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NASA NTRS1974

The Mariner Jupiter/Saturn 1977 mission

A dual flyby mission to the planets and satellite systems of Jupiter and Saturn is being planned for Fall 1977 launch. Two Mariner spacecraft, fully attitude-stabilized and carrying about 90 kg of instruments to support some eleven experiments, will make interplanetary measurements for a minimum of about four years. They will spend several weeks investigating the planets and several of their satellites at close range, using TV cameras, ultraviolet and infrared spectrometers, and a variety of other scanning instruments, field and particle sensors, and radio devices. The mission and equipment designs are described in terms of the integrated plan for a thorough and coordinated scientific exploration of the two planetary systems.

Schurmeier, H. M.↗

NASA NTRS1977

Advances in laser technology for the atmospheric sciences; Proceedings of the Seminar, San Diego, Calif., August 25, 26, 1977

These papers deal with recent research, developments, and applications in laser and electrooptics technology, particularly with regard to atmospheric effects in imaging and propagation, laser instrumentation and measurements, and particle measurement. Specific topics include advanced imaging techniques, image resolution through atmospheric turbulence over the ocean, an efficient method for calculating transmittance profiles, a comparison of a corner-cube reflector and a plane mirror in folded-path and direct transmission through atmospheric turbulence, line-spread instrumentation for propagation measurements, scaling laws for thermal fluctuations in the layer adjacent to ocean waves, particle sizing by laser photography, and an optical Fourier transform analysis of satellite cloud imagery. Other papers discuss a subnanosecond photomultiplier tube for laser application, holography of solid propellant combustion, diagnostics of turbulence by holography, a camera for in situ photography of cloud particles from a hail research aircraft, and field testing of a long-path laser transmissometer designed for atmospheric visibility measurements.

Trolinger, J. D.↗

NASA NTRS1985

Dynamic Thermophysical Measurements in Space

The objective is to develop techniques for the dynamic measurement of selected thermophysical properties (e.g., heat of fusion, heat capacity, electrical resistivity) of solids and liquids at temperatures above 2000 K in a near zero-gravity environment. The first phase involves establishing the stability (geometrical) limits of specimens when rapidly heated to temperatures beyond their melting point. A test equipment package was designed and constructed for this purpose, consisting of removable specimen cartridge cells, a battery-bank power supply, a high-speed framing camera, a single-wavelength pyrometer, and electronic switching and control equipment. The operation of the equipment package was tested in the laboratory in preparation for near zero-gravity experiments to be performed during a KC-135 flight in September, 1984.

Cezairliyan, A.↗

NASA NTRS1991

Electro optical system to measure strains at high temperature

The goals of this proposal were to develop a prototype of an electro-optics system for the measurement of strains in structures at high temperatures and to perform a test under field conditions. In the research task section, the topics addressed include: (1) correction of the effect of vibrations and thermal currents by means of an active compensation system; (2) reduction of the speckle noise by means of electronic filter and TV signal reconstruction circuit; (4) compensation of the rigid body motions by mounting the camera in a universal motion system; and (5) removal of phase errors left by the active compensation system by dynamic reading. In the design and construction section, the topics addressed include: (1) preliminary design; (2) final design; (3) software development; (4) signal conditioning; (5) data processing; (6) recorrelation of two holograms in the presence of rigid body motions; and (7) phase extraction using a computer generated image. Testing in the high temperature oven is also addressed.

Sciammarella, Cesar A.↗

NASA NTRS1993

Virtual egocenters as a function of display geometric field of view and eye station point

The accurate location of one's virtual egocenter in a geometric space is of critical importance for immersion technologies. This experiment was conducted to investigate the role of field of view (FOV) and observer station points in the perception of the location of one's egocenter (the personal viewpoint) in virtual space. Rivalrous cues to the accurate location of one's egocenter may be one factor involved in simulator sickness. Fourteen subjects viewed an animated 3D model, of the room in which they sat, binocularly, from Eye Station Points (ESP) of either 300 or 800 millimeters. The display was on a 190 by 245 mm monitor, at a resolution of 320 by 200 pixels with 256 colors. They saw four models of the room designed with four geometric field of view (FOVg) conditions of 18, 48, 86, and 140 degrees. They drew the apparent paths of the camera in the room on a bitmap of the room as seen from infinity above. Large differences in the paths of the camera were seen as a function of both FOVg and ESP. Ten of the subjects were then asked to find the position for each display that minimized camera motion. The results fit well with predictions from an equation that took the ratio of human FOV (roughly 180 degrees) to FOVg times the Geometric Eye Point (GEP) of the imager: Zero Station Point = (180/FOVg)*GEP

Psotka, Joseph↗

NASA NTRS1996

Enhancement of High-Speed Infrared Array Electronics (Center Director's Discretionary Fund)

A state-of-the-art infrared detector was to be used as the sensor in a new spectrometer-camera for astronomical observations. The sensitivity of the detector required the use of low-noise, high-speed electronics in the system design. The key component in the electronic system was the pre-amplifier that amplified the low voltage signal coming from the detector. The system was designed based on the selection of the amplifier and that was driven by the maximum noise level, which would yield the desired sensitivity for the telescope system.

Sutherland, W. T.↗

NASA NTRS1997

Complex Permittivities of Candidate Radome Materials at W-band

This report presents the results of w-band complex permittivity measurements performed in NASA Langley's Electromagnetics Research Branch. The test articles included in the permittivity study were flat panels of materials which are under consideration for use in a radome for the Passive Millimeter Wave Camera (PMMWC) flight experiment. This experiment is scheduled to fly on the Air Force's 'Speckled Trout' aircraft in late 1997. The radome design is very important because the PMMWC can tolerate only a small amount of electromagnetic loss through the radome. A free space measurement system was used to obtain complex reflection and transmission coefficients of the samples. The frequency of interest was 89 GHz, so measurements were performed over a range of 79 to 99 GHz. The transmission and reflection coefficients were used, along with the measured sample thickness, to calculate complex permittivity over the frequency range. The material samples measured in this study can be divided into four categories: skin materials, core materials, coating materials, and layered samples.

Cravey, Robin↗

NASA NTRS1996

Stress Measurement System

Under the Aircraft Structural Integrity program, Langley Research Center and Stress Photonics developed an infrared-based stress measurement system for use in nondestructive evaluation of materials and structures. Stress Photonics commercialized the technology in the DeltaTherm 1000 system, used to compare designs and detect cracks in structures, especially for aging aircraft and bridges. The system combines digital signal processing technology with a special infrared camera to provide instantaneous thermal images and live differential images.

Source record↗

NASA NTRS2010

Real-Time Feature Tracking Using Homography

This software finds feature point correspondences in sequences of images. It is designed for feature matching in aerial imagery. Feature matching is a fundamental step in a number of important image processing operations: calibrating the cameras in a camera array, stabilizing images in aerial movies, geo-registration of images, and generating high-fidelity surface maps from aerial movies. The method uses a Shi-Tomasi corner detector and normalized cross-correlation. This process is likely to result in the production of some mismatches. The feature set is cleaned up using the assumption that there is a large planar patch visible in both images. At high altitude, this assumption is often reasonable. A mathematical transformation, called an homography, is developed that allows us to predict the position in image 2 of any point on the plane in image 1. Any feature pair that is inconsistent with the homography is thrown out. The output of the process is a set of feature pairs, and the homography. The algorithms in this innovation are well known, but the new implementation improves the process in several ways. It runs in real-time at 2 Hz on 64-megapixel imagery. The new Shi-Tomasi corner detector tries to produce the requested number of features by automatically adjusting the minimum distance between found features. The homography-finding code now uses an implementation of the RANSAC algorithm that adjusts the number of iterations automatically to achieve a pre-set probability of missing a set of inliers. The new interface allows the caller to pass in a set of predetermined points in one of the images. This allows the ability to track the same set of points through multiple frames.

Clouse, Daniel S.↗

NASA NTRS2012

Evaluation of the Performance Characteristics of CGLSS II and U.S. NLDN Using Ground-Truth Data from Launch Complex 398, Kennedy Space Center, Florida

A new comprehensive lightning instrumentation system has been designed for Launch Complex 39B (LC39B) at the Kennedy Space Center, Florida. This new instrumentation system includes six synchronized high-speed video cameras, current sensors installed on the nine downcouductors of the new lightning protection system (LPS) for LC39B; four dH/dt, 3-axis measurement stations; and five dE/dt stations composed of two antennas each. The LPS received 8 direct lightning strikes (a total of 19 strokes) from March 31 through December 31, 2011. The measured peak currents and locations are compared to those reported by the CGLSS 11 and the NLDN. Results of comparison are presented and analyzed in this paper.

Mata, Carlos T.↗

NASA NTRS2012

Evaluation of the Performance Characteristics of CGLSS II and U.S. NLDN Using Ground-Truth Dalta from Launch Complex 398, Kennedy Space Center, Florida

A new comprehensive lightning instrumentation system has been designed for Launch Complex 39B (LC39B) at the Kennedy Space Center, Florida. This new instrumentation system includes seven synchronized high-speed video cameras, current sensors installed on the nine downconductors of the new lightning protection system (LPS) for LC39B; four dH/dt, 3-axis measurement stations; and five dE/dt stations composed of two antennas each. The LPS received 8 direct lightning strikes (a total of 19 strokes) from March 31 through December 31 2011. The measured peak currents and locations are compared to those reported by the Cloud-to-Ground Lightning Surveillance System (CGLSS II) and the National Lightning Detection Network (NLDN). Results of comparison are presented and analyzed in this paper.

Mata, C. T.↗

NASA NTRS1986

Motor actuated vacuum door

Doors that allow scientific instruments to record and retrieve the observed data are often required to be designed and installed as a part of sounding rocket hardware. The motor-actuated vacuum door was designed to maintain a medium vacuum of the order of 0.0001 torr or better while closed, and to provide an opening 15 inches long x 8.5 inches wide while open for cameras to image Halley's comet. When the electric motor receives the instruction to open the door through the payload battery, timer, and relay circuit, the first operation is to unlock the door. After unlatching, the torque transmitted by the motor to the main shaft through the links opens the door. A microswitch actuator, which rides on the linear motion conversion mechanism, is adjusted to trip the limit switch at the end of the travel. The process is repeated in the reverse order to close the door. 'O' rings are designed to maintain the seal. Door mechanisms similar to the one described have flown on Aerobee 17.018 and Black Brant 27.047 payloads.

Hanagud, A. V.↗

NASA NTRS2003

EVA Robotic Assistant Project: Platform Attitude Prediction

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Nickels, Kevin M.↗

DOE OSTI2026

Autonomous Hydrogen Fueling Station

This project “Autonomous Hydrogen Fueling Station” covered the autonomous refueling with both gaseous hydrogen and liquid hydrogen. The part on gaseous hydrogen focused on the development of an autonomous robotic fueling arm that would couple to a fuel cell engine for hydrogen refueling without guidance from the forklift operator and budget period. Research was also covered for the robotic fueling with a commercial vehicle. The second phase of the project created the baseline for an autonomous liquid hydrogen transfer system that would minimize boil off losses by operating at thermodynamically efficient state points. For the development of the robotic fueling arm, testing was conducted to establish a baseline measurement of the accuracy and repeatability of a human operator positioning a lift truck in front of a dispenser. The goal was to establish the range of motion required for an autonomous fueling mechanism to mate a hydrogen nozzle with a receptacle on a fuel cell system installed in a forklift. The final design comprised a selective compliance articulated robot arm (SCARA)-type mechanism with two arms for horizontal motion and a ball screw for vertical movement and color and LIDAR cameras were used for marker identification and proximity awareness to guide the robotic arm to its target receptacle. Initial tests resulted in 199 out of 200 successful attempts at autonomous coupling of the dispensing coupler and a fuel cell engine, without hydrogen. The dispenser prototype was modified to include tubing for both hydrogen fuel and air purge lines, but subsequent tests were confounded by the shoulder motor over current errors which limited the robot from getting to the fully inserted position to achieve a positive latch. Robotic hydrogen refueling was successfully demonstrated over 1.5 hours of testing, Plug completed 29 successful latches with an average number of 4 sequential latches before failure. However, a robot capable of placing the nozzle with more force is required for higher reliability. For budget period two, a small scale (10 kg / transfer) automated control system was designed that would operate valves to control pressure and flow of liquid nitrogen between a source and receiving tank with an aim to minimize boil off losses by operating at the most thermodynamically efficient state points. Control system logic flow and a P&ID were developed prior to system safety characterization via HAZOP. A control narrative and system state points were defined. Delays in approval for a change of project objective and procurement issues precluded the construction and test of the final prototype system.

08 HYDROGEN↗

NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗

DOE OSTI2021

Combining visible shadowgraph imaging with x-ray imaging for dynamic shock experiments

Interrogating ejecta particles launched from target materials that are undergoing dynamic shock can be done with both x-ray imaging and visible shadowgraph imaging. Our dynamic testing must be done inside a containment vessel with limited access ports available. We designed an imaging system to relay both types of imaging systems through a single port using the same optical relay and then splitting the images onto three separate high-speed imaging cameras outside the containment vessel. X-ray imaging provides ejecta density measurements. Shadowgraph imaging that is done at two wavelengths (blue and red) constrains ejecta particle size distributions and provides areal density measurements of the ejecta cloud. The ejecta particles are positioned 225 mm before the x-ray scintillators; this arrangement permits a folded mirror system to allow the shadowgraph data to bypass the x-ray scintillators. This configuration results in spatial separations between the intermediate image planes of the x-ray and shadowgraph images along the optical axis. At the position of the x-ray intermediate image plane, mirrors are positioned such that the shadowgraph images are kicked out and their images are sent on to different cameras. Positioning of the large doublet relay lenses keeps shrapnel from impacting the vessel containment windows.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRS2008

Instrument Performance of GISMO, a 2 Millimeter TES Bolometer Camera used at the IRAM 30 m Telescope

In November of 2007 we demonstrated a monolithic Backshort-Under-Grid (BUG) 8x16 array in the field using our 2 mm wavelength imager GISMO (Goddard IRAM Superconducting 2 Millimeter Observer) at the IRAM 30 m telescope in Spain for astronomical observations. The 2 mm spectral range provides a unique terrestrial window enabling ground-based observations of the earliest active dusty galaxies in the universe and thereby allowing a better constraint on the star formation rate in these objects. The optical design incorporates a 100 mm diameter silicon lens cooled to 4 K, which provides the required fast beam yielding 0.9 lambda/D pixels. With this spatial sampling, GISMO will be very efficient at detecting sources serendipitously in large sky surveys, while the capability for diffraction limited imaging is preserved. The camera provides significantly greater detection sensitivity and mapping speed at this wavelength than has previously been possible. The instrument will fill in the spectral energy distribution of high redshift galaxies at the Rayleigh-Jeans part of the dust emission spectrum, even at the highest redshifts. Here1 will we present early results from our observing run with the first fielded BUG bolometer array. We have developed key technologies to enable highly versatile, kilopixel, infrared through millimeter wavelength bolometer arrays. The Backshort-Under-Grid (BUG) array consists of three components: 1) a transition-edge-sensor (TES) based bolometer array with background-limited sensitivity and high filling factor, 2) a quarter-wave reflective backshort grid providing high optical efficiency, and 3) a superconducting bump-bonded large format Superconducting Quantum Interference Device (SQUID) multiplexer readout. The array is described in more detail elsewhere (Allen et al., this conference). In November of 2007 we demonstrated a monolithic 8x 16 array with 2 mm-pitch detectors in the field using our 2 mm wavelength imager GISMO (Goddard IRAM Superconducting 2 Millimeter Observer) at the IRAM 30 m telescope in Spain for astronomical observations. The 2 mm spectral range provides a unique terrestrial window enabling ground-based observations of the earliest active dusty galaxies in the universe and thereby allowing a better constraint on the star formation rate in these objects. The optical design incorporates a 100 mm diameter silicon lens cooled to 4 K, which provides the required fast beam yielding 0.9 lambda1D pixels. With this spatial sampling, GISMO will be very efficient at detecting sources serendipitously in large sky surveys, while the capability for diffraction limited imaging is preserved. The camera provides significantly greater detection sensitivity and mapping speed at this wavelength than has previously been possible. The instrument will fill in the spectral energy distribution of high redshift galaxies at the Rayleigh-Jeans part of the dust emission spectrum, even at the highest redshifts. Here I will we present early results from our observing run with the first fielded BUG bolometer array.

Staguhn, Johannes↗

DOE OSTI2024

Heliostats with Adjustable Shape for High Concentration throughout the Day

Our motivation is to develop more efficient heliostats that can provide commercially viable solar thermal power at temperatures > 800°C. Such high temperatures will enable high-temperature industrial processes, as well as electrical generation after sunset with high efficiency. The importance of this research is that such heliostats have the potential to substantially expand the global use of solar energy, by adding solar thermal power as a major component. Thermal solar currently accounts for only 1% of all solar power (with PV being the rest), with heliostat fields providing just 0.25%. Our goals have been 1) to demonstrate a technical improvement for heliostats that can enable fields of them to more efficiently power receivers and reactors, and 2) to show a path to low-cost mass production. Our solution uses new opto-mechanical technology to correct a fundamental deficiency of present heliostats that limits their concentration, namely that they have fixed shape. Most of today’s heliostat research does not address this, but is directed simply toward cost reduction in an effort to make heliostats commercially viable. We are motivated to explore also improving heliostat efficiency, which can be done by continually changing their shape to maximize the concentration of sunlight throughout the day. This is not a new concept, but it has never been implemented in a practical, cost-effective way that approaches the theoretical limit to concentration while also improving mechanical performance; this is our goal. Our major accomplishments have been: 1) We have realized the planned design, construction, and test of a prototype heliostat that achieves the required shape changes in an 8 m2 single-piece glass mirror. The mirror is attached to a steel support frame that is automatically mechanically twisted by the heliostat drives that orient the mirror to direct sunlight to the tower-mounted receiver. Closed-loop tracking is done using a new beamsplitter camera that exploits the target-oriented mount configuration. Field tests of the heliostat show that the light is reflected through the day to always form a disc image of the sun, as needed to obtain the highest concentration. 2) We have developed the design for a field of 431 heliostats to deliver annual average of 1 MW of thermal power at 3,000 sun concentration, matched to a high-temperature ≥ 1000°C chemical reactor. 3) We have also developed, beyond the original stated goals of the project, a new concept for closed-loop tracking and shape-sensing for all the heliostats in the above field, using just 6 cameras around the concentrated reactor focus. Our research adds to the understanding of solar thermal energy by its demonstration of the technical effectiveness of a higher performing heliostat, and by its concept for a new powerful method for real-time tracking and shape sensing in the field, as described above. We have studied the economic feasibility of fields of our twisting heliostats to provide high- temperature heat at a price competitive with that of burning gas, to satisfy the DOE’s studied zero-emissions scenario, where the gas price has to include the cost of carbon capture. The project has the potential to greatly benefit the public if it helps limit global warming by 1) reducing carbon emission from industrial heating, which is currently a major contributor to the 40-billion-ton annual increase in atmospheric CO 2 . 2) Ultimately, the technology could prove to be the least expensive method to power direct air capture of CO 2 on the very large scale needed to remove the 1 trillion-ton excess of CO 2 already in the atmosphere.

14 SOLAR ENERGY↗