Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “range decomposition”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 991 records · Page 55
All sourcesNASA NTRSDOE OSTI
DOE OSTI2018

Localization of gravitino field on branes

In this paper, we investigate the localization of a bulk gravitino field on the scalar-tensor branes and compare the result with that in the Randall–Sundrum-1 (RS1) model. The coupled chiral equations for the Kaluza–Klein (KK) modes of the gravitino field are obtained by fixing the gauge Ψ{sub 5}=0 and using the chiral KK decompositions. It is shown that, in the RS1 model for the left- and right-handed zero modes of the gravitino field, only one of them can be localized near one brane. For the massive modes, both chiral modes survive and the lower KK modes are localized near the IR brane from the four-dimensional physical coordinate point of view. However, for the scalar-tensor brane model, the localization of the gravitino chiral zero modes depends on the coupling parameter λ, and they will be not localized around anyone brane within a certain range of the parameter λ, which is quite different from the RS1 model. Furthermore, we also give the corresponding mass spectra of the massive KK gravitinos in the scalar-tensor model.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2013

A GALACTIC WEIGH-IN: MASS MODELS OF SINGS GALAXIES USING CHEMO-SPECTROPHOTOMETRIC GALACTIC EVOLUTION MODELS

The baryonic mass-to-light ratio (Y{sub *}) used to perform the photometry-to-mass conversion has a tremendous influence on the measurement of the baryonic content and distribution as well as on the determination of the dark halo parameters. Since numerous clues hint at an inside-out formation process for galaxies, a radius-dependant Y{sub *} is needed to physically represent the radially varying stellar population. In this article, we use chemo-spectrophotometric galactic evolution (CSPE) models to determine Y{sub *} for a wide range of masses and sizes in the scenario of an inside-out formation process by gas accretion. We apply our method to a SINGS subsample of 10 spiral and dwarf galaxies with photometric coverage ranging from the UV to the mid-IR. The CSPE models prove to be a good tool for weighting the different photometric bands in order to obtain consistent stellar disk masses regardless of the spectral band used. On the other hand, we show that the color index versus Y{sub *} relation is an imperfect tool for assigning masses to young stellar populations because of the degeneracy affecting Y{sub *} in all bands at low color index. The disks resulting from our analysis are compatible with the maximum disk hypothesis provided that an adequate bulge/disk decomposition is performed and that the correction for the presence of a bar is not neglected since bars disturb the internal disk kinematics. Disk-mass models including Y{sub *} as a free parameter as well as models using our physically motivated, radially varying Y{sub *} are presented and discussed for each galaxy.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Understanding and Overcoming Water-induced Interfacial Degradation in Si Modules (Final Technical Report)

Moisture ingress is an established issue for photovoltaic module durability. Durability studies probing moisture effects typically evaluate performance losses at the module level, attributing global power losses to the overall humidity condition of the test environment while leaving local module behavior unknown. This project successfully develops an in situ short-wave infrared probe of moisture content in PV modules with demonstrated detection limits better than 100 ppm in EVA-encapsulated Al-BSF and PERC architectures (66 µg/cm3) and applicability across the range of terrestrial conditions. Combining this optical moisture quantification method (water reflectometry detection, WaRD) with peel testing of interfaces, biased photoluminescence imaging of performance, and first principles computation, we correlate module moisture content and cell performance over the course of accelerated damp heat tests. By performing multi-level humidity and thermal accelerated testing over thousands of hours (0, 65 and 85% RH and 25, 65, and 85°C), we are able to attribute effects of individual environmental stresses and the dependence on module architecture. Using first-principles computational chemistry, we find that the decomposition of EVA to acetic acid (Norrish II) is thermodynamically preferred over a pathway to acetaldehyde (Norrish I), elucidating the underlying chemistry of encapsulant degradation. We also find it is likely that water segregates to the stable interfaces of the cell, especially the SiNx/EVA interface. We find that moisture is strongly correlated with reduction in adhesion at the interfaces of the cells, particularly at Ag fingers. We show uniquely that the peel strength required to delaminate the encapsulant from the front of the cell depends not only on the exposure to a high heat and humid environment, but also to the moisture content during the mechanical testing, indicating an important interaction between when mechanical stresses are faced in terms of the moisture content of the module and its durability. We find that the background sheet resistance (that is, the sheet resistance rise not attributable to finger interruptions or cracks) is substantially higher in the backsheet mini-modules vs glass-glass packages when humidity and temperature are faced. This increase in power loss due to the background resistance increase over time in damp heat in glass-backsheet modules resulted in ~3-4% larger decrease in relative PCE compared to glass-glass modules. In glass-backsheet modules, the effect of the moisture dose alone is comparable or greater than that of the combined temperature and water term, suggesting that glass-backsheet modules are overall more susceptible to moisture induced performance loss. Finally, we show that thin film PV modules are amenable to WaRD measurement, based on the ability to detect moisture in POE encapsulants or in the cell stack itself. The ease of WaRD measurement and its few requirements on the bill of materials should enable broad applicability of this technique for studying the effects of moisture in PV.

14 SOLAR ENERGY↗
NASA NTRS2009

Three-dimensional Finite Element Formulation and Scalable Domain Decomposition for High Fidelity Rotor Dynamic Analysis

This paper has two objectives. The first objective is to formulate a 3-dimensional Finite Element Model for the dynamic analysis of helicopter rotor blades. The second objective is to implement and analyze a dual-primal iterative substructuring based Krylov solver, that is parallel and scalable, for the solution of the 3-D FEM analysis. The numerical and parallel scalability of the solver is studied using two prototype problems - one for ideal hover (symmetric) and one for a transient forward flight (non-symmetric) - both carried out on up to 48 processors. In both hover and forward flight conditions, a perfect linear speed-up is observed, for a given problem size, up to the point of substructure optimality. Substructure optimality and the linear parallel speed-up range are both shown to depend on the problem size as well as on the selection of the coarse problem. With a larger problem size, linear speed-up is restored up to the new substructure optimality. The solver also scales with problem size - even though this conclusion is premature given the small prototype grids considered in this study.

Datta, Anubhav↗
DOE OSTI2016

A Visible-Light-Active Heterojunction with Enhanced Photocatalytic Hydrogen Generation

A visible-light-active carbon nitride (CN)/strontium pyroniobate (SNO) heterojunction photocatalyst was fabricated by deposition of CN over hydrothermally synthesized SNO nanoplates by a simple thermal decomposition process. The microscopic study revealed that nanosheets of CN were anchored to the surface of SNO resulting in an intimate contact between the two semiconductors. Diffuse reflectance UV/Vis spectra show that the resulting CN/SNO heterojunction possesses intense absorption in the visible region. The structural and spectral properties endowed the CN/SNO heterojunction with remarkably enhanced photocatalytic activity. Specifically, the photocatalytic hydrogen evolution rate per mole of CN was found to be 11 times higher for the CN/SNO composite compared to pristine CN. The results clearly show that the composite photocatalyst not only extends the light absorption range of SNO but also restricts photogenerated charge-carrier recombination, resulting in significant enhancement in photocatalytic activity compared to pristine CN. The relative band positions of the composite allow the photogenerated electrons in the conduction band of CN to migrate to that of SNO. This kind of charge migration and separation leads to the reduction in the overall recombination rate of photogenerated charge carriers, which is regarded as one of the key factors for the enhanced activity. In conclusion, a plausible mechanism for the enhanced photocatalytic activity of the heterostructured composite is proposed based on observed activity, photoluminescence, time-resolved fluorescence emission decay, electrochemical impedance spectroscopy, and band position calculations.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2024

Sound propagation in realistic interactive 3D scenes with parameterized sources using deep neural operators

We address the challenge of acoustic simulations in three-dimensional (3D) virtual rooms with parametric source positions, which have applications in virtual/augmented reality, game audio, and spatial computing. The wave equation can fully describe wave phenomena such as diffraction and interference. However, conventional numerical discretization methods are computationally expensive when simulating hundreds of source and receiver positions, making simulations with parametric source positions impractical. To overcome this limitation, we propose using deep operator networks to approximate linear wave-equation operators. This enables the rapid prediction of sound propagation in realistic 3D acoustic scenes with parametric source positions, achieving millisecond-scale computations. By learning a compact surrogate model, we avoid the offline calculation and storage of impulse responses for all relevant source/listener pairs. Our experiments, including various complex scene geometries, show good agreement with reference solutions, with root mean squared errors ranging from 0.02 to 0.10 Pa. Notably, our method signifies a paradigm shift as—to our knowledge—no prior machine learning approach has achieved precise predictions of complete wave fields within realistic domains.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2022

Modification of LiMn 2 O 4 surfaces by controlling the Acid–Base surface chemistry of atomic layer deposition

In this combined theoretical and experimental study, we report the effects of Al precursor selection on the growth chemistry, interfacial structure, and electrochemistry of Al 2 O 3 coatings on spinel LiMn 2 O 4 (LMO) surfaces by atomic layer deposition (ALD). Five Al precursors, exhibiting a range of Lewis acid-base properties, were used to establish trends in the ALD Al 2 O 3 growth chemistry on LMO powders in comparison to redox-inactive planar silicon substrates. We show that the Lewis acid-base properties of the Al precursor ligands can be used to tune both the Mn oxidation states and the Al 2 O 3 coverage on the LMO surface. Density functional theory calculations are used to examine the reaction mechanism of each precursor on LMO surfaces, elucidating a correlation between the Lewis acidity of the ligands and the decomposition thermochemistry. In-depth X-ray photoelectron spectroscopy and in situ Fourier transform infrared spectroscopy measurements support these theoretical predictions and further reveal how different Al precursors modify the atomic and electronic structure near the LMO surface during ALD. While the Mn oxidation state is strongly influenced by the Lewis acidity of the precursor ligand, the surface coverage and thickness of the Al 2 O 3 coating are a more representative descriptor of the electrochemical performance measured in coin cell experiments. Finally, we show how the ligand acid-base properties of ALD precursors can be used to rationally tailor atomic layer growth mechanisms, which may enable atomic level control over the structure of functionalized interfaces for various applications related to catalysis, semiconductors, and energy storage.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2018

State space parameterization of explosive eigenvalues during autoignition

Explosive modes such as ignition and extinction are characterized by an eigenvalue of the chemical Jacobian matrix with positive real part, representing the transient instability of chain-branching chemistry and thermal feedback. Formation and eigen-decomposition of the Jacobian matrix are expensive operations whose cost increases cubically with chemical mechanism size. As an alternative to directly computing the eigenvalues of the Jacobian, we explore principal component analysis (PCA) along with nonlinear regression as a methodology to parameterize the eigenvalues by state variables (or linear combinations thereof). We evaluate this modeling strategy using homogeneous autoignition data on two different applications: pseudotransient continuation (Ψtc)-based ODE solvers and chemical explosive mode analysis (CEMA). Results indicate that the PCA-based parameterization of the eigenvalues appears feasible for Ψtc solvers in autoignition calculations over a range of temperatures and pressures. Our results also show that eigenvalue models are capable of tracking sharp discontinuities (such as ignition or extinction) in the eigenvalue for computational flame diagnostics such as CEMA.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1988

SRB combustion dynamics analysis computer program (CDA-1)

A two-dimensional numerical model is developed for the unsteady oscillatory combustion of the solid propellant flame zone. Variations of pressure with low and high frequency responses across the long flame, such as in the double-base propellants, are accommodated. The formulation is based on a premixed, laminar flame with a one-step overall chemical reaction and the Arrhenius law of decomposition for the gaseous phase with no condensed phase reaction. Numerical calculations are carried out using the Galerkin finite elements, with perturbations expanded to the zeroth, first, and second orders. The numerical results indicate that amplification of oscillatory motions does indeed prevail in high frequency regions. For the second order system, the trend is similar to the first order system for low frequencies, but instabilities may appear at frequencies lower than those of the first order system. The most significant effect of the second order system is that the admittance is extremely oscillatory between moderately high frequency ranges.

Chung, T. J.↗
NASA NTRS2010

Lithium-Ion Electrolytes Containing Phosphorous-Based, Flame-Retardant Additives

Future NASA missions aimed at exploring Mars, the Moon, and the outer planets require rechargeable batteries that can operate over a wide temperature range (-60 to +60 C) to satisfy the requirements of various applications. In addition, many of these applications will require improved safety, due to their use by humans. Currently, the state-of-the-art lithium-ion (Li-ion) system has been demonstrated to operate over a wide range of temperatures (-40 to +40 C); however, abuse conditions can often lead to cell rupture and fire. The nature of the electrolyte can greatly affect the propensity of the cell/battery to catch fire, given the flammability of the organic solvents used within. Li-ion electrolytes have been developed that contain a flame-retardant additive in conjunction with fluorinated co-solvents to provide a safe system with a wide operating temperature range. Previous work incorporated fluorinated esters into multi-component electrolyte formulations, which were demonstrated to cover a temperature range from 60 to +60 C. This work was described in Fluoroester Co-Solvents for Low-Temperature Li+ Cells (NPO-44626), NASA Tech Briefs, Vol. 33, No. 9 (September 2009), p. 37; and Optimized Li-Ion Electrolytes Con tain ing Fluorinated Ester Co-Solvents (NPO-45824), NASA Tech Briefs, Vol. 34, No. 3 (March 2010), p. 48. Other previous work improved the safety characteristics of the electrolytes by adding flame-retardant additives such as triphenyl phosphate (TPhPh), tri-butyl phosphate (TBuPh), triethyl phosphate (TEtPh), and bis(2,2,2-trifluoroethyl) methyl phosphonate (TFMPo). The current work involves further investigation of other types of flame-retardant additives, including tris(2,2,2-trifluoroethyl) phosphate, tris(2,2,2-trifluoroethyl) phosphite, triphenylphosphite, diethyl ethylphosphonate, and diethyl phenylphosphonate added to an electrolyte composition intended for wide operating temperatures. In general, many of the formulations investigated in this study displayed good performance over a wide temperature range, good cycle life characteristics, and are expected to have improved safety characteristics, such as low flammability. Of the electrolytes studied, 1.0 M LiPF6 in EC+EMC+DEP (20:75:5 v/v %) and 1.0 M LiPF6 in EC+EMC+DPP (20:75:5 v/v %) displayed the best operation at low temperatures, whereas the electrolyte containing triphenylphosphite displayed the best cycle life performance compared to the baseline solution. It is anticipated that further improvements can be made to the life characteristics with the incorporation of a SET promoters (such as VC, vinylene carbonate), which will likely inhibit the decomposition of the flame-retardant additives.

Smart, Marshall C.↗
DOE OSTI2015

Peripheral elastic and inelastic scattering of {sup 17,18}O on light targets at 12 MeV/nucleon

The elastic and inelastic scattering of {sup 17,18}O with light targets has been undertaken at 12 MeV/nucleon in order to determine the optical potentials needed for the transfer reaction {sup 13}C({sup 17}O,{sup 18}O){sup 12}C. Optical potentials in both incoming and outgoing channels have been determined in a single experiment. This transfer reaction was used to infer the direct capture rate to the {sup 17}F(p,γ){sup 18}Ne which is essential to estimate the production of {sup 18}F at stellar energies in ONe novae. We demonstrate the stability of the ANC method and OMP results using good quality elastic and inelastic scattering data with stable beams. The peripherality of our reaction is inferred from a semiclassical decomposition of the total scattering amplitude into barrier and internal barrier components. Comparison between elastic scattering of {sup 17}O, {sup 18}O and {sup 16}O projectiles is made.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2019

Nonintrusive reduced order modeling framework for quasigeostrophic turbulence

In this study, we present a nonintrusive reduced order modeling (ROM) framework for large-scale quasistationary systems. The framework proposed in this work exploits the time series prediction capability of long short-term memory (LSTM) recurrent neural network architecture such that (1) in the training phase, the LSTM model is trained on the modal coefficients extracted from the high-resolution data snapshots using proper orthogonal decomposition (POD) transform, and (2) in the testing phase, the trained model predicts the modal coefficients for the total time recursively based on the initial time history. Hence, no prior information about the underlying governing equations is required to generate the ROM. To illustrate the predictive performance of the proposed framework, the mean flow fields and time series response of the field values are reconstructed from the predicted modal coefficients by using an inverse POD transform. As a representative benchmark test case, we consider a two-dimensional quasigeostrophic ocean circulation model which, in general, displays an enormous range of fluctuating spatial and temporal scales. We first demonstrate that the conventional Galerkin projection-based reduced order modeling of such systems requires a high number of POD modes to obtain a stable flow physics. In addition, ROM-Galerkin projection (ROM-GP) does not seem to capture the intermittent bursts appearing in the dynamics of the first few most energetic modes. However, the proposed nonintrusive ROM framework based on LSTM (ROM-LSTM) yields a stable solution even for a small number of POD modes. We also observe that the ROM-LSTM model is able to capture quasiperiodic intermittent bursts accurately, and yields a stable and accurate mean flow dynamics using the time history of a few previous time states, denoted as the lookback time window in this paper. We show several features of ROM-LSTM framework such as significantly higher accuracy than ROM-GP, and faster performance using larger time step size. Throughout the paper, we demonstrate our findings in terms of time series evolution of the field values and mean flow patterns, which suggest that the proposed fully nonintrusive ROM framework is robust and capable of predicting chaotic nonlinear fluid flows in an extremely efficient way compared to the conventional projection-based ROM framework.

42 ENGINEERING↗
NASA NTRS1992

Intelligent robots for planetary exploration and construction

Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

Albus, James S.↗
NASA NTRS1992

Measuring dry plant residues in grasslands: A case study using AVIRIS

Grasslands, savannah, and hardwood rangelands are critical ecosystems and sensitive to disturbance. Approximately 20 percent of the Earth's surface are grasslands and represent 3 million ha. in California alone. Developing a methodology for estimating disturbance and the effects of cumulative impacts on grasslands and rangelands is needed to effectively monitor these ecosystems. Estimating the dry biomass residue remaining on rangelands at the end of the growing season provides a basis for evaluating the effectiveness of land management practices. The residual biomass is indicative of the grazing pressure and provides a measure of the system capacity for nutrient cycling since it represents the maximum organic matter available for decomposition, and finally, provides a measure of the erosion potential for the ecosystem. Remote sensing presents a possible method for measuring dry residue. However, current satellites have had limited application due to the coarse spatial scales (relative to the patch dynamics) and insensitivity of the spectral coverage to resolve dry plant material. Several hypotheses for measuring the biochemical constituents of dry plant material, particularly cellulose and lignin, using high spectral resolution sensors were proposed. The use of Airborne Visible/Infrared Imaging Spectrometers (AVIRIS) to measure dry plant residues over an oak savannah on the eastern slopes of the Coast Range in central California was investigated and it was asked what spatial and spectral resolutions are needed to quantitatively measure dry plant biomass in this ecosystem.

Fitzgerald, Michael↗
DOE OSTI2023

The high pressure dependence of x-ray induced decomposition of cadmium oxalate

The high proclivity of x rays to destabilize and distort molecular structures has been previously utilized in the synthesis of novel compounds. Here, we show that x-ray induced decomposition of cadmium oxalate induces chemical and structural transformations only at 0.5 and 1 GPa. Using x-ray diffraction and Raman spectroscopy, the synthesized product is identified as cadmium carbonate with cadmium oxalate remnants, which is stable under ambient conditions. At ambient and >1 GPa pressures, only degradation of the electronic density distribution is observed. The transformation kinetics are examined in terms of Avrami’s model, which demonstrates that despite the necessity of high pressure for efficient x-ray induced synthesis of cadmium carbonate, the rate and geometry of structural synthesis in the 0.5–1 GPa pressure range do not depend on the applied pressure. In addition, the possible role of intermolecular distance and molecular mobility in transformation yield is also discussed. Our experimental results indicate that x-ray induced photochemical synthetic pathways can be modulated and optimized by specific parameter selection such as high pressure.

36 MATERIALS SCIENCE↗
DOE OSTI2025

Completely Multipolar Model for Many-Body Water–Ion and Ion–Ion Interactions

This work constructs an advanced force field, the Completely Multipolar Model (CMM), to quantitatively reproduce each term of an energy decomposition analysis (EDA) for aqueous solvated alkali metal cations and halide anions and their ion pairings. We find that all individual EDA terms remain well-approximated in the CMM for ion-water and ion-ion interactions, except for polarization, which shows errors due to the partial covalency of ion interactions near their equilibrium. We quantify the onset of the dative bonding regime by examining the change in molecular polarizability and Mayer bond indices as a function of distance, showing that partial covalency manifests by breaking the symmetry of atomic polarizabilities while strongly damping them at short-range. This motivates an environment-dependent atomic polarizability parameter that depends on the strength of the local electric field experienced by the ions to account for strong damping, with anisotropy introduced by atomic multipoles. The resulting CMM model for ions provides accurate dimer surfaces and three-body polarization and charge transfer compared to EDA, and shows excellent performance on various ion benchmarks including vibrational frequencies and cluster geometries.

Heindel, Joseph P↗
NASA NTRS1973

Ammonium perchlorate gasification and combustion at high heating rates and low pressures.

Mass-spectrometric and linear regression rate characterizations are reported, derived from CO2 laser pyrolyses of pressed NH2ClO4 (AP) at incident heat fluxes ranging from 25 to 4000 cal/sq cm sec. Product evolution-rate histories were obtained in vacuo by time-resolved (5 msec) mass spectrometry during (1) transient heat-up, and (2) subsequent quasi-steady vaporization (QSV). Vaporization induction times were obtained for (1); these, coupled with heat-transfer approximations neglecting thermochemical heat release, indicated that optical absorption at 10.6 microns dominated over conduction for heat fluxes much greater than 300. Conclusions applying in vacuo were: preferential desorption of NH3, with net accumulation of adsorbed HClO4, occurred during transient heat-up and onset of condensed phase decomposition (CPD), but preferential decomposition of adsorbed HClO4 (compared to NH3) occurred during QSV when CPD was significant. CPD was the dominant mode of QSV at moderate heat fluxes.

Pellett, G. L.↗
NASA NTRS2011

Autonomous Landing and Ingress of Micro-Air-Vehicles in Urban Environments Based on Monocular Vision

Unmanned micro air vehicles (MAVs) will play an important role in future reconnaissance and search and rescue applications. In order to conduct persistent surveillance and to conserve energy, MAVs need the ability to land, and they need the ability to enter (ingress) buildings and other structures to conduct reconnaissance. To be safe and practical under a wide range of environmental conditions, landing and ingress maneuvers must be autonomous, using real-time, onboard sensor feedback. To address these key behaviors, we present a novel method for vision-based autonomous MAV landing and ingress using a single camera for two urban scenarios: landing on an elevated surface, representative of a rooftop, and ingress through a rectangular opening, representative of a door or window. Real-world scenarios will not include special navigation markers, so we rely on tracking arbitrary scene features; however, we do currently exploit planarity of the scene. Our vision system uses a planar homography decomposition to detect navigation targets and to produce approach waypoints as inputs to the vehicle control algorithm. Scene perception, planning, and control run onboard in real-time; at present we obtain aircraft position knowledge from an external motion capture system, but we expect to replace this in the near future with a fully self-contained, onboard, vision-aided state estimation algorithm. We demonstrate autonomous vision-based landing and ingress target detection with two different quadrotor MAV platforms. To our knowledge, this is the first demonstration of onboard, vision-based autonomous landing and ingress algorithms that do not use special purpose scene markers to identify the destination.

micro air vehicles (MAVs)↗