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All sources NASA NTRS DOE OSTI

NASA NTRS2005

Simulation and ground testing with the Advanced Video Guidance Sensor

The Advanced Video Guidance Sensor (AVGS), an active sensor system that provides near-range 6-degree-of-freedom sensor data, has been developed as part of an automatic rendezvous and docking system for the Demonstration of Autonomous Rendezvous Technology (DART). The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state imager to detect the light returned from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The development of the sensor, through initial prototypes, final prototypes, and three flight units, has required a great deal of testing at every phase, and the different types of testing, their effectiveness, and their results, are presented in this paper, focusing on the testing of the flight units. Testing has improved the sensor's performance.

Howard, Richard T.↗

NASA NTRS1994

Geometry of the Hubble Space Telescope Wide Field/Planetary Camera field

We present a solution for the relative positions and orientations of the four charge coupled device (CCD) chips on the Hubble Space Telescope (HST) Planetary Camera (PC). An accurate solution is required when matching HST images with ground-based images or with one another. The solution is accurate to about 2/3 PC pixel or about .03 sec, a tenfold improvement over the best previous solution. The CCDs are rotated relative to one another by up to 1 deg. The solution is based on images taken between December 1990 and June 1992 and is stable over that entire period. We also present a solution for the relative positions and orientations of the four CCD chips on the HST Wide Field Camera (WFC). This solution is accurate to about 1/2 WFC pixel or about .05 sec.

Gould, Andrew↗

NASA NTRS2001

An Advanced Video Sensor for Automated Docking

This paper describes the current developments in video-based sensors at the Marshall Space Flight Center. The Advanced Video Guidance Sensor is the latest in a line of video-based sensors designed for use in automated docking systems. The X-33, X-34, X-38, and X-40 are all designed to be unpiloted vehicles; such vehicles will require a sensor system that will provide adequate data for the vehicle to accomplish its mission. One of the primary tasks planned for re-usable launch vehicles is to resupply the space station. In order to approach the space station in a self-guided manner, the vehicle must have a reliable and accurate sensor system to provide relative position and attitude information between the vehicle and the space station. The Advanced Video Guidance Sensor is being designed and built to meet this requirement, as well as requirements for other vehicles docking to a variety of target spacecraft. The Advanced Video Guidance Sensor is being designed to allow range and bearing information to be measured at ranges up to 2 km. The sensor will measure 6-degree-of-freedom information (relative positions and attitudes) from approximately 40 meters all the way in to final contact (approximately 1 meter range). The sensor will have a data output rate of 20 Hz during tracking mode, and will be able to acquire a target within one half of a second. The prototype of the sensor will be near completion at the time of the conference.

Howard, Richard T.↗

NASA NTRS1996

Flight control augmentation for AFT CG launch vehicles

The Space Shuttle was only the first step in achieving routine access to space. Recently, the NASA Marshall Space Flight Center (MSFC) has been studying a whole spectrum of new launch vehicles (L/V's) for space transportation. Some of these could transport components of the Space Station to orbit, and some could take us to Mars and beyond to boldly expand our frontiers of knowledge. In all our future launch vehicle (L/V) designs, decreasing the structural weight will always be of great concern. This is tantamount to increased payload capability, which in turn means reduced cost-per-pound to orbit. One very significant increase in payload capability has been defined. In a L/V recently studied at MSFC it has been shown that a sizable weight savings can be realized by a rearrangement of the internal propellant tanks. Studies have been conducted both at MSFC and at Martin Marietta Corporation, maker of the Space Shuttle External Tank (ET) which show that a very substantial weight can be saved by inverting the relative positions of the liquid hydrogen (LH2) and the liquid oxygen (LOX) propellant tanks in a particular L/V studied. As the vehicle sits on the launch pad, in the conventional configuration the heavier LOX tank is located on top of the lighter LH2. This requires a heavy structural member between the two tanks to prevent the lighter LH2 tank from being crushed. This configuration also requires large, long, and even drag producing LOX feed lines running the length of the vehicle on the exterior fuselage. If the relative position of the propellant tanks is inverted, both the heavy structural separation member and the long LOX feed lines could be deleted. While the structures community at MSFC was elated with this finding, the LOX tank aft configuration gave the vehicle an aft center-of-gravity (cg) location which surfaced controllability concerns. In the conventional configuration the L/V is controlled in the ascent trajectory by the gimballing of its rocket engines. Studies have been conducted at MSFC which showed that the resulting aft cg configured L/V would not be adequately controllable with the engine gimballing alone.

Barret, Chris↗

NASA NTRS1972

Tethered body problems and relative motion orbit determination

Selected problems dealing with orbiting tethered body systems have been studied. In addition, a relative motion orbit determination program was developed. Results from these tasks are described and discussed. The expected tethered body motions were examined, analytically, to ascertain what influence would be played by the physical parameters of the tether, the gravity gradient and orbit eccentricity. After separating the motion modes these influences were determined; and, subsequently, the effects of oscillations and/or rotations, on tether force, were described. A study was undertaken, by examining tether motions, to see what type of control actions would be needed to accurately place a mass particle at a prescribed position relative to a main vehicle. Other applications for tethers were studied. Principally these were concerned with the producing of low-level gee forces by means of stabilized tether configurations; and, the initiation of free transfer trajectories from tether supported vehicle relative positions.

Eades, J. B., Jr.↗

NASA NTRS1990

Encoding techniques for complex information structures in connectionist systems

Two general information encoding techniques called relative position encoding and pattern similarity association are presented. They are claimed to be a convenient basis for the connectionist implementation of complex, short term information processing of the sort needed in common sense reasoning, semantic/pragmatic interpretation of natural language utterances, and other types of high level cognitive processing. The relationships of the techniques to other connectionist information-structuring methods, and also to methods used in computers, are discussed in detail. The rich inter-relationships of these other connectionist and computer methods are also clarified. The particular, simple forms are discussed that the relative position encoding and pattern similarity association techniques take in the author's own connectionist system, called Conposit, in order to clarify some issues and to provide evidence that the techniques are indeed useful in practice.

Barnden, John↗

NASA NTRS1984

An infrared alignment telescope

For problems involving the determination of the relative positions of optical components in a complex assembly, rather precise measurements can be routinely obtained when the visible portion of the spectrum is involved. Problems arise, however, when the lens elements to be aligned are made of infrared transmitting materials such as germanium, which is opaque to visible radiation. The alignment of a multichannel infrared measurement satellite called Haloe, which is currently being developed by NASA, represents an example of a particularly difficult task. The present paper is concerned with an infrared alignment telescope (IAT) which satisfies the need for a precision alignment tool capable of operating anywhere in the 2.4 to 12 micron wavelength range. When coupled to a commercial infrared scanner and display device, the IAT will provide a real-time picture of the relative positions of components and images over distances in the range from 20 inches to infinity.

Dilworth, D. C.↗

NASA NTRS2006

Repairing Fractured Bones by Use of Bioabsorbable Composites

A proposed method of surgical repair of fractured bones would incorporate recent and future advances in the art of composite materials. The composite materials used in this method would be biocompatible and at least partly bioabsorbable: that is, during the healing process following surgery, they would be wholly or at least partly absorbed into the bones and other tissues in which they were implanted. Relative to the traditional method, the proposed method would involve less surgery, pose less of a risk of infection, provide for better transfer of loads across fracture sites, and thereby promote better healing while reducing the need for immobilization by casts and other external devices. One requirement that both the traditional and proposed methods must satisfy is to fix the multiple segments of a broken bone in the correct relative positions. Mechanical fixing techniques used in the traditional method include the use of plates spanning the fracture site and secured to the bone by screws, serving of wire along the bone across the fracture site, insertion of metallic intramedullary rods through the hollow portion of the fractured bone, and/or inserting transverse rods through the bone, muscle, and skin to stabilize the fractured members. After the bone heals, a second surgical operation is needed to remove the mechanical fixture(s). In the proposed method, there would be no need for a second surgical operation. The proposed method is based partly on the observation that in the fabrication of a structural member, it is generally more efficient and reliable to use multiple small fasteners to transfer load across a joint than to use a single or smaller number of larger fasteners, provided that the stress fields of neighboring small fasteners do not overlap or interact. Also, multiple smaller fasteners are more reliable than are larger and fewer fasteners. However, there is a trade-off between structural efficiency and the cost of insertion time and materials. The proposed method is further based partly on the conjecture that through-the-thickness reinforcements could be excellent for fixing bone segments for surgical repair. The through-the-thickness reinforcements would superficially resemble nails in both form and function. Denoted small-diameter rods (SDRs) to distinguish them from other narrow rods, these reinforcements would be shot or otherwise inserted through adjacent segments of fractured bone to fix them in their correct relative positions (see figure). Shot insertion would be effected by use an applicator that would amount to a miniaturized and highly refined version of the pneumatic guns often used in carpentry to drive nails and brads. The applicator, envisioned to be about the size of a ball-point-pen, would be driven by pressurized carbon dioxide. To further promote stabilization of the segments, layers of bone glue could be applied to the fracture surfaces prior to insertion of the SDRs. The bone glue could be therapeutically loaded with chemicals to promote growth of bone and fight infection

Farley, Gary L.↗

DOE OSTI2024

Mycorrhizal associations of temperate forest seedlings mediate rhizodeposition, but not soil carbon storage, under elevated nitrogen availability

Abstract Tree‐mycorrhizal associations are associated with patterns in nitrogen (N) availability and soil organic matter storage; however, we still lack a mechanistic understanding of what tree and fungal traits drive these patterns and how they will respond to global changes in soil N availability. To address this knowledge gap, we investigated how arbuscular mycorrhizal (AM)‐ and ectomycorrhizal (EcM)‐associated seedlings alter rhizodeposition in response to increased seedling inorganic N acquisition. We grew four species each of EcM and AM seedlings from forests of the eastern United States in a continuously 13 C‐labeled atmosphere within an environmentally controlled chamber and subjected to three levels of 15 N‐labeled fertilizer. We traced seedling 15 N uptake from, and 13 C‐labeled inputs (net rhizodeposition) into, root‐excluded or ‐included soil over a 5‐month growing season. N uptake by seedlings was positively related to rhizodeposition for EcM‐ but not AM‐associated seedlings in root‐included soils. Despite this contrast in rhizodeposition, there was no difference in soil C storage between mycorrhizal types over the course of the experiment. Instead root‐inclusive soils lost C, while root‐exclusive soils gained C. Our findings suggest that mycorrhizal associations mediate tree belowground C investment in response to inorganic N availability, but these differences do not affect C storage. Continued soil warming and N deposition under global change will increase soil inorganic N availability and our seedling results indicate this could lead to greater belowground C investment by EcM‐associated trees. This potential for less efficient N uptake by EcM‐trees could contribute to AM‐tree success and a shift toward more AM‐dominated temperate forests.

Fitch, Amelia A.↗

NASA NTRS1987

Space Station communications and tracking system

A comprehensive description of the existing Space Station communications and tracking system requirements, architecture, and design concepts is provided. Areas which will require innovative solutions to provide cost-effective flight systems are emphasized. Among these are the space-to-space links, the differential global positioning system for determining relative position with free-flying vehicles, multitarget radar, packet/isochronous signal processing, and laser docking systems. In addition, the importance of advanced development, tests, and analyses is summarized.

Dietz, Reinhold H.↗

NASA NTRS1992

Sea spikes at moderate incidence and their relation to position on the waves

Most models of radar backscatter from the sea ignore sea spikes, the nonlinear effects that result in large excursions above the local mean signal. They are strong enough to change the mean scattering level significantly, and they may cause streaks in synthetic aperture radar (SAR) ocean images. A threshold based on short signal excursions above the local mean is used to identify spikes. With this method, spikes can be found in regions of low signal level. An autoregressive spectral method is used to identify the locations of the spikes on the dominant waves. Sample results from Ka-band measurements in the North Sea made during the SAXON-FPN experiment are given. It is shown that spikes can occur anywhere on the dominant wave, although they are most prevalent on the front face.

Salam, A.↗

NASA NTRS1996

Flight Test Results from Real-Time Relative Global Positioning System Flight Experiment on STS-69

A real-time global positioning system (GPS) Kalman filter has been developed to support automated rendezvous with the International Space Station (ISS). The filter is integrated with existing Shuttle rendezvous software running on a 486 laptop computer under Windows. In this work, we present real-time and postflight results achieved with the filter on STS-69. The experiment used GPS data from an Osborne/Jet propulsion Laboratory TurboRouge receiver carried on the Wake Shield Facility (WSF) free flyer and a Rockwell Collins 3M receiver carried on the Orbiter. Real time filter results, processed onboard the Shuttle and replayed in near-time on the ground, are based on single vehicle mode operation and on 5 to 20 minute snapshots of telemetry provided by WSF for dual-vehicle mode operation. The Orbiter and WSF state vectors calculated using our filter compare favorably with precise reference orbits determined by the University of Texas Center for Space Research. The lessons learned from this experiment will be used in conjunction with future experiments to mitigate the technology risk posed by automated rendezvous and docking to the ISS.

Park, Young W.↗

NASA NTRS1994

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

guidepath position navigation control system↗

NASA NTRS2004

Video Guidance Sensors Using Remotely Activated Targets

Four updated video guidance sensor (VGS) systems have been proposed. As described in a previous NASA Tech Briefs article, a VGS system is an optoelectronic system that provides guidance for automated docking of two vehicles. The VGS provides relative position and attitude (6-DOF) information between the VGS and its target. In the original intended application, the two vehicles would be spacecraft, but the basic principles of design and operation of the system are applicable to aircraft, robots, objects maneuvered by cranes, or other objects that may be required to be aligned and brought together automatically or under remote control. In the first two of the four VGS systems as now proposed, the tracked vehicle would include active targets that would light up on command from the tracking vehicle, and a video camera on the tracking vehicle would be synchronized with, and would acquire images of, the active targets. The video camera would also acquire background images during the periods between target illuminations. The images would be digitized and the background images would be subtracted from the illuminated-target images. Then the position and orientation of the tracked vehicle relative to the tracking vehicle would be computed from the known geometric relationships among the positions of the targets in the image, the positions of the targets relative to each other and to the rest of the tracked vehicle, and the position and orientation of the video camera relative to the rest of the tracking vehicle. The major difference between the first two proposed systems and prior active-target VGS systems lies in the techniques for synchronizing the flashing of the active targets with the digitization and processing of image data. In the prior active-target VGS systems, synchronization was effected, variously, by use of either a wire connection or the Global Positioning System (GPS). In three of the proposed VGS systems, the synchronizing signal would be generated on, and transmitted from, the tracking vehicle. In the first proposed VGS system, the tracking vehicle would transmit a pulse of light. Upon reception of the pulse, circuitry on the tracked vehicle would activate the target lights. During the pulse, the target image acquired by the camera would be digitized. When the pulse was turned off, the target lights would be turned off and the background video image would be digitized. The second proposed system would function similarly to the first proposed system, except that the transmitted synchronizing signal would be a radio pulse instead of a light pulse. In this system, the signal receptor would be a rectifying antenna. If the signal contained sufficient power, the output of the rectifying antenna could be used to activate the target lights, making it unnecessary to include a battery or other power supply for the targets on the tracked vehicle.

Bryan, Thomas C.↗

NASA NTRS2018

Design, Development, and Flight Evaluation of Pilot Displays and Long-Track Control for Wake Surfing Applications

From April to May 2017, the National Aeronautics and Space Administration Armstrong Flight Research Center completed a series of flights with a trail C-20A airplane surfing in the wake of a Gulfstream III airplane using a commercially available datalink as the primary communication between the two aircraft. The purpose of this test was to characterize the aerodynamic benefits received by the trail airplane flying in the upwash portion of the wake generated from the lead airplane. Lateral and vertical relative position to the wake were automatically controlled through an experimental programmable autopilot on the C-20A airplane. Long-track, the separation distance between the two aircraft, was maintained by test pilots managing throttle position using customized cockpit displays. These displays provided the pilots with throttle cues for maintaining long-track position and situational awareness of the wake vortex relative to the position of the trail airplane. Flight testing demonstrated the ability of the pilots to use these displays to maintain a safe long-track distance, but found there to be trades between tracking performance and the frequency of throttle motion. The wake awareness display provided the pilots with adequate situational awareness of the wake vortex during the flight experiment. This paper presents a summary of the design, development, and flight evaluation of the pilot displays and long-track control.

aircraft↗

NASA NTRS1996

Ignition of Cellulosic Paper at Low Radiant Fluxes

The ignition of cellulosic paper by low level thermal radiation is investigated. Past work on radiative ignition of paper is briefly reviewed. No experimental study has been reported for radiative ignition of paper at irradiances below 10 Watts/sq.cm. An experimental study of radiative ignition of paper at these low irradiances is reported. Experimental parameters investigated and discussed include radiant power levels incident on the sample, the method of applying the radiation (focussed vs. diffuse Gaussian source), the presence and relative position of a separate pilot ignition source, and the effects of natural convection (buoyancy) on the ignition process in a normal gravity environment. It is observed that the incident radiative flux (in W/sq.cm) has the greatest influence on ignition time. For a given flux level, a focussed Gaussian source is found to be advantageous to a more diffuse, lower amplitude, thermal source. The precise positioning of a pilot igniter relative to gravity and to the fuel sample affects the ignition process, but the precise effects are not fully understood. Ignition was more readily achieved and sustained with a horizontal fuel sample, indicating the buoyancy plays a role in the ignition process of cellulosic paper. Smoldering combustion of doped paper samples was briefly investigated, and results are discussed.

White, K. Alan↗

NASA NTRS1984

Fail-fixed servovalve with positive fluid feedback

The servovalve includes a primary jet of fluid. A variable control signal is adapted to vary the angular position of the primary jet from its maximum recovery position. A first fluid path is adapted to supply fluid to a servopiston at a variable pressure determined at least in part by the control signal. A second fluid path is adapted to receive a predetermined portion of the primary jet fluid when the control signal reaches a predetermined value. The second fluid path terminates in the vicinity of the primary jet and is adapted to direct a secondary jet of fluid at the primary jet to deflect the primary jet toward the input orifice of the second fluid path. The resultant positive fluid feedback in the second fluid path causes the primary jet to latch in a first angular position relative to the maximum recovery position when the control signal reaches a predetermined value. The servovalve may further include a means to discharge the fluid and a means to block the first fluid path to the servopiston when the control signal falls below a second predetermined value. A method of operating a fail-fixed servovalve is also described.

Kast, Howard B.↗

NASA NTRS2007

Compact Packaging of Photonic Millimeter-Wave Receiver

A carrier structure made from a single silicon substrate is the basis of a compact, lightweight, relatively inexpensive package that holds the main optical/electronic coupling components of a photonic millimeter-wave receiver based on a lithium niobate resonator disk. The design of the package is simple and provides for precise relative placement of optical components, eliminating the need for complex, bulky positioning mechanisms like those commonly used to align optical components to optimize focus and coupling. Although a prototype of the package was fabricated as a discrete unit, the design is amenable to integration of the package into a larger photonic and/or electronic receiver system. The components (see figure) include a lithium niobate optical resonator disk of 5-mm diameter and .200- m thickness, positioned adjacent to a millimeter- wave resonator electrode. Other components include input and output coupling prisms and input and output optical fibers tipped with ball lenses for focusing and collimation, respectively. Laser light is introduced via the input optical fiber and focused into the input coupling prism. The input coupling prism is positioned near (but not in contact with) the resonator disk so that by means of evanescent-wave coupling, the input laser light in the prism gives rise to laser light propagating circumferentially in guided modes in the resonator disk. Similarly, a portion of the circumferentially propagating optical power is extracted from the disk by evanescent-wave coupling from the disk to the output coupling prism, from whence the light passes through the collimating ball lens into the output optical fiber. The lens-tipped optical fibers must be positioned at a specified focal distance from the prisms. The optical fibers and the prisms must be correctly positioned relative to the resonator disk and must be oriented to obtain the angle of incidence (55 in the prototype) required for evanescent-wave coupling of light into and out of the desired guided modes in the resonator disk. To satisfy all these requirements, precise alignment features are formed in the silicon substrate by use of a conventional wet-etching process. These features include a 5-mm-diameter, 50- m-deep cavity that holds the disk; two trapezoidal-cross-section recesses for the prisms; and two grooves that hold the optical fibers at the correct positions and angles relative to the prisms and disk. The fiber grooves contain abrupt tapers, near the prisms, that serve as hard stops for positioning the lenses at the focal distance from the prisms. There are also two grooves for prismadjusting rods. The design provides a little slack in the prism recesses for adjusting the positions of the prisms by means of these rods to optimize the optical coupling.

Nguyen, Hung↗