a nearby ground station using Ashtech PNAV software to produce the position, orientation, and baseline information are used to process the dual frequency radar data. Proper calibration of the GeoSAR system is essential to obtaining digital elevation models (DEMS) with the required sub-meter level planimetric and vertical accuracies. Calibration begins with the determination of the yaw and pitch biases for the two EGI units. Common range delays are determined for each mode, along with differential time and phase delays between channels. Because the antennas are measured by the LBMS, baseline calibration consists primarily of measuring a constant offset between mechanical center and the electrical phase center of the antennas. A phase screen, an offset to the interferometric phase difference which is a function of absolute phase, is applied to the interferometric data to compensate for multipath and leakage. Calibration parameters are calculated for each of the ten processing modes, each of the operational bandwidths (80 and 160 MHZ), and each aircraft altitude. In this talk we will discuss the layout calibration sites, the synthesis of data from multiple flights to improve the calibration, methods for determining time and phase delays, and techniques for determining radiometric and polarimetric quantities. We will describe how calibration quantities are incorporated into the processor and pre-processor. We will demonstrate our techniques applied to GeoSar data and assess the stability and accuracy of the calibration. This will be compared to the modeled performance determined from calibrating the output of a point target simulator. The details of baseline determination and phase screen calculation are covered in related talks.

Chapine, Elaine↗
NASA NTRS2005

Diagnosing Hybrid Systems: a Bayesian Model Selection Approach

In this paper we examine the problem of monitoring and diagnosing noisy complex dynamical systems that are modeled as hybrid systems-models of continuous behavior, interleaved by discrete transitions. In particular, we examine continuous systems with embedded supervisory controllers that experience abrupt, partial or full failure of component devices. Building on our previous work in this area (MBCG99;MBCG00), our specific focus in this paper ins on the mathematical formulation of the hybrid monitoring and diagnosis task as a Bayesian model tracking algorithm. The nonlinear dynamics of many hybrid systems present challenges to probabilistic tracking. Further, probabilistic tracking of a system for the purposes of diagnosis is problematic because the models of the system corresponding to failure modes are numerous and generally very unlikely. To focus tracking on these unlikely models and to reduce the number of potential models under consideration, we exploit logic-based techniques for qualitative model-based diagnosis to conjecture a limited initial set of consistent candidate models. In this paper we discuss alternative tracking techniques that are relevant to different classes of hybrid systems, focusing specifically on a method for tracking multiple models of nonlinear behavior simultaneously using factored sampling and conditional density propagation. To illustrate and motivate the approach described in this paper we examine the problem of monitoring and diganosing NASA's Sprint AERCam, a small spherical robotic camera unit with 12 thrusters that enable both linear and rotational motion.

McIlraith, Sheila A.↗
NASA NTRS1981

Pinhole-coronograph tracking control

The pinhole occulter system, a space shuttle based experiment for the production of hard X-ray images taken primarily from the Sun is described. The system is a pinhole camera utilizing a deployable 50 m flexible boom for separating the pinhole from the recording devices located in the shuttle. The system is subjected to the disturbances of the shuttle. The worst of these are thruster firing for orbit correction, man motion, motion induced by other systems, and gravity gradient torques. The control system of the pointing mount senses both position and velocity of the mask tip and uses these to estimate accurately the flexible modes of the system.

Greene, M.↗
NASA NTRS1976

A study to determine the characteristic shapes of helicopter visual approach profiles

On previous helicopter instrument approach studies, pilot comments frequently indicated that the deceleration profiles were characterized by 'unnatural cues', and it was found that the pilots were comparing the motion and attitude cues with those obtained during visual approaches. Prior to this study, the characteristic shape of visual approach profiles had not been formally documented. Over 200 visual approaches were flown using different helicopter types, test subjects, and initial conditions, and the altitude and groundspeed profiles were measured by a precision tracking radar. The data from each approach were then processed, and the characteristic shape of the altitude, groundspeed, and deceleration profiles was determined for each set of initial conditions. These flight data were processed further using graphical analysis techniques and parameterization, which, in turn, led to developing closed-form equations that accurately describe the characteristic groundspeed and deceleration profiles. Results from this study can be used to select instrument approach profiles, to develop instrument approach control laws, and to define the corresponding hardware requirements.

Moen, G. C.↗
NASA NTRS1978

The benefits of using short interval satellite images to derive winds for tropical cyclones

During the 1975, 1976, and 1977, NOAA's National Environmental Satellite Service and NASA's Goddard Space Flight Center conducted a cooperative program to determine the optimum resolution and frequency of satellite images for deriving winds to study and forecast tropical cyclones. Rapid scan images were obtained at 7.5 minute interval from SMS-2 for hurricane Eloise and cyclone Caroline, and at 3 minute intervals from GOES-1 for tropical storms Belle, Holly, and Anita. Cloud motions were derived from these images using the Atmospheric and Oceanographic Information Processing System. Winds that were derived from the movement of upper and lower tropospheric level clouds using rapid scan data were compared with the 15 and 30 minute interval data. Greater than 10 (5) times as many clouds could be tracked to obtain winds using 3 and 7.5 minute rapid scan images as when using 15 or 30 minute interval images. A few bright areas within the central dense overcast which appeared to be moving with the winds at low levels were tracked.

Rodgers, E.↗
NASA NTRS1979

Base line estimation using single passes of laser data

The laser data of the GEOS 3 satellite passes observed by four stations at Greenbelt (Maryland), Bermuda, Grand Turk Island (Bahamas) and Patrick Air Force Base (Florida), were employed to determine precise interstation base lines and relative heights in short orbital arcs of no more than 12-min duration. No more than five arcs of data are required to define the interstation base lines to 30-cm precision. Base lines running parallel to the orbital motion can be defined to submeter precision from a single short arc of data. Combining arcs of different orbital geometry in a common adjustment of two or more stations relative to the base station helps to compensate for weak base line definition in any single arc. This technique can be used for tracking such spacecraft as Lageos, a high-altitude retroreflector-carrying satellite designed for precise laser ranging studies.

Dunn, P. J.↗
NASA NTRS1982

NASA geodynamics program

The goals of the NASA geodynamics program comprise the study of the interior structure and composition of the earth, its crustal motions and deformations, the rotational dynamics, and the terrestrial potential fields. Laser ranging an VLBI techniques are being applied in cooperation with 16 other countries. Reflectors on the moon are illumined with laser beams from earth, which are also bounced off the Lageos and French Starlette satellites, permitting monitoring of polar motion, earth rotation, and distance to the moon within 5 cm. Mobile laser systems are being deployed for developing a gravity field model and examining crustal deformation regionally. The VLBI installations use quasars as reference objects and the GPS satellites will give position accuracy within 1-2 cm. Satellite-to-satellite tracking, Magsat, and Shuttle timing experiment data are providing geopotential field data and timing synchronization.

Fischetti, T. L.↗
NASA NTRS1985

Limb-atmospheric infrared spectrum observed on the satellite Ohzora

The Institute of Space and Astronautical Science (ISAS) launched the 9th scientific satellite Ohzora at 17:00 JST on February 14, 1984. This satellite bears the spectrometer, which measures the infrared spectrum of the solar radiation passing the limb atmosphere in the wavelength region of 2 to 10 m. The spectrometer is based on multichannel spectroscopy by using image sensors. Since the wavelength is scanned electronically, it can measure the spectrum unaffected by the satellite motion. A definite axis, i.e., the Z-axis of the satellite, which coincides to the optical axis of the spectrometer, is controlled to the direction of the Sun, and the finer control to introduce the solar light into the spectrometer is made with a 2-axes-controlled mirror. This solar tracking equipment is derived fast enough to measure the spectra in a moment after sunrise. The solar light introduced into the spectrometer is focused on the slits of the monochromators (f=100mm). For better altitude resolution, the horizontal slit is also used with the vertical slit, which is used for the separation of the dispersion. The dispersion light is detected with the pyroelectric array sensors. To obtain maximum dynamic range and spectral resolution, the three-stage polychromator is used.

Matsuzaki, A.↗
NASA NTRS1990

Kalman filter based range estimation for autonomous navigation using imaging sensors

The ability to detect and locate obstacles using on-board sensors and modify the nominal trajectory is necessary for safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to improve the range estimation to obstacles. The filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The lack of suitable flight imagery data presents a problem in the verification of concepts for obstacle detection. An experiment is designed to acquire a sequence of images along with sensor motion parameters and the range estimation results using this imagery are presented.

Sridhar, B.↗
NASA NTRS1991

Navigation strategies for multiple autonomous mobile robots moving in formation

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

Wang, P. K. C.↗
NASA NTRS1993

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Bayo, Eduardo↗
NASA NTRS2006

Geodesy at Mercury with MESSENGER

In 2011 the MESSENGER (MErcury Surface, Space ENvironment, GEochemistry, and Ranging) spacecraft will enter Mercury orbit and begin the mapping phase of the mission. As part of its science objectives the MESSENGER mission will determine the shape and gravity field of Mercury. These observations will enable the topography and the crustal thickness to be derived for the planet and will determine the small libration of the planet about its axis, the latter critical to constraining the state of the core. These measurements require very precise positioning of the MESSENGER spacecraft in its eccentric orbit, which has a periapsis altitude as low as 200 km, an apoapsis altitude near 15,000 km, and a closest approach to the surface varying from latitude 60 to about 70 N. The X-band tracking of MESSENGER and the laser altimetry are the primary data that will be used to measure the planetary shape and gravity field. The laser altimeter, which has an expected range of 1000 to 1200 km, is expected to provide significant data only over the northern hemisphere because of MESSENGER's eccentric orbit. For the southern hemisphere, radio occultation measurements obtained as the spacecraft passes behind the planet as seen from Earth and images obtained with the imaging system will be used to provide the long-wavelength shape of the planet. Gravity, derived from the tracking data, will also have greater resolution in the northern hemisphere, but full global models for both topography and gravity will be obtained at low harmonic order and degree. The limiting factor for both gravity and topography is expected to be knowledge of the spacecraft location. Present estimations are that in a combined tracking, altimetry, and occultation solution the spacecraft position uncertainty is likely to be of order 10 m. This accuracy should be adequate for establishing an initial geodetic coordinate system for Mercury that will enable positioning of imaged features on the surface, determination of the planet's obliquity, and detection of the librational motion of the planet about its axis.

Smith, David E.↗