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At least 937 records · Page 52

Integrated mobile robot control

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Amidi, Omead↗

Signal processing of jet noise from flyover test data

Narrow-band spectra characterizing jet noise are constructed from flyover acoustic measurements. Radar and c-band tracking systems provided the aircraft position histories which enabled directivity and smear angles from the aircraft to each microphone to be computed. These angles are based on source emission time and thus give some idea about the directivity of the radiated sound field due to jet noise. Simulated spectra are included in the paper to demonstrate spectral broadening due to smear angle. The acoustic data described in the study has application to community noise analysis, noise source characterization and validation of prediction models. Both broadband-shock noise and turbulent mixing noise are observed in the spectra. A detailed description of the signal processing procedures is provided.

Kelly, Jeffrey J.↗

Dual passband dichroic plate for X-band

A need arose in the NASA Deep Space Network, a worldwide tracking system, for a dichroic plate that would be transparent at two desired frequency bands in the X-band region and be totally reflective at S-band. The dual-passband dichroic plate that was developed to meet the technical requirements is a thick metallic plate having an array of periodic round holes filled with Teflon plugs. Test results on an experimental prototype plate indicate that it is technically possible to design a dielectrically filled dichroic plate that meets all of these technical requirements.

Otoshi, T. Y.↗

Robust attitude control for Cassini spacecraft flying by Titan

This paper summarizes a few years attitude control design work on Cassini spacecraft with emphasis on the mission of Titan flyby. The study consists of modeling of the spacecraft dynamics, fuel sloshing, aerodynamic disturbance, controller design, nonlinear simulation, and establishing geometric command profiles. Both classical bang-bang control and modern robust H-infinity control have been designed and evaluated in nonlinear simulation to access the system tracking performance. Design procedures as well as their critical design issues are discussed in detail. Full model nonlinear simulations indicate that a simple 12-state H-infinity controller achieves better radar tracking performance than the classical bang-bang controller with less fuel throughout the flyby mission. Detailed robustness analysis of both designs will be published elsewhere.

Chiang, R.↗

Effects of window size and shape on accuracy of subpixel centroid estimation of target images

A new algorithm is presented for increasing the accuracy of subpixel centroid estimation of (nearly) point target images in cases where the signal-to-noise ratio is low and the signal amplitude and shape vary from frame to frame. In the algorithm, the centroid is calculated over a data window that is matched in width to the image distribution. Fourier analysis is used to explain the dependency of the centroid estimate on the size of the data window, and simulation and experimental results are presented which demonstrate the effects of window size for two different noise models. The effects of window shape were also investigated for uniform and Gaussian-shaped windows. The new algorithm was developed to improve the dynamic range of a close-range photogrammetric tracking system that provides feedback for control of a large gap magnetic suspension system (LGMSS).

Welch, Sharon S.↗

Activities involving aeronautical, space science, and technology support for minority institutions

The Final Report addressed the activities with which the Interracial Council for Business Opportunity (ICBO) was involved over the past 12 months. ICBO was involved in the design and development of a CARES Student Tracking System Software (CARES). Cares is intended to provide an effective means of maintaining relevant current and historical information on NASA-funded students through a range of educational program initiatives. ICBP was extensively involved in the formation of a minority university consortium amd implementation of collaborative research activities by the consortium as part of NASA's Mission to Planet Earth/Earth Observing System. ICBO was involved in the formation of an HBCU/MI Consortium to facilitate technology transfer efforts to the small and minority business community in their respective regions.

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Summary of AXAF calibration requirements

The following summarizes requirements on the High Resolution Mirror Assembly (HRMA) and HRMA/SI calibration. The lists of calibration measurements assume that the HRMA meets the CTT requirement that the XRCF test environment shall have not more than a 10 percent effect on the encircled energy in 1 arcsec and that it can be calibrated to 1 percent. This implies that the offloading scheme has been implemented in the HRMA. It should be remembered that there are additional calibrations needed for: aspect system; tracking; gyros; other parts of the PCAS; spacecraft timing and checks on timing accuracy for all SIs after integration in the spacecraft; ficucial lights and periscope; alignments; optical metrology data: lengths and diameters with errors on mirror elements and optical interferometer data on surface figure; and throughput and imaging stability test: an end-to-end test that can be used after the XRCF to verify that the x-ray throughput and imaging quality have not been degraded. The tables presented give a summary of the integration times for HRMA and HRMA/SI calibration.

Kellogg, E.↗

LET spectra measurements from the STS-35 CPDs

Linear energy transfer (LET) spectra derived form automated track analysis system (ATAS) track parameter measurements for crew passive dosimeters (CPD's) flown with the astronauts on STS-35 are plotted. The spread between the seven individual spectra is typical of past manual measurements of sets of CPD's. This difference is probably due to the cumulative net shielding variations experienced by the CPD's as the astronauts carrying them went about their activities on the Space Shuttle. The STS-35 mission was launched on Dec. 2, 1990, at 28.5 degrees inclination and 352-km altitude. This is somewhat higher than the nominal 300-km flights and the orbit intersects more of the high intensity trapped proton region in the South Atlantic Anomaly (SAA). However, in comparison with APD spectra measured on earlier lower altitude missions (STS-26, -29, -30, -32), the flux spectra are all roughly comparable. This may be due to the fact that the STS-35 mission took place close to solar maximum (Feb. 1990), or perhaps to shielding differences. The corresponding dose and dose equivalent spectra for this mission are shown. The effect of statistical fluctuations at the higher LET values, where track densities are small, is very noticeable. This results in an increased spread within the dose rate and dose equivalent rate spectra, as compared to the flux spectra. The contribution to dose and dose equivalent per measured track is much greater in the high LET region and the differences, though numerically small, are heavily weighted in the integral spectra. The optimum measurement and characterization of the high LET tails of the spectra represent an important part of the research into plastic nuclear track detector (PNTD) response. The integral flux, dose rate, dose equivalent rate and mission dose equivalent for the seven astronauts are also given.

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Multi-spacecraft coherent Doppler and ranging for interplanetary-navigation

Future plans for planetary exploration currently include using multiple spacecraft to simultaneously explore one planet. This never before encountered situation places new demands on tracking systems used to support navigation. One possible solution to the problem of heavy ground resource conflicts is the use of multispacecraft coherent radio metric data, also known as, bent-pipe data. Analysis of the information content of these data types show that the information content of multi-spacecraft Doppler is dependent only on the frequency of the final downlink leg and is independent of the frequencies used on other legs. Numerical analysis shows that coherent bent-pipe data can provide significantly better capability to estimate the location of a lander on the surface of Mars than can direct lander to Earth radio metric data. However, this is complicated by difficulties in separating the effect of a lander position error from that of an orbiter position error for single passes of data.

Pollmeier, Vincent M.↗

Operational considerations of using GPS for spacecraft navigation

The Flight Dynamics Facility (FDF) at the NASA Goddard Space Flight Center (GSFC) has provided operational spacecraft orbit support for many years, currently generating orbit products for about 20 satellites. To date, operational orbit determination in the FDF has been performed on the ground using data from ground-based or space-based tracking systems. Current development of spaceborne Global Positioning System (GPS) receivers is projected to have a significant effect on the support needed for operational satellite navigation. This paper identifies the functions performed in spacecraft navigation and examines and quantifies how the functions and support levels will be affected as onboard GPS receivers are implemented on spacecraft. Cases are considered spacecraft using or not using NASA ground and space networks resources.

Hart, Roger C.↗

High Resolution Microwave Survey

Research information on radar tracking systems, computer animation of star formation, footage of solar systems, and desert radar equipment and research facilities are contained in this video. Frank Drake, President of SETI (Search for Extraterrestrial Intelligence) Institute is interviewed along with Jill Tarter, NASA's High Resolution Microwave Survey Project Scientist.

Scheibe, J.↗

Dynamic orbit determination using GPS measurements from TOPEX/POSEIDON

The GPAS data acquired by the TOPEX/POSEIDON (T/P) Demonstration Receiver (DR) have been used in a dynamic orbit determination, which was based on the description of the gravitational and nongravitational forces in the equations of motion. The GPS carrier phase data were processed in a double difference mode to remove clock errors, including the effects of Selective Availability. Simultaneous estimation of the T/P orbit and GPS orbits was performed using five 10-day cycles in the interval between December (1992) and April (1993). The resulting T/P orbits have been compared with the orbits determined from Satellite Laser Ranging, the French one-way Doppler tracking system, DORIS, and with the JPL reduced dynamic orbit determination strategies and force models with the GPS/DR to those used with SLR/DORIS, the radial component of the T/P orbit (based on JGM-2) was found to agree better than 30 mm (rms) and 35 mm with the JPL reduced dynamic orbit. An experiment gravity tuning was accomplished using four cycles of GPS/DR data. The resulting GPS./DR-orbits, determined by the dynamic technique with the experimental gravity field, are in better agreement with the JPL reduced dynamic orbits in both the radial component (21-25 mm) and altimeter crossover residuals than the JGM-2 orbits. (21-25 mm) and altimeter crossover residuals than the JGM-2 orbits.

Schultz, B. E.↗

Precision X-band Doppler and ranging navigation for current and future Mars exploration missions

This paper describes a navigation error covariance analysis of two scenarios derived from the Mars Observer mission and the planned Mars Environmental SURvey (MESUR) Pathfinder mission, respectively. The analysis was performed to establish the potential navigational performance of the X-band tracking system in NASA's Deep Space Network, and to evaluate the sensitivity of the predicted performance to variations in the quantity of data acquired, the ground system error modeling assumptions, and data reduction schemes. The simulated data arcs used in the analysis are representative of the actual data arcs that will be used to predict the aim point for the Mars orbit insertion maneuver, in the case of Mars Observer, and the interplanetary trajectory aim point corresponding to the target Mars landing site in the case of MESUR Pathfinder. The results indicate that with a suitable sequential data reduction scheme and accurate calibrations of instrumentation, transmission media, and platform model parameters, navigation accuracies of 5 to 15 km (1 sigma) can be achieved, equivalent to 15 to 40 nrad in geocentric angle uncertainty.

Estefan, Jeffrey A.↗

Flight safety programs and enhancements for sounding rockets at Wallops Flight Facility

Sounding rocket programs are becoming larger and more complex, thus range safety personnel are required to be central to vehicle and mission design and operations planning. In response to this, the Wallops Flight Facility (VA), is upgrading range facilities, tracking systems, mobile systems and real-time safety systems. These enhancements will improve safety and reliability while augmenting mission success. Flight safety requirements and responsibilities are summarized, and the range safety's future upgrades for wind weighting, real-time analysis and displays, and the mobile safety systems for rocket programs, are considered.

Balach, Dean↗

Inertial Head-Tracker Sensor Fusion by a Complementary Separate-Bias Kalman Filter

Current virtual environment and teleoperator applications are hampered by the need for an accurate, quick-responding head-tracking system with a large working volume. Gyroscopic orientation sensors can overcome problems with jitter, latency, interference, line-of-sight obscurations, and limited range, but suffer from slow drift. Gravimetric inclinometers can detect attitude without drifting, but are slow and sensitive to transverse accelerations. This paper describes the design of a Kalman filter to integrate the data from these two types of sensors in order to achieve the excellent dynamic response of an inertial system without drift, and without the acceleration sensitivity of inclinometers.

Foxlin, Eric↗

Data-Base Software For Tracking Technological Developments

Technology Tracking System (TechTracS) computer program developed for use in storing and retrieving information on technology and related patent information developed under auspices of NASA Headquarters and NASA's field centers. Contents of data base include multiple scanned still images and quick-time movies as well as text. TechTracS includes word-processing, report-editing, chart-and-graph-editing, and search-editing subprograms. Extensive keyword searching capabilities enable rapid location of technologies, innovators, and companies. System performs routine functions automatically and serves multiple users.

Aliberti, James A.↗

Mechanically-steered disk antenna for mobile satellite service

This paper describes a low-profile disk antenna for vehicular mounting that accommodates L-Band (1525-1660.5 MHz) mobile satellite service requirements. The antenna uses a rotatable printed circuit array mechanically-steered in azimuth via an external tracking system. A shaped elevation beam inherent to the antenna design provides continuous coverage with a minimum gain of 9 dBic between elevation angles of 25-degrees and 60-degrees measured above the horizon. A brief background on the theory, design, and performance for this antenna is discussed.

McCarrick, Charles D.↗

Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter

Current virtual environment and teleoperator applications are hampered by the need for an accurate, quick responding head-tracking system with a large working volume. Gyroscopic orientation sensors can overcome problems with jitter, latency, interference, line-of-sight obscurations, and limited range, but suffer from slow drift. Gravimetric inclinometers can detect attitude without drifting, but are slow and sensitive to transverse accelerations. This paper describes the design of a Kalman filter to integrate the data from these two types of sensors in order to achieve the excellent dynamic response of an inertial system without drift, and without the acceleration sensitivity of inclinometers.

Foxlin, Eric↗