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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗
NASA NTRS2019

Space Weathering Maps of (101955) Bennu Using a Radiative Transfer Model

Space weathering is an important process that affects the surfaces of airless bodies, such as (101955) Bennu. The consequences of this process include physical and chemical changes to materials on the surface, which in turn change spectral characteristics, especially in the visible to near infrared wavelengths. These spectral changes are not the same across airless bodies because the changes are dependent on the composition and mineralogy of the surface and even location within the Solar System. The main space weathering products responsible for these spectral changes are submicroscopic particles, which consist of two types, nanophase and microphase particles, and affect visible to near-infrared reflectance spectra differently. Nanophase particles are particles <33 nm in size and occur in agglutinates and within glassy patinas around regolith particles. In contrast, microphase particles are >33 nm in size and are present only within agglutinates. These spectral differences are best illustrated by lunar samples. In lunar soils, the nanophase and microphase particles consist of metallic iron. With increasing abundance of nanophase iron particles in a regolith, its spectrum exhibits a lower overall reflectance in the visible to near infrared, weakened absorption bands, and a reddened continuum slope. In contrast, an increasing abundance of microphase iron only causes decreases in reflectance and not reddening. Because of the spectral differences introduced by these two types of particles, it is possible to model the nanophase and microphase particle abundances of a surface through the radiative transfer technique. Beyond the Moon, the composition of the nanophase and microphase particles can include other phases because the mineralogy of the surfaces of other planetary bodies is different. For example, the nanophase and microphase particles may consist of amorphous carbon (Mercury) and sulfides (Itokawa). The mineralogy of Bennu is consistent with carbonaceous chondrites. From a number of space weathering experiments on CM chondrites, the likely nanophase and microphase mineral phases on Bennu includes iron, magnetite, and sulfides (i.e., pentlandite and troilite). The goal of this work is to input the predicted nanophase and microphase compositions for Bennu into the radiative transfer technique. Next, we use this technique to model the OSIRIS-REx Visible Infrared Spectrometer (OVIRS) so that we can model the nanophase and microphase particle abundances across the surface. This will result in space weathering maps of the surface of Bennu, which are useful for understanding the degree of space weathering across the surface and its relationship to various regions and geological features.

Trang, D.↗
NASA NTRS1999

Surface Emissivity Maps for Satellite Retrieval of the Longwave Radiation Budget

This paper presents a brief description of the procedure used to produce global surface emissivity maps for the broadband LW, the 8-12 micrometer window, and 12 narrow LW bands. For a detailed description of the methodology and the input data, the reader is referred to Wilber et al. (1999). These maps are based on a time-independent surface type map published by the IGBP, and laboratory measurements of spectral reflectances of surface materials. These maps represent a first attempt to characterize emissivity based on surface types, and many improvements to the methodology presented here are already underway. Effects of viewing zenith angle and sea state on the emissivity of ocean surface (Smith et al. 1996, Wu and Smith 1997, Masuda et al. 1988) will be taken into account. Measurements form ASTER and MODIS will be incorporated as they become available. Seasonal variation of emissivity based on changes in the characteristics of vegetation will be considered, and the variability of emissivity of barren land areas will be accounted for with the use of Zobler World Soil Maps (Zobler 1986). The current maps have been made available to the scientific community from the web site: http://tanalo.larc.nasa.gov:8080/surf_htmls/ SARB_surf.html

Gupta, Shashi K.↗
NASA NTRS2022

Radiative Losses in the Chromosphere During A C-Class Flare

Context. Solar flares release an enormous amount of energy (~10(exp 32) erg) into the corona. A substantial fraction of this energy is transported to the lower atmosphere, which results in chromospheric heating. The mechanisms that transport energy to the lower solar atmosphere during a flare are still not fully understood. Aims. We aim to estimate the temporal evolution of the radiative losses in the chromosphere at the footpoints of a C-class flare, in order to set observational constraints on the electron beam parameters of a RADYN flare simulation. Methods. We estimated the radiative losses from hydrogen, and singly ionized Ca and Mg using semiempirical model atmospheres, which were inferred from a multiline inversion of observed Stokes profiles obtained with the CRISP and CHROMIS instruments on the Swedish 1-m Solar Telescope. The radiative losses were computed taking into account the effect of partial redistribution and non-local thermodynamic equilibrium. To estimate the integrated radiative losses in the chromosphere, the net cooling rates were integrated between the temperature minimum and the height where the temperature reaches 10 kK. We also compared our time series of radiative losses with those from the RADYN flare simulations. Results. We obtained a high spatial-resolution map of integrated radiative losses around the flare peak time. The stratification of the net cooling rate suggests that the Ca IR triplet lines are responsible for most of the radiative losses in the flaring atmosphere. During the flare peak time, the contribution from Ca II H and K and Mgii h and k lines are strong and comparable to the Ca IR triplet (~32kW m(exp -2)). Since our flare is a relatively weak event, the chromosphere is not heated above 11 kK, which in turn yields a subdued Lyα contribution (~7kW m(exp -2)) in the selected limits of the chromosphere. The temporal evolution of total integrated radiative losses exhibits sharply rising losses (0.4kW m(exp -2) (s(exp -1)) and a relatively slow decay (0.23kW m(exp -2) s(exp -1)). The maximum value of total radiative losses is reached around the flare peak time and can go up to 175kWm􀀀2 for a single pixel located at footpoint. After a small parameter study, we find the best model-data consistency in terms of the amplitude of radiative losses and the overall atmospheric structure with a RADYN flare simulation in the injected energy flux of 5 × 10(exp 10) erg s(exp -1) cm(exp -2).

Chromosphere↗
NASA NTRS2017

Using Small Unmanned Aerial Systems (sUAS) and Helium Aerostats to Perform Far-Field Radiation Pattern Measurements of High-Frequency Antennas

A new methodology is described for performing near-free space far-field radiation pattern measurements of high frequency (HF) antennas utilizing small Unmanned Aerial Systems (sUAS) and helium-filled aerostat balloons for the radar antennas onboard NASA’s planned Europa Clipper mission to Jupiter’s moon Europa. Adapted from land-based measurements, this test methodology involves hoisting the antenna to be tested above the earth to minimize ground interactions while flying a sUAS with onboard measurement package to map the far field radiation pattern. Initial results producing radiation pattern maps are promising with work remaining to fully adapt fixed VHF measurements to the dynamic HF antenna test setup.

Decrossas, Emmanuel↗
NASA NTRS1987

Atlas of wide-field-of-view outgoing longwave radiation derived from Nimbus 6 Earth radiation budget data set, July 1975 to June 1978

An atlas of monthly mean outgoing longwave radiation global contour maps and associated spherical harmonic coefficients is presented. The atlas contains 36 months of continuous data from July 1975 to June 1978. The data were derived from the first Earth radiation budget experiment, which was flown on the Nimbus-6 Sun-synchronous satellite in 1975. Only the wide-field-of-view longwave measurements are cataloged in this atlas. The contour maps along with the associated sets of spherical harmonic coefficients form a valuable data set for studying different aspects of our changing climate over monthly, annual, and interannual scales in the time domain, and over regional, zonal, and global scales in the spatial domain.

Bess, T. Dale↗
NASA NTRS1992

Estimating net solar radiation using Landsat Thematic Mapper and digital elevation data

A radiative transfer algorithm is combined with digital elevation and satellite reflectance data to model spatial variability in net solar radiation at fine spatial resolution. The method is applied to the tall-grass prairie of the 16 x 16 sq km FIFE site (First ISLSCP Field Experiment) of the International Satellite Land Surface Climatology Project. Spectral reflectances as measured by the Landsat Thematic Mapper (TM) are corrected for atmospheric and topographic effects using field measurements and accurate 30-m digital elevation data in a detailed model of atmosphere-surface interaction. The spectral reflectances are then integrated to produce estimates of surface albedo in the range 0.3-3.0 microns. This map of albedo is used in an atmospheric and topographic radiative transfer model to produce a map of net solar radiation. A map of apparent net solar radiation is also derived using only the TM reflectance data, uncorrected for topography, and the average field-measured downwelling solar irradiance. Comparison with field measurements at 10 sites on the prairie shows that the topographically derived radiation map accurately captures the spatial variability in net solar radiation, but the apparent map does not.

Dubayah, R.↗
NASA NTRS1979

Jupiter's radiation belts and atmosphere

Maps and stripscans of the radio emission from Jupiter were made during the Pioneer 10 flyby in December 1973 at wavelengths of 6 cm, 21 cm, and 50 cm using the Westerbork telescope in the Netherlands. With this instrument the disk of the planet was resolved at 6 and 21 cm. The pictures are averaged over 15 deg of Jovian longitude. At 21 cm the stripscans clearly show the existence of a 'hot region' in the radiation belts at a System III longitude (1965.0) of 255 + or - 10 deg. Its flux is about 9% of the total nonthermal flux, and it has a volume emissivity enhanced by a factor of about 1.6 with respect to the general radiation belts. The temperature of the thermal disk at 21 cm appears to be 290 + or - 20 K. This is likely due to a high ammonia mixing ratio in the atmosphere, a factor of 4-5 larger than the expected solar value of 0.00015.

De Pater, I.↗
NASA NTRS1991

Atlas of wide-field-of-view outgoing longwave radiation derived from Nimbus 7 Earth radiation budget data set, November 1985 to October 1987

An atlas of monthly outgoing longwave radiation global contour maps and associated spherical harmonic coefficients is presented. The atlas contains 23 months of data from November 1985 to October 1987 . The data were derived from the second Earth Radiation Budget (ERB) package, which was flown on the Nimbus 7 Sun-synchronous satellite in 1987. This data set is a companion set and extension to similar atlases that documented 10 years of outgoing longwave radiation results from Nimbus 6 and Nimbus 7 satellites. This atlas and the companion atlases give a data set covering a 12-year time period and will be very useful in studying different aspects of our changing climate. The data set also provides a 3-year overlap with the current Earth Radiation Budget Experiment (ERBE).

Bess, T. Dale↗
NASA NTRS1987

Atlas of wide-field-of-view outgoing longwave radiation derived from Nimbus 7 Earth radiation budget data set - November 1978 to October 1985

An atlas of monthly mean outgoing longwave radiation global contour maps and associated spherical harmonic coefficients is presented. The atlas contains 84 months of continuous data from November 1978 to October 1985. The data were derived from the second Earth radiation budget experiment, which was flown on the Nimbus 7 Sun-synchronous satellite in 1978. This data set is a companion set and extension to a similar report of the Nimbus 6 satellite. Together these two reports give a data set covering a 10 year time period and will be very valuable in studying different aspects of our changing climate over monthly, annual, and interannual scales in the time domain and over regional, zonal, and global scales in the spatial domain.

Bess, T. Dale↗
NASA NTRS1985

Surface radiation in the tropical Pacific

Monthly surface radiative fluxes have been calculated for the tropical Pacific between January 1970 and February 1978, using a radiative transfer parameterization. The radiative transfer parameterization included detailed treatments of the molecular and droplet absorptions, and surface and cloud reflections. The input data used in the calculations were obtained from the National Climatic Center (NCC), the National Center for Atmospheric Research (NCAR), and from the University of Hawaii. The results show that the distribution of surface radiation closely follows the distribution of cloudiness, and, to a lesser degree, humidity. The rms net error in the surface radiation estimates was about 15 W per sq m, with the largest contribution from uncertainties in the cloud cover and humidity data. The sensitivity of surface radiation parameterizations to input data errors is discussed, and some accuracy requirements for satellite retrievals of atmospheric and cloud parameters are proposed. The calculations are presented in the annually-averaged maps of surface radiation variations.

Chou, M.-D.↗
NASA NTRS1979

Aether drift and the isotropy of the universe: a measurement of anisotropies in the primordial black-body radiation

This experiment detected and mapped large-angular-scale anisotropies in the 3 K primordial black-body radiation with a sensitivity of 2x.0001k and an angular resolution of about 10 degs. It measured the motion of the Earth with respect to the distant matter of the Universe (Aether Drift), and probed the homogeneity and isotropy of the Universe (the Cosmological Principle). The experiment used two Dicke radiometers, one at 33 GHz to detect the cosmic anisotropy, and one at 54 GHz to detect anisotropies in the residual oxygen above the detectors. The system was installed in the NASA-Ames Earth Survey Aircraft (U-2), and operated successfully in a series of flights.

Muller, R. A.↗
NASA NTRS1991

Surface radiation budget imagery

Linear regressions which summarize the relationships between the turbulent fluxes of heat and latent heat of vaporization leaving the surface and surface albedos are given. This observation is based on a semi-empirical analysis of the data collected from sets of Landsat/TM (Thematic Mapper) imagery as the top of the atmosphere images have been converted into maps of surface radiation budget. A preliminary analysis shows that in spite of the land surface's temporal and spatial variability, the transfer of latent and sensible heat into the atmosphere would appear to be governed by the land surface albedo.

Kim, Hongsuk H.↗
NASA NTRS2005

Nondestructive Evaluation of Advanced Materials with X-ray Phase Mapping

X-ray radiation has been widely used for imaging applications since Rontgen first discovered X-rays over a century ago. Its large penetration depth makes it ideal for the nondestructive visualization of the internal structure and/or defects of materials unobtainable otherwise. Currently used nondestructive evaluation (NDE) tools, X-ray radiography and tomography, are absorption-based, and work well in heavy-element materials where density or composition variations due to internal structure or defects are high enough to produce appreciable absorption contrast. However, in many cases where materials are light-weight and/or composites that have similar mass absorption coefficients, the conventional absorption-based X-ray methods for NDE become less useful. Indeed, the light-weight and ultra-high-strength requirements for the most advanced materials used or developed for current flight mission and future space exploration pose a great challenge to the standard NDE tools in that the absorption contrast arising from the internal structure of these materials is often too weak to be resolved. In this presentation, a solution to the problem, the use of phase information of X-rays for phase contrast X-ray imaging, will be discussed, along with a comparison between the absorption-based and phase-contrast imaging methods. Latest results on phase contrast X-ray imaging of lightweight Space Shuttle foam in 2D and 3D will be presented, demonstrating new opportunities to solve the challenging issues encountered in advanced materials development and processing.

Hu, Zhengwei↗
NASA NTRS1981

Deconvolution of wide field-of-view radiometer measurements of earth-emitted radiation. II - Analysis of first year of Nimbus 6 ERB data

The theory of deconvolution considered by Smith and Green (1981) is applied to Nimbus 6 data in order to interpret the data with the maximum obtainable resolution. Attention is given to the data sample, sun-contaminated measurements, the measurement model, the deconvolution, the degree variance, the spherical harmonic coefficients, the geographical distribution of longwave radiation, time histories of zonal coefficients, and the effect of a grid system. Degree variance plots for 12 months of longwave radiation data show that the limit for a spherical harmonic representation of the Nimbus 6 wide field-of-view longwave data is 12th degree. The degree variance plots also reveal that most of the power is in the lower degree terms. Contour maps of the radiation field show the geographical distribution of earth emitted radiant exitance for each month.

Bess, T. D.↗