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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.

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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2012

DspaceOgreTerrain 3D Terrain Visualization Tool

DspaceOgreTerrain is an extension to the DspaceOgre 3D visualization tool that supports real-time visualization of various terrain types, including digital elevation maps, planets, and meshes. DspaceOgreTerrain supports creating 3D representations of terrains and placing them in a scene graph. The 3D representations allow for a continuous level of detail, GPU-based rendering, and overlaying graphics like wheel tracks and shadows. It supports reading data from the SimScape terrain- modeling library. DspaceOgreTerrain solves the problem of displaying the results of simulations that involve very large terrains. In the past, it has been used to visualize simulations of vehicle traverses on Lunar and Martian terrains. These terrains were made up of billions of vertices and would not have been renderable in real-time without using a continuous level of detail rendering technique.

Myint, Steven↗
NASA NTRS2007

Improved Path Planning Onboard the Mars Exploration Rovers

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven. GESTALT works well in navigating around small isolated obstacles, but tends to fail when the goal is on the other side of a large obstacle or multiple closely spaced small obstacles. When that occurs, the goal seeking votes and hazard avoidance votes conflict severely. The hazard avoidance votes will not allow the rover to drive through the unsafe area, and the waypoint votes will not allow enough deviation from the straight-line path for the rover to get around the hazard. The rover becomes stuck and is unable to reach the goal. The revised version of AutoNav utilizes a global path-planning program, Field D*, to evaluate the cost of traveling from the end of each GESTALT arc to the goal. In the voting process, Field D* arc votes supplant GESTALT goal-seeking arc votes. Hazard avoidance, steering bias, and Field D* votes are merged and the rover is driven a preset distance along the arc with the highest vote. Then new images are acquired and the process as described is repeated until the goal is reached. This new technology allows the rovers to autonomously navigate around much more complex obstacle arrangements than was previously possible. In addition, this improved autonomy enables longer traverses per Sol (a day on Mars), and can make planning drives easier for operators on Earth.

Stentz, Anthony↗
DOE OSTI2025

Evaluating the Effectiveness of Soil Profile Rehabilitation for Pluvial Flood Mitigation Through Two-Dimensional Hydrodynamic Modeling

Pluvial flooding, driven by increasingly impervious surfaces and intense storm events, presents a growing challenge for urban areas worldwide. In Baltimore City, MD, USA, climate change, rapid urbanization, and aging stormwater infrastructure are exacerbating flooding impacts, resulting in significant socio-economic consequences. This study evaluated the effectiveness of a soil profile rehabilitation scenario using a 2D hydrodynamic modeling approach for the Tiffany Run watershed, Baltimore City. This study utilized different extreme storm events, a high-resolution (1 m) LiDAR Digital Terrain Model (DTM), building footprints, and hydrological soil data. These datasets were integrated into a fully coupled 2D hydrodynamic model, the City Catchment Analysis Tool (CityCAT), to simulate urban flood dynamics. The pre-soil rehabilitation simulation revealed a maximum water depth of 3.00 m in most areas, with hydrologic soil groups C and D, especially downstream of the study area. The post-soil rehabilitation simulation was targeted at vacant lots and public parcels, accounting for 33.20% of the total area of the watershed. This resulted in a reduced water depth of 2.50 m. Additionally, the baseline runoff coefficient of 0.49 decreased to 0.47 following the rehabilitation, and the model consistently recorded a peak runoff reduction rate of 4.10 across varying rainfall intensities. The validation using a contingency matrix demonstrated true-positive rates of 0.75, 0.50, 0.64, and 0 for the selected events, confirming the model’s capability at capturing real-world flood occurrences.

Baltimore City↗
NASA NTRS1987

Lake Bonneville - Constraints on lithospheric thickness and upper mantle viscosity from isostatic warping of Bonneville, Provo, and Gilbert stage shorelines

Data collected from three deformed shorelines of Lake Bonneville (the Bonneville, Provo, and Gilbert shorelines) are used to constrain the effective elastic lithospheric thickness to 23 + or - 2 km, the mantle viscosity to (1.2 + or - 0.2) x 10 to the 20th Pa sec, and the depth to a significant viscosity increase to no less than 300 km. A modification of the earth model of Nakiboglu and Lambeck (1982, 1983) is used for the calculations, and the water load is computed at each time step from a digital terrain model and a specified lake elevation. Differences noted between the observed and computed shoreline elevations indicate a regional tilt down to the NE of about 6 x 10 to the -5th, which is suggested to be due to collapse of the peripheral bulge formed by the Laurentide ice sheet.

Bills, Bruce G.↗
NASA NTRS1990

Autonomous planetary rover at Carnegie Mellon

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Whittaker, William↗
NASA NTRS2000

Using Digitized Handheld Space Shuttle Photography for Terrain Visualization

Digital terrain models are becoming increasingly available and are readily generated at a whole range of scales. However, the lack of realistic colour and tone in images of terrains remains a problem. Realistic colour and tone are very desirable attributes because they contribute significantly to a powerful visualization of landscapes, both for scientists (Kam's ref) and for the general public. But these attributes are generally still unavailable because few sensors, air- or space-borne, provide true colour, and even fewer do so at a realistic cost. The exception is the growing and accessible archive of US Space Shuttle photography which provides a wealth of potential data suited for more realistic visualization of landscapes.

Eckardt, F. D.↗
NASA NTRS1976

Computer simulation and evaluation of edge detection algorithms and their application to automatic path selection

The construction of an autonomous roving vehicle requires the development of complex data-acquisition and processing systems, which determine the path along which the vehicle travels. Thus, a vehicle must possess algorithms which can (1) reliably detect obstacles by processing sensor data, (2) maintain a constantly updated model of its surroundings, and (3) direct its immediate actions to further a long range plan. The first function consisted of obstacle recognition. Obstacles may be identified by the use of edge detection techniques. Therefore, the Kalman Filter was implemented as part of a large scale computer simulation of the Mars Rover. The second function consisted of modeling the environment. The obstacle must be reconstructed from its edges, and the vast amount of data must be organized in a readily retrievable form. Therefore, a Terrain Modeller was developed which assembled and maintained a rectangular grid map of the planet. The third function consisted of directing the vehicle's actions.

Longendorfer, B. A.↗
NASA NTRS1991

Mars boundary layer simulations - Comparison with Viking lander and entry observations

Diurnal variations of wind and temperature in the lower Martian atmosphere are simulated with a boundary layer model that includes radiative heating in a dusty CO2 atmosphere, turbulence generated by convection and/or shear stresses, a surface heat budget, and time varying pressure forces due to sloping terrain. Model results for early northern summer are compared with Viking lander observations to determine the model's strengths and weaknesses, and suitability as an engineering model.

Haberle, R. M.↗
NASA NTRS1981

Spatial reasoning in remotely sensed data

Photointerpreters employ a variety of implicit spatial models to provide interpretations from remotely sensed aerial or satellite imagery. In this paper one application is illustrated: how ridges and valleys can be automatically interpreted from Landsat imagery of a mountainous area, and how a relative elevation terrain model can be constructed from this interpretation. How to examine valleys for the possible presence of streams or rivers is shown, and how a spatial relational model can be set up to make a final interpretation of the river drainage network is explored.

Campbell, J.↗
NASA NTRS2020

Mapping tall shrub biomass in Alaska at landscape scale using structure-from-motion photogrammetry and lidar

Warming in arctic and boreal regions is increasing shrub cover and biomass. In southcentral Alaska, willow (Salix spp.) and alder (Alnus spp.) shrubs grow taller than many tree species and account for a substantial proportion of aboveground biomass, yet they are not individually measured as part of the operational Forest Inventory and Analysis (FIA) Program. The goal of this research was to test methods for landscape-scale mapping of tall shrub biomass in upper montane and subalpine environments using FIA-type plot measurements (n = 51) and predictor variables from imagery-based structure-from-motion (SfM) and airborne lidar. Specifically, we compared biomass models constructed from imagery acquired by unmanned aerial vehicle (UAV; ~1.7 cm pixels), imagery from the NASA Goddard's Lidar, Hyperspectral, and Thermal Airborne Imager (G-LiHT; ~3.1 cm pixels), and concomitant G-LiHT small-footprint lidar. Tall shrub biomass was most accurately predicted at 5 m resolution (R^2 = 0.81, RMSE = 1.09 kg/sq. m) using G-LiHT SfM color and structure variables. Lidar-only models had lower precision (R^2 = 0.74, RMSE = 1.26 kg/sq. m), possibly due to reduced model information content from variable multicollinearity or lower data density. Separate models for upper montane zones with trees and shrubs and subalpine zones with only shrubs were always chosen over single models based on minimization of Akaike's Information Criterion, indicating the need for variable sets robust to overhanging tree canopy. Decreasing point density from UAV (5000–8000 pts./sq. m) to the G-LiHT SfM point cloud (500–2000 pts./sq. m) had little impact on model fit, suggesting that high-resolution airborne imagery can extend SfM approaches well beyond line-of-sight restrictions for UAV platforms. Overall, our results confirmed that SfM from high-resolution imagery is a viable approach to estimate shrub biomass in the boreal region, especially when an existing lidar terrain model and local field calibration data are available to quantify uncertainty in the SfM point cloud and landscape-scale estimates of shrub biomass.

Michael Alonzo↗
NASA NTRS2008

NASA's Earth Science Use of Commercially Availiable Remote Sensing Datasets: Cover Image

The cover image incorporates high resolution stereo pairs acquired from the DigitalGlobe(R) QuickBird sensor. It shows a digital elevation model of Meteor Crater, Arizona at approximately 1.3 meter point-spacing. Image analysts used the Leica Photogrammetry Suite to produce the DEM. The outside portion was computed from two QuickBird panchromatic scenes acquired October 2006, while an Optech laser scan dataset was used for the crater s interior elevations. The crater s terrain model and image drape were created in a NASA Constellation Program project focused on simulating lunar surface environments for prototyping and testing lunar surface mission analysis and planning tools. This work exemplifies NASA s Scientific Data Purchase legacy and commercial high resolution imagery applications, as scientists use commercial high resolution data to examine lunar analog Earth landscapes for advanced planning and trade studies for future lunar surface activities. Other applications include landscape dynamics related to volcanism, hydrologic events, climate change, and ice movement.

Underwood, Lauren W.↗
DOE OSTI2024

A three-dimensional model of terrain-induced updrafts for movement ecology studies

Abstract Background Spatially explicit simulation models of animal movements through the atmosphere necessarily require a representation of the spatial and temporal variation of atmospheric conditions. In particular, for movements of soaring birds that rely extensively on vertical updrafts to avoid flapping flight, accurate and reliable estimation of the vertical component of wind is critical. The interaction between wind and complex terrain shapes both the horizontal and vertical wind fields, highlighting the need to model the coupling between local terrain features and atmospheric conditions at scales relevant to animal movement. Methods In this work, we propose a new empirical model for estimating the orographic updraft field. The model is developed using computational fluid dynamics simulations of canonical atmospheric conditions over moderately complex terrain. To isolate buoyancy and thermal effects, and focus on terrain-induced effects, we use only simulations of a neutrally stratified atmosphere to develop the model. The model, which we name Engineering Vertical Velocity Estimator (EVVE), is simple to implement and is a function of the underlying terrain elevation map, the desired height above ground level (AGL), and wind conditions at a reference height (80 m). We validate the model with data from the Alaiz mountain (Spain) field campaign. Results Compared to observations, the proposed improved model estimates the updrafts at 120 m AGL with a mean error of 0.11 m/s ( $$\sigma =0.28$$ σ = 0.28 m/s), compared to 0.85 m/s ( $$\sigma =0.58$$ σ = 0.58 m/s) for its baseline. For typical land-based wind turbine hub heights of 80 m AGL, the proposed model has a mean error of 0.04 m/s ( $$\sigma =0.25$$ σ = 0.25 m/s), compared to baseline 0.54 m/s ( $$\sigma =0.45$$ σ = 0.45 m/s) estimations. We illustrate an application of the model in movement ecology by comparing simulated tracks and presence maps of golden eagles ( Aquila chrysaetos ) moving across two distinct landscapes. The tracks and presence maps are obtained using a simple heuristic-based movement model, with the updraft field given by the proposed model and a wind vector-based estimation approach that is currently in wide use in movement ecology studies of raptors and other soaring birds. Conclusions We highlight that movement model results can be sensitive to the underlying orographic updraft model, especially in studies of fine-scale movements in regions of complex topography. We suggest adopting the proposed model rather than the wind vector estimation method for studies of soaring bird movements.

17 WIND ENERGY↗
NASA NTRS1984

Scattering models in the microwave regime

Results of first and second year research efforts are summarized in a series of complete articles and abstracts. The goal of the first year efforts was to calculate scattering from an inhomogeneous layer with irregular boundaries to model natural terrains. The model was applied to interpret measurements from vegetation, snow, and sea ice. The goal of the second year was to extend the scattering model to handle disc shaped scatterers which are comparable to incident wavelength and to use the model to investigate the relative merits between active versus passive sensing of soil moisture over vegetated terrain.

Fung, A. K.↗
NASA NTRS1973

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

The following tasks related to the design, construction, and evaluation of a mobile planetary vehicle for unmanned exploration of Mars are discussed: (1) design and construction of a 0.5 scale dynamic vehicle; (2) mathematical modeling of vehicle dynamics; (3) experimental 0.4 scale vehicle dynamics measurements and interpretation; (4) vehicle electro-mechanical control systems; (5) remote control systems; (6) collapsibility and deployment concepts and hardware; (7) design, construction and evaluation of a wheel with increased lateral stiffness, (8) system design optimization; (9) design of an on-board computer; (10) design and construction of a laser range finder; (11) measurement of reflectivity of terrain surfaces; (12) obstacle perception by edge detection; (13) terrain modeling based on gradients; (14) laser scan systems; (15) path selection system simulation and evaluation; (16) gas chromatograph system concepts; (17) experimental chromatograph separation measurements and chromatograph model improvement and evaluation.

Frederick, D. K.↗
NASA NTRS1987

Digital cartography of Mars

A medium-resolution Digital Image Model (DIM) of Mars is being compiled. A DIM is a mosaic of radiometrically corrected, photometrically modelled spacecraft images displaying accurate reflectance properties at uniform resolution, and geometrically tied to the best available control. The Mars medium-resolution DIM contains approximately 4700 Viking Orbiter image frames that were used to compile the recently completed 1:2,000,000-scale controlled photomosaic series of Mars. This DIM provides a planimetric control base to which all other Mars maps will be registered. A similar control base of topographic elevations (Digital Terrain Model, or DTM) is also being compiled. These products are scheduled for completion in 1989.

Batson, R. M.↗
NASA NTRS1992

Decorrelation in interferometric radar echoes

A radar interferometric technique for topographic mapping of surfaces promises a high resolution, globally consistent approach to generation of digital elevation models. One implementation approach, that of utilizing a single SAR system in a nearly repeating orbit, is attractive not only for cost and complexity reasons but also in that it permits inference of changes in the surface over the orbit repeat cycle from the correlation properties of the radar echoes. The various sources contributing to the echo correlation statistics are characterized, and the term which most closely describes surficial change is isolated. There is decorrelation increasing with time, but digital terrain model generation remains feasible.

Zebker, Howard A.↗
DOE OSTI2025

Co-Firing Switchgrass and Waste Coal in A Power Plant: A Techno-Economic and Life Cycle Evaluation for The Ohio River Valley (SWITCH) (Final Technical Report for Ohio State/FE0032204)

Abandoned coal mine lands (AMLs) represent one of the most persistent environmental challenges in the United States. Prior to the enactment of the Surface Mining Control and Reclamation Act (SMCRA) in 1977, coal mining operations were not legally required to reclaim disturbed lands, leaving behind approximately 500,000 AML sites nationwide. These sites pose severe environmental and health risks, including acid mine drainage, soil and water contamination, and spontaneous combustion of waste coal piles. Millions of Americans live within one mile of these AMLs, underscoring the urgency of remediation. Traditional reclamation practices, such as planting cool-season grasses, often fail to fully restore ecological function or leverage the economic potential of these lands. This project addressed these challenges by developing integrated strategies for resource recovery, land reclamation, and sustainable energy production. This project evaluated an integrated strategy to convert this liability into an opportunity by recovering waste coal and co-firing it with switchgrass (Panicum virgatum L.) cultivated on reclaimed or marginal AML areas in existing coal-fired power plants. Switchgrass not only provides a renewable feedstock but also aids in land reclamation and carbon sequestration. 1) Remote Sensing and Machine Learning for Waste Coal Identification Using Sentinel-2 satellite imagery and supervised classification, we applied four machine learning models to detect historical waste coal piles. Random Forest achieved the highest accuracy (precision: 86%, recall: 77%). Time-series analysis revealed gradual vegetation recovery since 1986, indicating natural reclamation processes in historical sites, while active mining areas showed ongoing disturbance. This workflow enables scalable monitoring and prioritization of reclamation efforts. 2) UAS-Based Stockpile Volume Estimation To quantify recoverable waste coal, we evaluated Unmanned Aerial Systems (UAS) equipped with Light Detection and Ranging (LiDAR) and multispectral sensors. Structure-from-Motion (SfM) photogrammetry combined with interpolated Digital Terrain Models (DTMs) achieved strong agreement with LiDAR reference volumes (Root Mean Square Error (RMSE) ≈147 m 3 , Mean Absolute Percentage Error (MAPE) ≈2%). Sensitivity analysis confirmed that spatial resolution significantly influences accuracy, emphasizing the need for high-resolution data for precise volume estimation. This approach offers a scalable, cost-effective, and accurate alternative to conventional ground-based surveys. 3) Switchgrass Cultivation for Bioenergy and Water Quality Improvement We assessed the hydrological and water quality impacts of converting AMLs to switchgrass production areas using the Soil and Water Assessment Tool (SWAT). Results showed that converting 10% of the watershed area into the switchgrass production zone reduced streamflow by 3.1%, total suspended solids by 18.1%, total nitrogen by 7.6%, and total phosphorus by 6.2%, while achieving biomass yields of 8.6–9.2 metric tons per hectare. These findings highlight switchgrass as a dual-benefit strategy for land reclamation and bioenergy feedstock production. 4) Integrated Co-Firing and CCS for Carbon-Negative Power Generation We modeled co-firing scenarios using the Power Plant Flexible Model (PPFM) to evaluate plant efficiency, greenhouse gas (GHG) emissions, and levelized cost of electricity (LCOE). Without carbon capture and storage (CCS), increasing switchgrass co-firing ratios reduced LCOE from $\$$150/MWh at 0% biomass to $\$$110/MWh at full substitution. Under CCS, costs remained higher (~$\$$250/MWh at 0% biomass) but decreased to $\$$200/MWh at 100% biomass, while enabling net-zero or carbon-negative electricity due to switchgrass sequestration benefits. Although CCS introduced efficiency penalties, pairing it with biomass co-firing offset these impacts and maximized climate benefits. Overall, optimizing co-firing ratios between 60-100%, supported by reliable logistics and storage strategies, emerged as a practical pathway to balance affordability, sustainability, and net-zero or negative GHG emissions while promoting productive reuse of AMLs.

01 COAL, LIGNITE, AND PEAT↗
NASA NTRS1989

Learned navigation in unknown terrains: A retraction method

The problem of learned navigation of a circular robot R, of radius delta (is greater than or equal to 0), through a terrain whose model is not a-priori known is considered. Two-dimensional finite-sized terrains populated by an unknown (but, finite) number of simple polygonal obstacles are also considered. The number and locations of the vertices of each obstacle are unknown to R. R is equipped with a sensor system that detects all vertices and edges that are visible from its present location. In this context two problems are covered. In the visit problem, the robot is required to visit a sequence of destination points, and in the terrain model acquisition problem, the robot is required to acquire the complete model of the terrain. An algorithmic framework is presented for solving these two problems using a retraction of the freespace onto the Voronoi diagram of the terrain. Algorithms are then presented to solve the visit problem and the terrain model acquisition problem.

Rao, Nageswara S. V.↗