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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 NTRS2003

Uniting Space, Ground and Underwater Measurements for Improved Estimates of Rain Rate

Global precipitation is monitored from a variety of platforms including space-borne, ground- and ocean-based platforms. Intercomparisons of these observations are crucial to validating the measurements and providing confidence for each measurement technique. Probability distribution functions of rain rates are used to compare satellite and ground-based radar observations. A preferred adjustment technique for improving rain rate distribution estimates is identified using measurements from ground-based radar and radar and rain gauges within the coverage area of the radar. The underwater measurement of rainfall shows similarities to radar measurements, but with intermediate spatial resolution and high temporal resolution. Reconciling these different measurement techniques provides understanding and confidence for all of the methods.

Amitai, E.↗
NASA NTRS2004

Survey of Temperature Measurement Techniques For Studying Underwater Shock Waves

Several optical methods for measuring temperature near underwater shock waves are reviewed and compared. The relative merits of the different techniques are compared, considering accuracy, precision, ease of use, applicable temperature range, maturity, spatial resolution, and whether or not special additives are required.

Danehy, Paul M.↗
NASA NTRS2002

An Optical Model for Estimating the Underwater Light Field from Remote Sensing

A model of the wavelength-integrated scalar irradiance for a vertically homogeneous water column is developed. It runs twenty thousand times faster than simulations obtained using full Hydrolight code and limits the percentage error to less than 3.7%. Both the distribution of incident sky radiance and a wind-roughened surface are integrated in the model. Our model removes common limitations of earlier models and can be applied to waters with any composition of the inherent optical properties. Implementation of this new model, as well as the ancillary information required for processing global-scale satellite data, is discussed. This new model is fast, accurate, and flexible and therefore provides important information of the underwater light field from remote sensing.

Liu, Cheng-Chien↗
NASA NTRS1999

Chemical Sensing of Unexploded Ordnance with the Mobile Underwater Survey System (MUDSS)

The ability to sense explosives residues in the marine environment is a critical tool for identification and classification of underwater unexploded ordnance (UXO). Trace explosives signatures of TNT and DNT have been extracted from mulitple sediment samples adjacent to unexploded undersea ordnance at Halifax Harbor, Canada.

explosives electron attachment marine UXOs↗
NASA NTRS2008

Underwater vehicle propulsion and power generation

An underwater vehicle includes a shaft with a propeller disposed thereon; a generator/motor having a stator and a rotor, the rotor being operable to rotate with the propeller; at least one energy storage device connected to the generator/motor; and a controller for setting the generator/motor in a charge mode, a propulsion mode and an idle mode.

Jones, Jack A.↗
NASA NTRS2003

Development of Laser-induced Grating Spectroscopy for Underwater Temperature Measurement in Shock Wave Focusing Regions

In Extracorporeal Shock Wave Lithotripsy (ESWL) underwater shock wave focusing generates high pressures at very short duration of time inside human body. However, it is not yet clear how high temperatures are enhanced at the spot where a shock wave is focused. The estimation of such dynamic temperature enhancements is critical for the evaluation of tissue damages upon shock loading. For this purpose in the Interdisciplinary Shock Wave Research Center a technique is developed which employs laser induced thermal acoustics or Laser Induced Grating Spectroscopy. Unlike most of gasdynamic methods of measuring physical quantities this provides a non-invasive one having spatial and temporal resolutions of the order of magnitude of 1.0 mm3 and 400 ns, respectively. Preliminary experiments in still water demonstrated that this method detected sound speed and hence temperature in water ranging 283 K to 333 K with errors of 0.5%. These results may be used to empirically establish the equation of states of water, gelatin or agar cells which will work as alternatives of human tissues.

Gojani, Ardian B.↗
NASA NTRS2010

Autonomous Planning and Replanning for Mine-Sweeping Unmanned Underwater Vehicles

This software generates high-quality plans for carrying out mine-sweeping activities under resource constraints. The autonomous planning and replanning system for unmanned underwater vehicles (UUVs) takes as input a set of prioritized mine-sweep regions, and a specification of available UUV resources including available battery energy, data storage, and time available for accomplishing the mission. Mine-sweep areas vary in location, size of area to be swept, and importance of the region. The planner also works with a model of the UUV, as well as a model of the power consumption of the vehicle when idle and when moving.

Gaines, Daniel M.↗
NASA NTRS2015

Underwater Adhesives Retrofit Pipelines with Advanced Sensors

Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

Source record↗
NASA NTRS2011

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

environmental sensing↗
NASA NTRS2015

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

An algorithm for automating correspondence detection between point clouds composed of multibeam sonar data is presented. This allows accurate initialization for point cloud alignment techniques even in cases where accurate inertial navigation is not available, such as iceberg profiling or vehicles with low-grade inertial navigation systems. Techniques from computer vision literature are used to extract, label, and match keypoints between "pseudo-images" generated from these point clouds. Image matches are refined using RANSAC and information about the vehicle trajectory. The resulting correspondences can be used to initialize an iterative closest point (ICP) registration algorithm to estimate accumulated navigation error and aid in the creation of accurate, self-consistent maps. The results presented use multibeam sonar data obtained from multiple overlapping passes of an underwater canyon in Monterey Bay, California. Using strict matching criteria, the method detects 23 between-swath correspondence events in a set of 155 pseudo-images with zero false positives. Using less conservative matching criteria doubles the number of matches but introduces several false positive matches as well. Heuristics based on known vehicle trajectory information are used to eliminate these.

Sonar↗
NASA NTRS2013

From "Below Dignity" to "Above It All": Origins and Early History of Underwater Neutral Buoyancy Simulation of Weightlessness for EVA Procedures Development and Training

An attempt to clarify some vague memories of underwater studies of astronaut capabilities in space led Dr. John Charles to become acquainted with Sam Mattingly, one of the pioneers in the field, and to greater insights into Mattingly's work simulating Gemini EVAs in the mid-1960s. Charles recounted major accomplishments by Environmental Research Associates (ERA), Mattingly's company for contracting with NASA Langley on several early studies. ERA's work was considered within the context of contemporary efforts to simulate weightlessness and the widespread development of neutral buoyancy facilities after ERA's successful demonstration for Gemini 12.

Charles, John B.↗
NASA NTRS2017

Station Keeping with an Autonomous Underwater Glider Using a Predictive Model of Ocean Currents

We investigate the use of an autonomous underwater glider as a platform for a virtual mooring. Our approach uses a simple vehicle motion model, a predictive model of ocean currents, and a greedy search algorithm in order to simulate possible actions available to the vehicle and select an action to minimize the distance from the target point. Results from a 19 day experiment in October 2016 near Monterey Bay are presented where we test our control algorithm as well as investigate the effect of a glider’s dive profile on its ability to act as a virtual mooring.

Chien, Steve↗
NASA NTRS2018

Front Delineation and Tracking with Multiple Underwater Vehicles

This work describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles — equally-spaced along the expected frontal boundary — complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in and around Monterey Bay, California in May of 2017. We compare the front detection method to previously used methods. We introduce a metric in order to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using short-range Iver AUVs. This method extends to tracking gradients of different properties using a variety of vehicles.

Chavez, Francisco P.↗
NASA NTRS2018

Planning and Execution for Front Delineation and Tracking with Multiple Underwater Vehicles

This work describes a planning architecture for a heterogeneous fleet of marine assets as well as a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles — equally-spaced along the expected frontal boundary — complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated frontal boundary as it evolves over time. This method was demonstrated in several experiment periods totaling weeks, in and around Monterey Bay, California in May and June of 2017. We discuss the challenges associated with the implementation of the planning system. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using a fleet of three types of platforms: short-range Iver AUVs, Tethys-Class Long-Range AUVs, and Seagliders. This method extends to tracking gradients of different properties using a variety of vehicles.

Chavez, Francisco P.↗
NASA NTRS2020

Lagrangian Modeling and Simulation of the Free Surface-Affected Dynamics of Underwater Vehicles

The paper deals with the development of a novelsimulator for underwater vehicles that takes into account theinteraction between the submerged body and the free watersurface. By using a Lagrangian approach, the potential flowtheory is combined with the 6-DoF equations of motions, inorder to derive a mathematical model of the system dynamics tobe solved in time-domain. A numerical model is then specificallydeveloped and an extensive simulation campaign was carried out,leading to the Submerged Bodies Simulator (SubBoS). The resultshighlight an extension of the prediction validity with respect tothe state-of-art modeling, typically based on stringent hypotheseson body motion (e.g. small displacements, pure surge motion).Index Terms—Lagrangian dynamics, modeling, simulation,potential theory, naval architecture.

Quadrelli, Marco B.↗
DOE OSTI2022

Shock interacting with a random array of stationary particles underwater

Accurately predicting the force experienced by particles within a random bed during shock traversal is a challenging problem. In this paper, particle-resolved inviscid simulations of shock propagation over randomly distributed beds are performed, with the goal of quantifying the force on individual particles. Water was considered the continuum material, and then results were compared with previous research completed in air and the differences resulting from these different mediums were examined. Simulations were conducted for four different combinations of incident Mach number and bed volume fraction with the particles remaining stationary. Additionally, time-resolved streamwise and transverse force coefficients were calculated for each particle in the bed. It was observed that while the average force coefficient was similar to that of an isolated particle, the force on individual particles was substantially different. An important observation was that the inviscid drag force on some particles remained consistently positive, but others consistently negative even long after the passage of the shock. This persistent force on the particle was attributed to the potential flow fields that result from neighbors' specific locations upstream and downstream. Similar behavior was observed in the transverse force, with particles experiencing sustained force in the same lateral direction. These persistent forces are inviscid quasisteady contributions which with the viscous counterpart will play an essential role in the particle's long-term dispersion if allowed to move in response to the force.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗