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At least 991 records · Page 55

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DOE OSTI2024

A Vision–based Robust $\mathcal{H}$ ∞ Gain Scheduling Longitudinal and Lateral Following Controller for Autonomous Vehicles on Urban Curved Roads

Implementing advanced driver assistance systems (ADAS) in congested and intricate urban traffic scenarios poses significant challenges. To address the frequent stop–and–go motions exhibited by autonomous vehicles (AVs) navigating urban roads with changes in curvature, we propose a vision–based robust $\mathcal{H}$ ∞ adaptive cruise control system (ACC) for longitudinal control, plus a lane keeping assist system (LKAS) for lateral control. For the vision-based ACC, a weighted probability objective function for the vehicle following behavior is formulated. We incorporate $\mathcal{H}$ ∞ performance and gain scheduling techniques to mitigate the impact of uncertainty in visual sensor measurements. Furthermore, the optimal time headway is scheduled based on the velocity to ensure traffic flow efficiency and safety during the vehicle following process. For the LKAS, we introduce a road curvature estimation method that integrates lane and vehicle dynamics information to obtain the lateral and heading offsets. Next, the design criterion of the observer–based robust gain scheduling lateral motion controller is established by linear matrix inequality (LMI). Here, a series of experiments conducted within a camera–in–loop platform validate the proposed method.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1971

Data user's note: Mariner 6 and 7 photographic data (NSSDC ID no. 69-014A-01 and 69-030A-01

The availability and assistance in the use of the complete set of Mariner 6 and 7 (1969 14A and 1969 20A) pictorial data are announced. The announcement describes the photographic mission of these Mariner spacecrafts, the television camera system, and the photographs that are available from the National Space Data Center. Two appendixes are included: one is a photographic catalog of all enhanced photographs, designated the maximum discriminability photographs; the other is a series of computer produced graphics that are useful in detailed analysis of the photographs.

Anderson, A. T.↗

NASA NTRS1985

Fracture analysis of radial scientific instrument module registration fittings of the space telescope

The space telescope contains various scientific instrument (SI) modules which are mounted to the Focal Plane Structure (FPS) in a statically determinate manner. This is accomplished by using three registration fittings per SI module, one resisting three translations, another resisting two and the third resisting only one. Due to thermal insulating requirements these fittings are complex devices composed of numerous pieces. The structural integrity of these fittings is of great importance to the safety of the orbiter transporting the telescope, so in addition to the stress analyses performed during the design of these components, fracture susceptibility also needs to be considered. The pieces of the registration fittings for the Radial SI Module containing the Wide Field Planetary Camera are examined to determine which would endanger the orbiter if they fractured and what is the likelihood of their fracture. The latter is stated in terms of maximum allowable initial flaw sizes in these pieces.

Springfield, C. W., Jr.↗

NASA NTRS1991

A light intensity function suitable for multimode fiber-optic sensors

Intensity distribution functions on the image plane are derived under the assumption that a multimode optic fiber is illuminated by a light source which can be approximated by infinite uniangular beams carrying equal power. The application of the theory to a Lambertian source is discussed. Experimental results, based on the observation of the light intensity distribution imaged on an opaque screen and collected by a digital camera, are presented. The theoretical and experimental data are compared to verify that the intensity function is an accurate model for describing the realistic approach to sensor design. The limitations of the uniangular and uniform intensity distribution models are discussed on the basis of theoretical and experimental results.

He, Gang↗

NASA NTRS1992

Rugged Video System For Inspecting Animal Burrows

Video system designed for examining interiors of burrows of gopher tortoises, 5 in. (13 cm) in diameter or greater, to depth of 18 ft. (about 5.5 m), includes video camera, video cassette recorder (VCR), television monitor, control unit, and power supply, all carried in backpack. Polyvinyl chloride (PVC) poles used to maneuver camera into (and out of) burrows, stiff enough to push camera into burrow, but flexible enough to bend around curves. Adult tortoises and other burrow inhabitants observable, young tortoises and such small animals as mice obscured by sand or debris.

Triandafils, Dick↗

NASA NTRS1991

Reflectance stability analysis of Spectralon diffuse calibration panels

The Multi-angle Imaging SpectroRadiometer (MISR) plans to use deployable diffuse reflectance panels to provide periodic radiometric calibrations of its nine cameras while in-flight. Near-Lambertian reflectance characteristics are desirable to facilitate flat-field camera intercomparisons. Also required is panel spatial and spectral uniformity, and stability with time. Spectralon, a commercially available polytetrafluoroethylene (PTFE) compound, has been baselined in the MISR design. To assess the suitability of this material, a series of degradation tests were planned and implemented. These included UV vacuum exposure and proton bombardment tests which simulated the exposure levels to be encountered during the mission life. Proton levels are now considered too low to be of concern, but UV vacuum tests demonstrate sensitivity to material contamination. Material investigations have concluded that hydrocarbons are present in the bulk of the material, and that plastic packaging materials can introduce additional surface-layer contamination. It is found however, that these unwanted elements can be eliminated through vacuum pumping at elevated temperatures. Exposure to a UV source, while in vacuum, is again planned for a set of targets which have been vacuum baked. This will assess the stability of the pure PTFE form.

Bruegge, Carol J.↗

NASA NTRS1993

Experimental investigations of the time and flow-direction responses of shear-stress-sensitive liquid crystal coatings

Time and flow-direction responses of shearstress-sensitive liquid crystal coatings were explored experimentally. For the time-response experiments, coatings were exposed to transient, compressible flows created during the startup and off-design operation of an injector-driven supersonic wind tunnel. Flow transients were visualized with a focusing Schlieren system and recorded with a 1000 frame/sec color video camera. Liquid crystal responses to these changing-shear environments were then recorded with the same video system, documenting color-play response times equal to, or faster than, the time interval between sequential frames (i.e., 1 millisecond). For the flow-direction experiments, a planar test surface was exposed to equal-magnitude and known-direction surface shear stresses generated by both normal and tangential subsonic jet-impingement flows. Under shear, the sense of the angular displacement of the liquid crystal dispersed (reflected) spectrum was found to be a function of the instantaneous direction of the applied shear. This technique thus renders dynamic flow reversals or flow divergences visible over entire test surfaces at image recording rates up to 1 KHz. Extensions of the technique to visualize relatively small changes in surface shear stress direction appear feasible.

Reda, Daniel C.↗

NASA NTRS1994

Time and flow-direction responses of shear-styress-sensitive liquid crystal coatings

Time and flow-direction responses of shear-stress liquid crystal coatings were exploresd experimentally. For the time-response experiments, coatings were exposed to transient, compressible flows created during the startup and off-design operation of an injector-driven supersonic wind tunnel. Flow transients were visualized with a focusing schlieren system and recorded with a 100 frame/s color video camera.

Reda, Daniel C.↗

NASA NTRS1996

Holographic Vibration Testing With Video/Computer Imaging

In improved system for holographic vibration testing, holographic interferograms indicating shapes of vibrational modes recorded by video camera under computer control. Results available almost immediately, and images distributed simultaneously to multiple computer terminals connected to vibration-testing computer via local-area network. Designed to replace prior photography-based system for identifying natural vibrational modes of propfan blades; adaptable to similar vibration testing of other objects.

Miller, Christopher J.↗

NASA NTRS2002

SSG SiC Optical Systems in Space

Silicon Carbide (SiC) materials provide a number of benefits for space based optical systems. SSG Precision Optronics has extensive experience in the areas of design, fabrication, integration, and test of SiC optical systems. This expertise has been applied to produce a number of SiC-based instruments, including the Miniature Infrared Camera and Spectrometer (MICAS) and Advanced Land Imager (ALI) optical systems which have flown as part of NASA's New Millennium program. Our presentation will provide an overview of SSG's experience in the development of these SiC flight systems.

Robichaud, Joseph↗

NASA NTRS2002

A Multi-Function Guidance, Navigation and Control System for Future Earth and Space Missions

Over the past several years the Guidance, Navigation and Control Center (GNCC) at NASA's Goddard Space Flight Center (GSFC) has actively engaged in the development of advanced GN&C technology to enable future Earth and Space science missions. The Multi-Function GN&C System (MFGS) design presented in this paper represents the successful coalescence of several discrete GNCC hardware and software technology innovations into one single highly integrated, compact, low power and low cost unit that simultaneously provides autonomous real time on-board attitude determination solutions and navigation solutions with accuracies that satisfy many future GSFC mission requirements. The MFGS is intended to operate as a single self-contained multifunction unit combining the functions now typically performed by a number of hardware units on a spacecraft. However, recognizing the need to satisfy a variety of future mission requirements, design provisions have been included to permit the unit to interface with a number of external remotely mounted sensors and actuators such as magnetometers, sun sensors, star cameras, reaction wheels and thrusters. The result is a highly versatile MFGS that can be configured in multiple ways to suit a realm of mission-specific GN&C requirements. It is envisioned that the MFGS will perform a mission enabling role by filling the microsat GN&C technology gap. In addition, GSFC believes that the MFGS could be employed to significantly reduce volume, power and mass requirements on conventional satellites.

Gambino, Joel↗

NASA NTRS2009

GPS/MEMS IMU/Microprocessor Board for Navigation

A miniaturized instrumentation package comprising a (1) Global Positioning System (GPS) receiver, (2) an inertial measurement unit (IMU) consisting largely of surface-micromachined sensors of the microelectromechanical systems (MEMS) type, and (3) a microprocessor, all residing on a single circuit board, is part of the navigation system of a compact robotic spacecraft intended to be released from a larger spacecraft [e.g., the International Space Station (ISS)] for exterior visual inspection of the larger spacecraft. Variants of the package may also be useful in terrestrial collision-detection and -avoidance applications. The navigation solution obtained by integrating the IMU outputs is fed back to a correlator in the GPS receiver to aid in tracking GPS signals. The raw GPS and IMU data are blended in a Kalman filter to obtain an optimal navigation solution, which can be supplemented by range and velocity data obtained by use of (l) a stereoscopic pair of electronic cameras aboard the robotic spacecraft and/or (2) a laser dynamic range imager aboard the ISS. The novelty of the package lies mostly in those aspects of the design of the MEMS IMU that pertain to controlling mechanical resonances and stabilizing scale factors and biases.

Gender, Thomas K.↗

NASA NTRS2009

Alignment Jig for the Precise Measurement of THz Radiation

Javadi, Hamid H.↗

NASA NTRS2017

Ultra-Stable Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (5STAR)

The Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) combines airborne sun tracking and sky scanning with diffraction spectroscopy to improve knowledge of atmospheric constituents and their links to airpollution and climate. Direct beam hyperspectral measurement of optical depth improves retrievals of gas constituentsand determination of aerosol properties. Sky scanning enhances retrievals of aerosol type and size distribution.Hyperspectral cloud-transmitted radiance measurements enable the retrieval of cloud properties from below clouds.These measurements tighten the closure between satellite and ground-based measurements. 4STAR incorporates amodular sun-tracking sky-scanning optical head with optical fiber signal transmission to rack mounted spectrometers,permitting miniaturization of the external optical tracking head, and future detector evolution.4STAR has supported a broad range of flight experiments since it was first flown in 2010. This experience provides thebasis for a series of improvements directed toward reducing measurement uncertainty and calibration complexity, andexpanding future measurement capabilities, to be incorporated into a new 5STAR instrument. A 9-channel photodioderadiometer with AERONET-matched bandpass filters will be incorporated to improve calibration stability. A wide dynamic range tracking camera will provide a high precision solar position tracking signal as well as an image of sky conditions around the solar axis. An ultrasonic window cleaning system design will be tested. A UV spectrometer tailored for formaldehyde and SO2 gas retrievals will be added to the spectrometer enclosure. Finally, expansion capability for a 4 channel polarized radiometer to measure the Stokes polarization vector of sky light will be incorporated. This paper presents initial progress on this next-generation 5STAR instrument.

atmosphere↗

NASA NTRSDate not supplied

Dusty Environment Classification and Testing: Dust Mitigation Slide Cleaning Material Study

During the Apollo missions many mechanisms, equipment, and surfaces were contaminated by lunar dust and often negatively affected. The methods used to clear these devices of dust proved ineffective, which led to premature failure in some cases. Systems being designed for upcoming missions to the Moon will need to address the performance degradation risk of dust contamination. Surfaces at risk include thermal control surfaces, solar cells, camera and sensor optics, seals, metal joints and tools, and space suit assemblies. To improve state of the art dust mitigation approaches, the dust mitigation team at NASA Glenn Re-search Center (GRC) explored the effects imposed on substrates during cleaning activities in the presence of lunar dust. The Uniform Dust Deposition System (UDDS) was used to conduct a study of various cleaning techniques on different substrates. Test substrates and cleaning media were selected to represent a wide range of structural and functional materials. Substrates included orthofabric, thermal radiator coating, aluminum, quartz glass, silicone rubber, aluminized Mylar, and FEP. Cleaning materials included cloth wipes, tapes, a brush, and a pliable cleaner concept. Cleaning material / substrate pairs were rated on cleaning efficiency, substrate damage, cleaning material longevity, and ease of use. The best performing cleaning method varied based on application.

dust mitigation↗

NASA NTRS2022

Dusty Environment Classification and Testing: Dust Mitigation Slide Wipes & Tapes

During the Apollo missions many mechanisms, equipment, and surfaces were contaminated by lunar dust and often negatively affected. The methods used to clear these devices of dust proved ineffective, which led to premature failure in some cases. Systems being designed for upcoming missions to the Moon will need to address the performance degradation risk of dust contamination. Surfaces at risk include thermal control surfaces, solar cells, camera and sensor optics, seals, metal joints and tools, and space suit assemblies. To improve state of the art dust mitigation approaches, the dust mitigation team at NASA Glenn Research Center (GRC) explored the effects imposed on substrates during cleaning activities in the presence of lunar dust. The Uniform Dust Deposition System (UDDS) was used to conduct a study of various cleaning techniques on different substrates. Test substrates and cleaning media were selected to represent a wide range of structural and functional materials. Substrates included orthofabric, thermal radiator coating, aluminum, quartz glass, silicone rubber, aluminized Mylar, and FEP. Cleaning materials included cloth wipes, tapes, a brush, and a pliable cleaner concept. Cleaning material / substrate pairs were rated on cleaning efficiency, substrate damage, cleaning material longevity, and ease of use. The best performing cleaning method varied based on application.

lunar simulant↗

NASA NTRS2014

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Sandor, Aniko↗

NASA NTRS2016

HIAD on ULA (HULA) Orbital Reentry Flight Experiment Concept

This paper describes a proposed orbital velocity reentry flight test of a Hypersonic Inflatable Aerodynamic Decelerator (HIAD). The flight test builds upon ground development activities that continue to advance the materials, design, and manufacturing techniques for the inflatable structure and flexible thermal protection system (F-TPS) that comprise the inflatable heat shield. While certain aspects of material and system performance can be assessed using a variety of ground testing capabilities, only orbital velocity energy on a trajectory through the gradient density of the atmosphere can impart the combined aerodynamic and aeroheating design environments in real time. To achieve this at limited cost, the HIAD would be delivered to a spin-stabilized entry trajectory as a secondary payload on the Centaur stage of a United Launch Alliance (ULA) Atlas V launch vehicle. Initial trajectory studies indicate that the combination of launch vehicle capability and achievable reentry vehicle ballistic numbers make this a strategic opportunity for technology development. This 4 to 6 meter diameter scale aeroshell flight, referred to as HIAD on ULA (HULA), would also contribute to ULA asset recovery development. ULA has proposed that a HIAD be utilized as part of the Sensible, Modular, Autonomous Return Technology (SMART) initiative to enable recovery of the Vulcan launch vehicle booster main engines [1], including a Mid-Air Recovery (MAR) to gently return these assets for reuse. Whereas HULA will attain valuable aerothermal and structural response data toward advancing HIAD technology, it may also provide a largest-to-date scaled flight test of the MAR operation, which in turn would allow the examination of a nearly pristine post-entry aeroshell. By utilizing infrared camera imaging, HULA will also attain aft-side thermal response data, enhancing understanding of the aft side aerothermal environment, an area of high uncertainty. The aeroshell inflation will utilize a heritage design compressed gas system to minimize development costs. The data will be captured to both an onboard recorder and a recorder that is jettisoned and recovered separately from the reentry vehicle to mitigate risk. This paper provides an overview, including the architecture and flight concept of operations, for the proposed HULA flight experiment.

Dinonno, J. M.↗