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The utility of dual frequency scatterometers in measuring ocean wave directional spectra can be increased by adding third frequency to the system. The background which effectively limits signal detectability in dual frequency operation can be made a part of the signal through the addition of this third frequency. Signal detectability is limited only by system thermal noise and space based operation becomes more feasible.
The importance to the United States of semi-autonomous systems for application to a large number of manufacturing and service processes is very clear. Two principal reasons emerge as the primary driving forces for development of such systems: enhanced national productivity and operation in environments whch are hazardous to humans. Completely autonomous systems may not currently be economically feasible. However, autonomous systems that operate in a limited operation domain or that are supervised by humans are within the technology capability of this decade and will likely provide reasonable return on investment. The two research and development efforts of autonomy and telerobotics are distinctly different, yet interconnected. The first addresses the communication of an intelligent electronic system with a robot while the second requires human communication and ergonomic consideration. Discussed here are work in robotic control, human/robot team implementation, expert system robot operation, and sensor development by the American Welding Institute, MTS Systems Corporation, and the Colorado School of Mines--Center for Welding Research.
NASA Ames Research Center and the U.S. Army Aeroflight dynamics Directorate (AFDD) have performed initial flight evaluations of the Research Flight Control System (RFCS) integrated into the Army/NASA Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) JUH-GOA. The highly modified JUH-GOA Black Hawk helicopter is a full authority, high bandwidth, variable stability, in-flight simulator designed to support development of advanced flight control, sensor, and integrated display and control technologies in a fail safe environment. Preparation for flight test required an extensive hazard analysis and ground testing to ensure proper system operation. A hardware in the loop development facility was utilized to evaluate control law stability following software changes, assess servo hardover upset conditions during manual and monitor disengagements and provide pilot familiarization of test techniques and software changes prior to flight. First engagement of the RFCS was conducted on 31 Aug 2001. RFCS transfer system operation, envelope expansion and a limited rate monitor evaluation have been completed with low bandwidth and model following control laws. The presentation will discuss the following - System overview including aircraft modifications and integrated development facilities used with the RASCAL facility. - Preliminary hazard identification and mitigation prior to flight test. - Ground testing used to qualify the RFCS transfer system and verify fault monitor operation. - Flight test results of low-bandwidth and model following control law evaluations including maneuver agility, control limitations, fault monitor reliability, and recovery from manual and monitor disengagement. - Lessons learned including test techniques using a passive three-axis sidearm controller, the value of the development facility in reducing risk and crew coordination issues related to the operation of a full authority, variable stability platform. - Future research and modifications planned for the RASCAL aircraft.
A limiting factor in control system design and analysis for spacecraft is the inability to physically test new algorithms quickly and cheaply. Test flights of space vehicles are costly and take much preparation. As such, EV41 recently acquired a small research quadrocopter that has the ability to be a test bed for new control systems. This project focused on learning how to operate, fly, and maintain the quadrocopter, as well as developing and testing protocols for its use. In parallel to this effort, developing a model in Simulink facilitated the design and analysis of simple control systems for the quadrocopter. Software provided by the manufacturer enabled testing of the Simulink control system on the vehicle.
SAND2026-22942O Desal.jl is a Julia software package for lightweight reverse-osmosis desalination simulation. It supports static and dynamic operation of power-limited desalination systems without requiring optimization dependencies. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.
Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.
NASA Ames Research Center's WetLab-2 Project enables on-orbit quantitative Reverse Transcriptase PCR (qRT-PCR) analysis without the need for sample return. The WetLab-2 system is capable of processing sample types ranging from microbial cultures to animal tissues dissected on-orbit. The project developed a RNA preparation module that can lyse cells and extract RNA of sufficient quality and quantity for use as templates in qRT-PCR reactions. Our protocol has the advantage of using non-toxic chemicals and does not require alcohols or other organics. The resulting RNA is dispensed into reaction tubes that contain all lyophilized reagents needed to perform qRT-PCR reactions. System operations require simple and limited crew actions including syringe pushes, valve turns and pipette dispenses. The project selected the Cepheid SmartCycler (TradeMark), a Commercial-Off-The-Shelf (COTS) qRT-PCR unit, because of its advantages including rugged modular design, low power consumption, rapid thermal ramp times and four-color multiplex detection. Single tube multiplex assays can be used to normalize for RNA concentration and integrity, and to study multiple genes of interest in each module. The WetLab-2 system can downlink data from the ISS to the ground after a completed run and uplink new thermal cycling programs. The ability to conduct qRT-PCR and generate results on-orbit is an important step towards utilizing the ISS as a National Laboratory facility. Specifically, the ability to get on-orbit data will provide investigators with the opportunity to adjust experimental parameters in real time without the need for sample return and re-flight. On orbit gene expression analysis can also eliminate the confounding effects on gene expression of reentry stresses and shock acting on live cells and organisms or the concern of RNA degradation of fixed samples and provide on-orbit gene expression benchmarking prior to sample return. Finally, the system can also be used for analysis of air, surface, water, and clinical samples to monitor environmental pathogens and crew health. The validation flight of the WetLab-2 system using E. coli bacteria and mouse liver launched on SpaceX-7 in June 2015 and will remain on the ISS National Laboratory.
A system has been developed and qualified as flight hardware for the measurement of micturition volumes voided by crewmen during Gemini missions. This Chemical Urine Volume Measurement System (CUVMS) is used for obtaining samples of each micturition for post-flight volume determination and laboratory analysis for chemical constituents of physiological interest. The system is versatile with respect to volumes measured, with a capacity beyond the largest micturition expected to be encountered, and with respect to mission duration of inherently indefinite length. The urine sample is used for the measurement of total micturition volume by a tracer dilution technique, in which a fixed, predetermined amount of tritiated water is introduced and mixed into the voided urine, and the resulting concentration of the tracer in the sample is determined with a liquid scintillation spectrometer. The tracer employed does not interfere with the analysis for the chemical constituents of the urine. The CUVMS hardware consists of a four-way selector valve in which an automatically operated tracer metering pump is incorporated, a collection/mixing bag, and tracer storage accumulators. The assembled system interfaces with a urine receiver at the selector valve inlet, sample bags which connect to the side of the selector valve, and a flexible hose which carries the excess urine to the overboard drain connection. Results of testing have demonstrated system volume measurement accuracy within the specification limits of +/-5%, and operating reliability suitable for system use aboard the GT-7 mission, in which it was first used.
Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.
The objective of NASA Ames Research Centers WetLab-2 Project is to place on the ISS a system capable of conducting gene expression analysis via quantitative real-time PCR (qRT-PCR) of biological specimens sampled or cultured on orbit. The WetLab-2 system is capable of processing sample types ranging from microbial cultures to animal tissues dissected on-orbit. The project has developed a RNA preparation module that can lyse cells and extract RNA of sufficient quality and quantity for use as templates in qRT-PCR reactions. Our protocol has the advantage that it uses non-toxic chemicals, alcohols or other organics. The resulting RNA is transferred into a pipette and then dispensed into reaction tubes that contain all lyophilized reagents needed to perform qRT-PCR reactions. These reaction tubes are mounted on rotors to centrifuge the liquid to the reaction window of the tube using a cordless drill. System operations require simple and limited crew actions including syringe pushes, valve turns and pipette dispenses. The resulting process takes less than 30 min to have tubes ready for loading into the qRT-PCR unit.The project has selected a Commercial-Off-The-Shelf (COTS) qRT-PCR unit, the Cepheid SmartCycler, that will fly in its COTS configuration. The SmartCycler has a number of advantages including modular design (16 independent PCR modules), low power consumption, rapid thermal ramp times and four-color detection. The ability to detect up to four fluorescent channels will enable multiplex assays that can be used to normalize for RNA concentration and integrity, and to study multiple genes of interest in each module. The WetLab-2 system will have the capability to downlink data from the ISS to the ground after a completed run and to uplink new programs. The ability to conduct qRT-PCR on-orbit eliminates the confounding effects on gene expression of reentry stresses and shock acting on live cells and organisms or the concern of RNA degradation of fixed samples. The system can be used to validate terrestrial analyses of samples returned from ISS by providing on-orbit gene expression benchmarking prior to sample return. The ability to get on-orbit data will provide investigators with the opportunity to adjust experimental parameters in real time for subsequent trials, without the need for sample return and re-flight to sample multigenerational changes. The system can also be used for analysis of air, surface, water, and clinical samples to monitor environmental contaminants and crew health. The verification flight of the instrument is scheduled to launch on SpaceX-7 in June 2015. The WetLab-2 Project is supported by NASAs ISS Program at JSC, Code OZ.
It is shown that the lift-drag ratio of tip-coupled systems can be expressed as a simple multiple of the lift-drag ratio of the isolated units comprising the system. When operated for maximum lift-drag ratio, the extent of the coupled system is limited by maximum lift coefficient, high-altitude engine characteristics, and degraded performance of the isolated unit climbing to couple into the system. When operated at constant altitude, the gain from coupling is severely limited. If the cruise altitude is that for best performance of the isolated unit, the system lift-drag ratio can be no better than twice that of the isolated unit even when an infinite number of units are coupled. System performance may be further degraded since span-load distributions which yield good performance for the individual units reduce the efficiency of the coupled system. Coupling a pair of modern transport aircraft results in only about half the expected gain because of a poor span-distribution across the coupled pair. The control deflections required to maintain roll and pitch equilibrium further degrade the possible gain.
The behavior of a drone depends on the integrity of the data it uses and the reliability of the avionics systems that process that data to affect the operation of the aircraft. Commercial unmanned aircraft systems frequently rely on commercial-off-the-shelf and open source avionics components and data sources whose reliability and integrity are not easily assured. To mitigate failure events for aircraft that do not comply with conventional aviation safety standards, operational limitations are typically prescribed by regulators. Part 107 of the Federal Aviation Regulations serves as a good example of operational limitations that mitigate risk for small unmanned aircraft systems. These limitations, however, restrict growth possibilities for the industry. Any reasonable path toward achieving routine operation of all types of drones will have to address the need for assurance of avionics systems, especially their software. This paper discusses the possibility of strategically using assured systems as a stepping stone to routine operation of drones. A specimen system for assured geofencing, called Safeguard, is described as an example of such a stepping stone.
Accurate flood early warnings are critical to minimize damage and loss of life. Current large‐scale operational forecasting systems, however, have limited accuracy, description of uncertainty, and computational efficiency. While Artificial intelligence (AI) can address these limitations in principle, the accuracy and reliability of AI forecasts have thus far proven insufficient. Here we present a novel hybrid framework that integrates AI‐based machinery termed Errorcastnet (ECN) with the National Water Model (NWM) to showcase the potential of ensemble AI flood forecasts over the contiguous U.S. ECN boosts prediction accuracy four‐ to six‐fold across lead times of 1–10 days, while providing uncertainty quantification. It also outperforms Google's state‐of‐the‐art global AI model. ECN‐based forecasts offer superior economic value (up to four‐fold) for decision‐making as compared to those from NWM alone. ECN performs well in varied ecoregions, physiography, and land management conditions. The framework is computationally efficient, enabling national‐scale ensemble forecasts in minutes.
Development of mechanical device to reduce possibility of damage to motor driven needle valve is discussed. Mechanical clutch is employed to allow slippage when needle valve reaches limit of travel. Operation of system for various conditions is described.
The author has identified the following significant results. ERTS-1 MSS data have been used in a variety of hydrologic research including snow-extent mapping; studies of snowmelt, snowmelt runoff, spectral reflectance of snow for assessing snowpack conditions, and snow albedo; lake ice formation, breakup, and migration; lake current measurements; multispectral studies of lake ice; and flood studies. MSS sensing of soil moisture over a well-vegetated test site was unsuccessfully attempted. Although a powerful research tool, ERTS-1 has very limited use as an operational system for hydrologic communities because of its 18-day revisit cycle and its lack of a quick look capability.
A software system for processing multispectral aircraft or satellite data (LARSYS) was designed and written at the Laboratory for Applications of Remote Sensing at Purdue University. This system, being implemented on an IBM 360/67 computer utilizing the Cambridge Monitor System, is of an interactive nature. TAMU LARSYS maintains the essential capabilities of Purdue's LARSYS. The machine configuration for which it has been converted is an IBM-compatible Amdahl 470V/6 computer utilizing the time sharing option of the currently implemented OS/VS2 Operating System. Due to TSO limitations, the NASA-JSC deliverable TAMU LARSYS is comprised of two parts. Part one is a TSO Control Card Checker for LARSYS control cards, and part two is a batch version of LARSYS. Used together, they afford most of the capabilities of the original LARSYS III.1. Additionally, two programs have been written by TAMU to support LARSYS processing. The first is an ERTS-to-MIST conversion program used to convert ERTS data to the LARSYS input form, the MIST tape. The second is a system runtable code which maintains tape/file location information for the MIST data sets.
The feasibility of mechanizing an adaptive array of independent laser oscillators for generation of a high power coherent output was experimentally investigated. Tests were structured to evaluate component/system requirements for delivery of energy to a low-earth orbit satellite. Initial experiments addressed the control issues of phase locking unstable resonators at low power levels. A successful phase lock demonstration formed the basis for the design and fabrication of the high power, water-cooled, control mirror subsequently installed in the NASA LeRC high power laser. Tests were performed to characterize the operational limits of the laser system and included quantitative assessment of the frequency stability, noise sources, and optical properties of the beam.
A review and analysis of conference papers addressing the design of high power VHF radar tranceivers is presented. Specific design topics include: (1) distributed versus single transmitters; (2) coded pulses and decoder design; (3) large transmitter design considerations; and (4) T/R switch design. The topics in the discussion on future directions include the following: (1) enhanced receiver performance; (2) transmitter systems for unattended operation; (3) limitations of the current T/R switch designs; (4) data processing (is eight bits enough); and (5) new frequencies (200 MHz and/or 400 MHz).