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At least 1,279 records · Page 71

Learning and Prediction of Slip from Visual Information

This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. This relationship is learned from previous experience, so slip can be predicted remotely from visual information only. The proposed method consists of terrain type recognition and nonlinear regression modeling. The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips. The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers.

rover↗

Ditching Investigation of a 1/14-Scale Model of the XC-123 Airplane

An investigation of a 1/14 scale dynamically similar model of the XC-123 airplane was made in calm water to observe the ditching behavior and to determine the safest procedure for making an emergency water landing, The behavior of the model was determined from motion-picture records, time-history deceleration records, and visual observations, Various scale-strength simulations were made to determine if the fuselage would be damaged and, if so, to determine the extent and location, It was concluded that the airplane should be ditched at a nose-high attitude of about 140 with the landing flaps down 45 deg., The airplane will probably make a porpoising run of about 415 feet (full scale) and the maximum longitudinal decelerations will be about 1 g, The fuselage bottom probably will be damaged and the fuselage will fill with water and sink to the wing level.

Fisher, Lloyd J.↗

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗

Effect of Sweep on Cavity Flow Fields at Subsonic and Transonic Speeds

An experimental investigation was conducted in the NASA Langley 7 x 10-Foot High Speed Tunnel (HST) to study the effect of leading- and trailing-edge sweep on cavity flow fields for a range of cavity length-to-height (l/h) ratios. The free-stream Mach number was varied from 0.2 to 0.8. The cavity had a depth of 0.5 inches, a width of 2.5 inches, and a maximum length of 12.0 inches. The leading- and trailing-edge sweep was adjusted using block inserts to achieve leading edge sweep angles of 65 deg, 55 deg, 45 deg, 35 deg, and 0 deg. The fore and aft cavity walls were always parallel. The aft wall of the cavity was remotely positioned to achieve a range of length-to-depth ratios. Fluctuating- and static-pressure data were obtained on the floor of the cavity. The fluctuating pressure data were used to determine whether or not resonance occurred in the cavity rather than to provide a characterization of the fluctuating pressure field. Qualitative surface flow visualization was obtained using a technique in which colored water was introduced into the model through static-pressure orifices. A complete tabulation of the mean static-pressure data for the swept leading edge cavities is included.

Tracy, Maureen B.↗

Finite Element Modeling of the Posterior Eye in Microgravity

Microgravity experienced during spaceflight affects astronauts in various ways, including weakened muscles and loss of bone density. Recently, visual impairment and intracranial pressure (VIIP) syndrome has become a major concern for space missions lasting longer than 30 days. Astronauts suffering from VIIP syndrome have changes in ocular anatomical and visual impairment that persist after returning to earth. It is hypothesized that a cephalad fluid shift in microgravity may increase the intracranial pressure (ICP), which leads to an altered biomechanical environment of the posterior globe and optic nerve sheath (ONS).Currently, there is a lack of knowledge of how elevated ICP may lead to vision impairment and connective tissue changes in VIIP. Our goal was to develop a finite element model to simulate the acute effects of elevated ICP on the posterior eye and optic nerve sheath. We used a finite element (FE) analysis approach to understand the response of the lamina cribrosa and optic nerve to the elevations in ICP thought to occur in microgravity and to identify which tissue components have the greatest impact on strain experienced by optic nerve head tissues.

intraocular pressure↗

Extending the Lunar Mapping and Modeling Portal - New Capabilities and New Worlds

NASA's Lunar Mapping and Modeling Portal (LMMP) provides a web-based Portal and a suite of interactive visualization and analysis tools to enable mission planners, lunar scientists, and engineers to access mapped lunar data products from past and current lunar missions (http://lmmp.nasa.gov). During the past year, the capabilities and data served by LMMP have been significantly expanded. New interfaces are providing improved ways to access and visualize data. At the request of NASA's Science Mission Directorate, LMMP's technology and capabilities are now being extended to additional planetary bodies. New portals for Vesta and Mars are the first of these new products to be released. This presentation will provide an overview of LMMP, Vesta Trek, and Mars Trek, demonstrate their uses and capabilities, highlight new features, and preview coming enhancements.

Site Selection↗

An Experimental Investigation of a Wing-Fuselage Junction Model in the NASA Langley 14- by 22-Foot Subsonic Tunnel

Current turbulence models, such as those employed in Reynolds-averaged Navier-Stokes CFD, are unable to reliably predict the onset and extent of the three-dimensional separated flow that typically occurs in wing-fuselage junctions. To critically assess, as well as to improve upon, existing turbulence models, experimental validation-quality flow-field data in the junction region is needed. In this report, we present an overview of experimental measurements on a wing-fuselage junction model that addresses this need. The experimental measurements were performed in the NASA Langley 14- by 22-Foot Subsonic Tunnel. The model was a full-span wing-fuselage body that was configured with truncated DLR-F6 wings, both with and without leading-edge extensions at the wing root. The model was tested at a fixed chord Reynolds number of 2.4 million, and angles-of-attack ranging from -10 degrees to +10 degrees were considered. Flow-field measurements were performed with a pair of miniature laser Doppler velocimetry (LDV) probes that were housed inside the model and attached to three-axis traverse systems. One LDV probe was used to measure the separated flow field in the trailing-edge junction region. The other LDV probe was alternately used to measure the flow field in the leading-edge region of the wing and to measure the incoming fuselage boundary layer well upstream of the leading edge. Both LDV probes provided measurements from which all three mean velocity components, all six independent components of the Reynolds-stress tensor, and all ten independent components of the velocity triple products were calculated. In addition to the flow-field measurements, static and dynamic pressures were measured at selected locations on the wings and fuselage of the model, infrared imaging was used to characterize boundary-layer transition, oil-flow visualization was used to visualize the separated flow in the leading- and trailing-edge regions of the wing, and unsteady shear stress was measured at limited locations using capacitive shear-stress sensors. Sample results from the measurement techniques employed during the test are presented and discussed.

Kegerise, Michael A.↗

JWST Observations of the Enigmatic Y Dwarf WISE 1828+2650: I. Limits to a Binary Companion

The Y-dwarf WISE 1828+2650 is one of the coldest known Brown Dwarfs with an effective temperature of ~300 K. Located at a distance of just 10 pc, previous model-based estimates suggest WISE 1828+2650 has a mass of ~5-10 M J , making it a valuable laboratory for understanding the formation, evolution and physical characteristics of gas giant planets. However, previous photometry and spectroscopy have presented a puzzle with the near-impossibility of simultaneously fitting both the short (0.9-2.0 μm) and long wavelength (3-5 μm) data. A potential solution to this problem has been the suggestion that WISE 1828+2650 is a binary system whose composite spectrum might provide a better match to the data. Alternatively, new models being developed to fit JWST/NIRSpec and MIRI spectroscopy might provide new insights. This article describes JWST/NIRCam observations of WISE 1828+2650 in 6 filters to address the binarity question and to provide new photometry to be used in model fitting. We also report Adaptive Optics imaging with the Keck 10 m telescope. We find no evidence for multiplicity for a companion beyond 0.5 AU with either JWST or Keck. Companion articles will present low and high resolution spectra of WISE 1828 obtained with both NIRSpec and MIRI.

Infrared spectroscopy↗

Spring Dust in Western North America and its Interannual Variability – Understanding the Role of Local and Transported Dust

Mineral dust over western North America is an important aerosol type contributing up to one half of surface aerosol concentrations in spring. In the present study, we use data from in-situ and remote-sensing observations and the NASA Unified WRF (NU-WRF) model to investigate the sources and interannual variations of the springtime fine-mode dust over western North America. The horizontal distribution, seasonality, and interannual variability of the springtime dust over the region are characterized with observations of fine dust concentrations at the Interagency Monitoring of Protected Visual Environments (IMPROVE) sites and dust optical depth (DOD) from the Aerosol Robotic Network (AERONET) measurements. We have conducted detailed modeling and analysis for April in selected years of 2005, 2008, and 2009, to understand the causes of interannual variabilities of the springtime dust with model experiments that separate the dust generated from local deserts with that transported across the Pacific Ocean. The results suggest that although several permanent deserts and semi-arid regions in the western North America are the major source of surface fine dust concentrations in the immediate vicinity, long-range transpacific transported dust is a dominant dust source in springtime, especially over the coastal regions and areas remote from the local deserts. Interannual variability of fine dust over western North America is explained with both local dust emission and long-range transported dust.

North America spring dust↗

A Cognitive System Model for Human/Automation Dynamics in Airspace Management

NASA has initiated a significant thrust of research and development focused on providing the flight crew and air traffic managers automation aids to increase capacity in en route and terminal area operations through the use of flexible, more fuel-efficient routing, while improving the level of safety in commercial carrier operations. In that system development, definition of cognitive requirements for integrated multi-operator dynamic aiding systems is fundamental. In order to support that cognitive function definition, we have extended the Man Machine Integrated Design and Analysis System (MIDAS) to include representation of multiple cognitive agents (both human operators and intelligent aiding systems) operating aircraft, airline operations centers and air traffic control centers in the evolving airspace. The demands of this application require representation of many intelligent agents sharing world-models, and coordinating action/intention with cooperative scheduling of goals and actions in a potentially unpredictable world of operations. The MIDAS operator models have undergone significant development in order to understand the requirements for operator aiding and the impact of that aiding in the complex nondeterminate system of national airspace operations. The operator model's structure has been modified to include attention functions, action priority, and situation assessment. The cognitive function model has been expanded to include working memory operations including retrieval from long-term store, interference, visual-motor and verbal articulatory loop functions, and time-based losses. The operator's activity structures have been developed to include prioritization and interruption of multiple parallel activities among multiple operators, to provide for anticipation (knowledge of the intention and action of remote operators), and to respond to failures of the system and other operators in the system in situation-specific paradigms. The model's internal representation has been be modified so that multiple, autonomous sets of equipment will function in a scenario as the single equipment sets do now. In order to support the analysis requirements with multiple items of equipment, it is necessary for equipment to access the state of other equipment objects at initialization time (a radar object may need to access the position and speed of aircraft in its area, for example), and as a function of perception and sensor system interaction. The model has been improved to include multiple world-states as a function of equipment am operator interaction. The model has been used -1o predict the impact of warning and alert zones in aircraft operation, and, more critic-ally, the interaction of flight-deck based warning mechanisms and air traffic controller action in response to ground-based conflict prediction and alerting systems. In this operation, two operating systems provide alerting to two autonomous, but linked sets of operators, whose view of the system and whose dynamics in response are radically different. System stability and operator action was predicted using the MIDAS model.

Corker, Kevin M.↗

Visual and infrared studies of asteroids and the Pluto-Charon system

The strategy of the project was to: (1) analyze light curves of Pluto-Charon mutual eclipse event light curves to derive models of the Pluto-Charon system; (2) use these results in planning and reducing HST observations tentatively scheduled to be obtained in Aug. 1991 to determine Pluto-Charon mass ratio; and (3) obtain visual and IR photometry of selected asteroids to help determine their albedos, sizes, shapes, pole orientations, taxonomic classes, and phase functions.

Tedesco, Edward F.↗

In-flight propeller flow visualization using fluorescent minitufts

Extension of fluorescent minutuft method to in-flight flow visualization on propellers is described. Extremely thin nylon monofilament for the minitufts, is used in a process of attaching them to the test surface with small drops of lacquer-like adhesive, and the use of fluorescence photography for recording the minituft patterns. Using this method, thousands of minitufts can be applied to small, high speed wind tunnel models without affecting the airflow. The minitufts can remain in place throughout a wind tunnel test, permitting nonintrusive flow visualization data to be acquired at any time.

Crowder, J. P.↗

The Parallel System for Integrating Impact Models and Sectors (pSIMS)

We present a framework for massively parallel climate impact simulations: the parallel System for Integrating Impact Models and Sectors (pSIMS). This framework comprises a) tools for ingesting and converting large amounts of data to a versatile datatype based on a common geospatial grid; b) tools for translating this datatype into custom formats for site-based models; c) a scalable parallel framework for performing large ensemble simulations, using any one of a number of different impacts models, on clusters, supercomputers, distributed grids, or clouds; d) tools and data standards for reformatting outputs to common datatypes for analysis and visualization; and e) methodologies for aggregating these datatypes to arbitrary spatial scales such as administrative and environmental demarcations. By automating many time-consuming and error-prone aspects of large-scale climate impacts studies, pSIMS accelerates computational research, encourages model intercomparison, and enhances reproducibility of simulation results. We present the pSIMS design and use example assessments to demonstrate its multi-model, multi-scale, and multi-sector versatility.

crop modeling↗

Advanced nozzle and engine components test facility

A test facility for conducting scaled advanced nozzle and engine component research is described. The CE-22 test facility, located in the Engine Research Building of the NASA Lewis Research Center, contains many systems for the economical testing of advanced scale-model nozzles and engine components. The combustion air and altitude exhaust systems are described. Combustion air can be supplied to a model up to 40 psig for primary air flow, and 40, 125, and 450 psig for secondary air flow. Altitude exhaust can be simulated up to 48,000 ft, or the exhaust can be atmospheric. Descriptions of the multiaxis thrust stand, a color schlieren flow visualization system used for qualitative flow analysis, a labyrinth flow measurement system, a data acquisition system, and auxiliary systems are discussed. Model recommended design information and temperature and pressure instrumentation recommendations are included.

Beltran, Luis R.↗

Advanced nozzle and engine components test facility

A test facility for conducting scaled advanced nozzle and engine component research is described. The CE-22 test facility, located in the Engine Research Building of the NASA Lewis Research Center, contains many systems for the economical testing of advanced scale-model nozzles and engine components. The combustion air and altitude exhaust systems are described. Combustion air can be supplied to a model up to 40 psig for primary air flow, and 40, 125, and 450 psig for secondary air flow. Altitude exhaust can be simulated up to 48,000 ft, or the exhaust can be atmospheric. Descriptions of the multiaxis thrust stand, a color schlieren flow visualization system used for qualitative flow analysis, a labyrinth flow measurement system, a data acquisition system, and auxiliary systems are discussed. Model recommeded design information and temperature and pressure instrumentation recommendations are included.

Beltran, Luis R.↗

Crew Exploration Vehicle (CEV) (Orion) Occupant Protection

The purpose of this study was to determine the similarity between the response of the THUMS model and the Hybrid III Anthropometric Test Device (ATD) given existing Wright-Patterson (WP) sled tests. There were four tests selected for this comparison with frontal, spinal, rear, and lateral loading. The THUMS was placed in a sled configuration that replicated the WP configuration and the recorded seat acceleration for each test was applied to model seat. Once the modeling simulations were complete, they were compared to the WP results using two methods. The first was a visual inspection of the sled test videos compared to the THUMS d3plot files. This comparison resulted in an assessment of the overall kinematics of the two results. The other comparison was a comparison of the plotted data recorded for both tests. The metrics selected for comparison were seat acceleration, belt forces, head acceleration and chest acceleration. These metrics were recorded in all WP tests and were outputs of the THUMS model. Once the comparison of the THUMS to the WP tests was complete, the THUMS model output was also examined for possible injuries in these scenarios. These outputs included metrics for injury risk to the head, neck, thorax, lumbar spine and lower extremities. The metrics to evaluate head response were peak head acceleration, HIC15, and HIC36. For the neck, N (sub ij) was calculated. The thorax response was evaluated with peak chest acceleration, the Combined Thoracic Index (CTI), sternal deflection, chest deflection, and chest acceleration- 3 ms clip. The lumbar spine response was evaluated with lumbar spine force. Finally the lower extremity response was evaluated by femur and tibia force. The results of the simulation comparisons indicate the THUMS model had a similar response to the Hybrid III dummy given the same input. The primary difference seen between the two was a more flexible response of the THUMS compared to the Hybrid III. This flexibility was most pronounced in the neck flexion, shoulder deflection and chest deflection. Due to the flexibility of the THUMS, the resulting head and chest accelerations tended to lag the Hybrid III acceleration trace and have a lower peak value. The results of the injury metric comparison identified possible injury trends between simulations. Risk of head injury was highest for the lateral simulations. The risk of chest injury was highest for the rear impact. However, neck injury risk was approximately the same for all simulations. The injury metric value for lumbar spine force was highest for the spinal impact. The leg forces were highest for the rear and lateral impacts. The results of this comparison indicate the THUMS model performs in a similar manner as the Hybrid III ATD. The differences in the responses of model and the ATD are primarily due to the flexibility of the THUMS. This flexibility of the THUMS would be a more human like response. Based on the similarity between the two models, the THUMS should be used in further testing to assess risk of injury to the occupant.

Currie-Gregg, Nancy J.↗

Laser Light Sheet Flow Visualization of the Space Launch System Booster Separation Test

Planar flow visualizations were obtained in a wind tunnel test in the NASA Langley Research Center’s Unitary Plan Wind Tunnel using the laser-light-sheet method. This method uses a laser to illuminate fine particles generated in the wind tunnel to visualize flow structures. The test article was designed to simulate the separation of the two solid rocket boosters (SRBs) from the core stage of the NASA Space Launch System (SLS) at Mach 4 using a scale model. The test was run on of the SLS Block 1B Cargo (27005) configuration and the SLS Block 1B Crew (28005) configuration. Planar flow visualization was obtained only on the crew configuration. Air at pressures up to 1500 psi was used to simulate plumes from the booster separation motors (BSMs) located at the nose, and aft skirt of the two boosters. The facility free stream was seeded with water vapor, which condensed and froze into small ice crystals in the tunnel nozzle expansion. A continuous wave green (532 nm) laser sheet was used to illuminate the ice crystals, and the resulting Mie-scattered light was collected with a camera. The resulting images clearly identify shock waves and other flow features including BSM plume shapes. Measurements were acquired for different BSM pressures and booster separation locations.

Danehy, Paul M.↗

Water Tunnel Flow Visualization Study Through Poststall of 12 Novel Planform Shapes

To determine the flow field characteristics of 12 planform geometries, a flow visualization investigation was conducted in the Langley 16- by 24-Inch Water Tunnel. Concepts studied included flat plate representations of diamond wings, twin bodies, double wings, cutout wing configurations, and serrated forebodies. The off-surface flow patterns were identified by injecting colored dyes from the model surface into the free-stream flow. These dyes generally were injected so that the localized vortical flow patterns were visualized. Photographs were obtained for angles of attack ranging from 10' to 50', and all investigations were conducted at a test section speed of 0.25 ft per sec. Results from the investigation indicate that the formation of strong vortices on highly swept forebodies can improve poststall lift characteristics; however, the asymmetric bursting of these vortices could produce substantial control problems. A wing cutout was found to significantly alter the position of the forebody vortex on the wing by shifting the vortex inboard. Serrated forebodies were found to effectively generate multiple vortices over the configuration. Vortices from 65' swept forebody serrations tended to roll together, while vortices from 40' swept serrations were more effective in generating additional lift caused by their more independent nature.

Gatlin, Gregory M.↗