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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 1,315 records · Page 73
All sourcesNASA NTRSDOE OSTI
NASA NTRS2014

Design and Control of Compliant Tensegrity Robots Through Simulation and Hardware Validation

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center has developed and validated two different software environments for the analysis, simulation, and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ("tensile-integrity") structures have unique physical properties which make them ideal for interaction with uncertain environments. Yet these characteristics, such as variable structural compliance, and global multi-path load distribution through the tension network, make design and control of bio-inspired tensegrity robots extremely challenging. This work presents the progress in using these two tools in tackling the design and control challenges. The results of this analysis includes multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures. The current hardware prototype of a six-bar tensegrity, code-named ReCTeR, is presented in the context of this validation.

Robotics↗
NASA NTRS2017

EVA Systems Technology Gaps and Priorities 2017

Performance of Extra-Vehicular Activities (EVA) has been and will continue to be a critical capability for human space flight. Human exploration missions beyond LEO will require EVA capability for either contingency or nominal activities to support mission objectives and reduce mission risk. EVA systems encompass a wide array of products across pressure suits, life support systems, EVA tools and unique spacecraft interface hardware (i.e. EVA Translation Paths and EVA Worksites). In a fiscally limited environment with evolving transportation and habitation options, it is paramount that the EVA community's strategic planning and architecture integration products be reviewed and vetted for traceability between the mission needs far into the future to the known technology and knowledge gaps to the current investments across EVA systems. To ascertain EVA technology and knowledge gaps many things need to be brought together, assessed and analyzed. This includes an understanding of the destination environments, various mission concept of operations, current state of the art of EVA systems, EVA operational lessons learned, and reference advanced capabilities. A combined assessment of these inputs should result in well-defined list of gaps. This list can then be prioritized depending on the mission need dates and time scale of the technology or knowledge gap closure plan. This paper will summarize the current state of EVA related technology and knowledge gaps derived from NASA's Exploration EVA Reference Architecture and Operations Concept products. By linking these products and articulating NASA's approach to strategic development for EVA across all credible destinations an EVA could be done in, the identification of these gaps is then used to illustrate the tactical and strategic planning for the EVA technology development portfolio. Finally, this paper illustrates the various "touch points" with other human exploration risk identification areas including human health and performance.

Johnson, Brian J.↗
NASA NTRSDate not supplied

Ultra Long-Lived, Self-Surveying Autonomous Air Quality Sensing

Environmental sensing will be key to autonomous vehicle operation and crew health monitoring in tended/untended long-duration habitats for Human Space Exploration in deep space. Small wireless sensors, based on Radio Frequency Identification (RFID) technology, can provide unprecedented capacity to monitor crew/habitat health. We develop a next-generation, path-to-flight wireless air quality sensor capable of operating for years on a small coin-cell battery without crewmember intervention. Initial steps are taken to integrate a self-surveying capability under development as a NASA Small Business Innovative Research (SBIR) project, though final integration was prevented due to COVID-19 center closure.

Raymond S Wagner↗
NASA NTRSDate not supplied

Scaling of Liquefaction Systems and the Effects of Gravity

Recent exploration initiatives both by NASA and others have produced interest in the liquefaction of fluids produced through in-situ processes on the surfaces of the Moon and Mars. Liquefaction of fluids in cryogenic temperatures is routinely done at large scale for terrestrial uses, but these processes do not necessarily scale down in an economical or technologically feasible manner for the anticipated rates of initial Lunar or Martian production plants. To understand appropriate processes and scaling parameters, various options should be considered. A multi-center team at NASA considered multiple different refrigeration cycles and refrigeration integration methodologies as well as how these might fit into early liquefaction plants. These studies resulted in the conclusion that integrating the tubing on the storage tank wall (for both structural and heat spreading reasons), preferably the tank which will actually use the fluid, is the nearest path forward. Given that assumption on the general framework of the liquefaction system, there are several different heat transfer mechanisms to consider from a scaling perspective. These include forced convection heat removal to the refrigeration system (or cryocooler), conduction through the tank wall heat exchanger, and condensation (with some natural convection) on the inner tank wall. Analysis of these mechanisms shows that while there is some sensitivity to gravitational level, that within the bounds of current interest (Lunar and Martian applications), this sensitivity does not dominate the liquefaction application. While there will be some effect, perhaps in a limiting manner as the tanks approach some high fill level, system level testing on the Earth should suffice for the performance prediction and demonstration of liquefaction operations as applicable to Lunar and Martian applications. However, as one approaches orbital conditions, this general approach to liquefaction will not be appropriate as the scaling of the heat transfer mechanisms is not appropriate. At this point, other approaches will need to be developed and demonstrated in the micro-gravity environment.

Cryogenics↗
NASA NTRS2005

Fluids and Combustion Facility: Combustion Integrated Rack Modal Model Correlation

The Fluids and Combustion Facility (FCF) is a modular, multi-user, two-rack facility dedicated to combustion and fluids science in the US Laboratory Destiny on the International Space Station. FCF is a permanent facility that is capable of accommodating up to ten combustion and fluid science investigations per year. FCF research in combustion and fluid science supports NASA's Exploration of Space Initiative for on-orbit fire suppression, fire safety, and space system fluids management. The Combustion Integrated Rack (CIR) is one of two racks in the FCF. The CIR major structural elements include the International Standard Payload Rack (ISPR), Experiment Assembly (optics bench and combustion chamber), Air Thermal Control Unit (ATCU), Rack Door, and Lower Structure Assembly (Input/Output Processor and Electrical Power Control Unit). The load path through the rack structure is outlined. The CIR modal survey was conducted to validate the load path predicted by the CIR finite element model (FEM). The modal survey is done by experimentally measuring the CIR frequencies and mode shapes. The CIR model was test correlated by updating the model to represent the test mode shapes. The correlated CIR model delivery is required by NASA JSC at Launch-10.5 months. The test correlated CIR flight FEM is analytically integrated into the Shuttle for a coupled loads analysis of the launch configuration. The analysis frequency range of interest is 0-50 Hz. A coupled loads analysis is the analytical integration of the Shuttle with its cargo element, the Mini Payload Logistics Module (MPLM), in the Shuttle cargo bay. For each Shuttle launch configuration, a verification coupled loads analysis is performed to determine the loads in the cargo bay as part of the structural certification process.

McNelis, Mark E.↗
DOE OSTI2026

Computational methods in solution-based plastics purification

Plastic waste can be recycled into resins with near-virgin properties by solution-based purification processes that selectively dissolve polymers, remove contaminants, or detach printing residues. Here, in this review, we examine computational methods for predicting the behavior governing solution-based plastic purification, motivated by the vast polymer–solvent–contaminant compositional space. We discuss thermodynamic and machine learning methods for predicting polymer–solvent and polymer–contaminant interaction and review physics-based molecular dynamics simulations that resolve molecular-scale phenomena within polymer matrices inaccessible to screening methods. We highlight how these methods have informed experimental design for dissolution-based recycling and solvent-based contaminant removal. Finally, we discuss the prospective role of agentic AI in integrating these computational tools with real-time sorting data to adapt purification conditions to the compositional variability of real post-consumer feedstocks. This review charts a path toward computationally guided solution-based purification workflows that can respond to the complexity inherent in plastic waste streams.

Altamimi, Ali [Univ. of Wisconsin, Madison, WI (Un↗
DOE OSTI2022

Protection and Restoration Solutions to Reliable and Resilient Integration of Grid-connected PV Installations and Distributed Energy Resources: Design, Testbed, Proof of Work and Impact Studies (Final Report)

To gain a better understanding of the complex transients in a utility grid with a large number of solar PV installations coupled by PWM inverters during the protection and restoration period of the power grid, in this project a kW-level experimental system with dominating inverter-based resources and a hardware-in-loop simulation system with transmission and distribution models, as well as several SEL protective relays have been built and used. The major research findings of the project are summarized below in two perspectives: Experimental research: A self-organized ultra-high frequency solitary waveform is discovered and demonstrated in the hardware experimental system. Despite the familiarities, such a solitary waveform is distinct from any harmonics, transient, or resonance waves in that, it is 1) non-dispersive over time and space, 2) not associated with any active source or the linear superposition of sources, 3) half-cycle asymmetric, 4) not responding to filters or change of system characteristic resonance frequency, 5) ubiquitous as it occurs simultaneously everywhere in the system from DC supply, power lines, and the utility grid, and 6) explosive through tripping the protection or damaging susceptible devices or circuits. Analytical study: The nature of such a new waveform and an analytical explanation of its formation are studied based on related physics and non-linear science principles, with the following highlights: 1) such a new waveform follows the solutions to the Non-linear Schrödinger equation, so the classic linear perturbation theory is unable to explain or predict such a unique waveform as confirmed with the research team of RTDS; 2) the critical condition of occurrence of such a waveform is derived, which indicates that the breakings of solitary wave is a system synchronous issue between the utility grid in the 60Hz phasor domain and duty-ratio modulation of DC sources in the inverter switching frequency domain; 3) such a waveform carries energy mass so it could be detrimental; 4) such a waveform is deceiving as it is not readily detectable in the energy propagation direction by the primary protection equipment, while it is detrimental in the perpendicular direction of energy propagation, i.e. voltage direction. Thus, it has more likely challenges to the second primary equipment and devices, particularly at the weakest link and point such as aging insulation and inappropriate setting of susceptible devices. Therefore, such a waveform can be easily ignored in the aftermath investigation. The intellectual merits: The experimental discovery reveals certain unfamiliar transient phenomena that could challenge the integration of large-scale grid-connected solar PV installation during the group ride-through period of solar PV installations, commissioning of large-solar farms, or dramatic change of solar radiation conditions. Particularly, the research findings suggest that the occurrence of the unfamiliar transient phenomena is uniquely associated with the inverter-based solar PV installation, which is less likely to happen for rotary energy systems. The physics and non-linear science-based research work laid down an analytical path to the challenging transient stability problems including those that have been observed currently and future calls. Both experimental and analytical research results explain the limitation of many current research effects including some DoE research undertakings as well as possible solutions. The broader impacts: The research outcome of the project advances the understanding of the possible transient problems for the integration of inverter-based solar PV installation. It also highlights the theoretical and technical barriers for applying the conventional theory and technology to design and implement countermeasures against their adverse impacts of the large-scale solar PV installation and operation on grid reliability and security. More broadly, the research outcomes have shed some light on the open, fundamental challenges in the integration of large-scale solar photovoltaic energy into current and next-generation power grids across the country, and worldwide. The advanced physics and non-linear science-based analysis open up a path to harmonization of the renewables for societal energy needs via building a resilient and sustainable electric power infrastructure.

14 SOLAR ENERGY↗
NASA NTRS1982

The relationship of sensor parameters to applications data analysis

A stochastic model for the data acquisition system in a multispectral scanner system, like the one utilized by the LANDSAT satellites, is presented. A list of noise sources which are known or presumed to have a significant effect in the information extraction process was constructed. Since the shot noise introduced by the photodetectors in the sensor system is signal level dependent, an atmospheric model was adopted which could adequately describe the amount of radiation that gets into the sensors based on the atmospheric transmittance. An analysis was carried out to find the output spectral statistics in terms of the input signal statistics and the system parameters. This was integrated into a set of FORTRAN programs that when supplied with, the class statistics, the noise levels introduced by the sensor system, the atmospheric transmittance, and the atmospheric path radiance, can be used to estimate the classification performance. In order to show the beneficts of this model a series of runs were performed in which the Thematic Mapper multispectral scanner was the system under consideration.

Landgrebe, D. A.↗
NASA NTRS1994

Independent pixel and Monte Carlo estimates of stratocumulus albedo

Monte Carlo radiative transfer methods are employed here to estimate the plane-parallel albedo bias for marine stratocumulus clouds. This is the bias in estimates of the mesoscale-average albedo, which arises from the assumption that cloud liquid water is uniformly distributed. The authors compare such estimates with those based on a more realistic distribution generated from a fractal model of marine stratocumulus clouds belonging to the class of 'bounded cascade' models. In this model the cloud top and base are fixed, so that all variations in cloud shape are ignored. The model generates random variations in liquid water along a single horizontal direction, forming fractal cloud streets while conserving the total liquid water in the cloud field. The model reproduces the mean, variance, and skewness of the vertically integrated cloud liquid water, as well as its observed wavenumber spectrum, which is approximately a power law. The Monte Carlo method keeps track of the three-dimensional paths solar photons take through the cloud field, using a vectorized implementation of a direct technique. The simplifications in the cloud field studied here allow the computations to be accelerated. The Monte Carlo results are compared to those of the independent pixel approximation, which neglects net horizontal photon transport. Differences between the Monte Carlo and independent pixel estimates of the mesoscale-average albedo are on the order of 1% for conservative scattering, while the plane-parallel bias itself is an order of magnitude larger. As cloud absorption increases, the independent pixel approximation agrees even more closely with the Monte Carlo estimates. This result holds for a wide range of sun angles and aspect ratios. Thus, horizontal photon transport can be safely neglected in estimates of the area-average flux for such cloud models. This result relies on the rapid falloff of the wavenumber spectrum of stratocumulus, which ensures that the smaller-scale variability, where the radiative transfer is more three-dimensional, contributes less to the plane-parallel albedo bias than the larger scales, which are more variable. The lack of significant three-dimensional effects also relies on the assumption of a relatively simple geometry. Even with these assumptions, the independent pixel approximation is accurate only for fluxes averaged over large horizontal areas, many photon mean free paths in diameter, and not for local radiance values, which depend strongly on the interaction between neighboring cloud elements.

Cahalan, Robert F.↗
NASA NTRS2015

Validation of Rain Rate Retrievals for the Airborne Hurricane Imaging Radiometer (HIRAD)

The NASA Hurricane and Severe Storm Sentinel (HS3) mission is an aircraft field measurements program using NASA's unmanned Global Hawk aircraft system for remote sensing and in situ observations of Atlantic and Caribbean Sea hurricanes. One of the principal microwave instruments is the Hurricane Imaging Radiometer (HIRAD), which measures surface wind speeds and rain rates. For validation of the HIRAD wind speed measurement in hurricanes, there exists a comprehensive set of comparisons with the Stepped Frequency Microwave Radiometer (SFMR) with in situ GPS dropwindsondes [1]. However, for rain rate measurements, there are only indirect correlations with rain imagery from other HS3 remote sensors (e.g., the dual-frequency Ka- & Ku-band doppler radar, HIWRAP), which is only qualitative in nature. However, this paper presents results from an unplanned rain rate measurement validation opportunity that occurred in 2013, when HIRAD flew over an intense tropical squall line that was simultaneously observed by the Tampa NEXRAD meteorological radar (Fig. 1). During this experiment, Global Hawk flying at an altitude of 18 km made 3 passes over the rapidly propagating thunderstorm, while the TAMPA NEXRAD perform volume scans on a 5-minute interval. Using the well-documented NEXRAD Z-R relationship, 2D images of rain rate (mm/hr) were obtained at two altitudes (3 km & 6 km), which serve as surface truth for the HIRAD rain rate retrievals. A preliminary comparison of HIRAD rain rate retrievals (image) for the first pass and the corresponding closest NEXRAD rain image is presented in Fig. 2 & 3. This paper describes the HIRAD instrument, which 1D synthetic-aperture thinned array radiometer (STAR) developed by NASA Marshall Space Flight Center [2]. The rain rate retrieval algorithm, developed by Amarin et al. [3], is based on the maximum likelihood estimation (MLE) technique, which compares the observed Tb's at the HIRAD operating frequencies of 4, 5, 6 and 6.6 GHz with corresponding theoretical Tb values from a forward radiative transfer model (RTM). The optimum solution is the integrated rain rate that minimizes the difference between RTM and observed values. Because the excess Tb from rain comes from the direct upwelling and the indirect reflected downwelling paths through the atmosphere, there are several assumptions made for the 2D rain distribution in the antenna incident plane (crosstrack to flight direction). The opportunity to knowing 2D rain surface truth from NEXRAD at two different altitudes will enable a comprehensive evaluation to be preformed and reported in this paper.

hurricane↗
NASA NTRSDate not supplied

Exoplanet Yield Sensitivity for the Hybrid Lyot Coronagraph from end-to-end modeling for LUVOIR-A

NASA's future direct imaging flagship mission will require telescope mirror segmentation to survey a statistically significant population of nearby stellar systems by increasing aperture size beyond that achieved by traditional space-borne monolithic apertures thus far. Segmentation is a path for the size expansion, but it entails a challenge due to the introduction of temporal pupil discontinuities in terms of both phase and amplitude. Modeling of the integrated performance of the coronagraph with the expected dynamical profile of the telescope is an important step toward realistic estimates of the mission's science yields. We present results of a study using the hybrid Lyot coronagraph with a 15-m on-axis, segmented optical telescope assembly (OTA), akin to that of the Large UV / Optical /Infrared (LUVOIR) mission. We have developed a high-fidelity, end-to-end model as part of the Segmented Coronagraph Design and Analysis (SCDA) study that includes diffractive optical propagations at the 1e-10 contrast level across the optical train including the OTA and intermediate re-imaging optics inside the coronagraph instrument. We perform a sensitivity analysis to assess the contrast sensitivity to wavefront perturbations for a set of key telescope terms including segment-level low-order and mid-spatial frequency aberrations and evaluate expected exoplanet yields obtained in the presence of these sets of aberrations. Industry-provided segment-level wavefront aberration datasets involving the following mechanisms are input to the end-to-end model: (1) thermal gradients and accelerations, and (2) telescope dynamics including line-of-sight and segment jitter. Dynamically averaged PSFs in the presence of aberrations are fed into AYO (Altruistic Yield Optimization), a mission design reference simulator, that then assesses the scientific yield sensitivities.

high-contrast imaging↗
NASA NTRS2014

TPSAS-NF1676L-18913-DND

Composite materials and structures are enabling technology for modern aerospace vehicles. Numerical-control manufacturing, including automated fiber placement (AFP), is widely used to fabricate these components. However, weight and performance requirements for the next generation of aerospace vehicles will push the state-of-art even further, and require development of more advanced materials, manufacturing, and structures technologies that are both affordable and efficient. The Integrated Structural Assembly of Advanced Composites (ISAAC) system is intended to address much of NASA?s critical research needs in advanced composites. The baseline ISAAC system, combining a commercial robot with multiple redundant degrees of freedom, a tool changer interface, and a special-purpose AFP end effector, enables precise and accurate additive manufacturing of composite structures, as well as development of advanced tow-steered structures with tailored load paths. The highly capable baseline system can quickly change end effectors, thus enabling further research for composites manufacturing. This extended system is similar to a high-speed machining center, where interchangeable cutters are used for different operations during metal structures fabrication. This capability enables future development, integration and assessment of new advanced manufacturing technologies, such as in-situ curing and NDE, and through-thickness reinforcements to reduce delaminations. End effectors with these advanced capabilities may be purchased, developed internally or with industry or academia, and then integrated onto the existing robotic platform to perform advanced manufacturing operations and develop new techniques and processes. Technologies, techniques and processes developed using this research-oriented system could then be transitioned to the broader composites industry.

Rob Martin↗
NASA NTRS2012

Digital Architecture for a Trace Gas Sensor Platform

A digital architecture has been implemented for a trace gas sensor platform, as a companion to standard analog control electronics, which accommodates optical absorption whose fractional absorbance equivalent would result in excess error if assumed to be linear. In cases where the absorption (1-transmission) is not equivalent to the fractional absorbance within a few percent error, it is necessary to accommodate the actual measured absorption while reporting the measured concentration of a target analyte with reasonable accuracy. This requires incorporation of programmable intelligence into the sensor platform so that flexible interpretation of the acquired data may be accomplished. Several different digital component architectures were tested and implemented. Commercial off-the-shelf digital electronics including data acquisition cards (DAQs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), and microcontrollers have been used to achieve the desired outcome. The most completely integrated architecture achieved during the project used the CPLD along with a microcontroller. The CPLD provides the initial digital demodulation of the raw sensor signal, and then communicates over a parallel communications interface with a microcontroller. The microcontroller analyzes the digital signal from the CPLD, and applies a non-linear correction obtained through extensive data analysis at the various relevant EVA operating pressures. The microcontroller then presents the quantitatively accurate carbon dioxide partial pressure regardless of optical density. This technique could extend the linear dynamic range of typical absorption spectrometers, particularly those whose low end noise equivalent absorbance is below one-part-in-100,000. In the EVA application, it allows introduction of a path-length-enhancing architecture whose optical interference effects are well understood and quantified without sacrificing the dynamic range that allows quantitative detection at the higher carbon dioxide partial pressures. The digital components are compact and allow reasonably complete integration with separately developed analog control electronics without sacrificing size, mass, or power draw.

Gonzales, Paula↗
DOE OSTI2025

Model Scripts for "Old-Aged Groundwater Contributes to Mountain Hillslope Hydrologic Dynamics"

The partitioning of water inputs between deep and shallow groundwater flow paths is a fundamental processes, yet is challenging to observe. Numerical models provide a valuable tool to further develop insights on these groundwater mixing processes. This repository contains scripts to run the ParFlow-CLM and EcoSLIM integrated hydrologic models along the Pumphouse Hillslope in the East River Watershed and associated python scripts to process model outputs. Files includes input decks for the associated models, python scripts, and text and css files to support the model runs and processing. The 2-D hillslope model simulates from 2000 to 2021 using transient forcing conditions from the publicly available NLDAS-2 dataset. We develop an ensemble of models with variable hydrogeologic and soil parameters. Model outputs from the ensemble of runs are compared to to water level observations at the PLM1 and PLM6 wells published at (https://data.ess-dive.lbl.gov/view/doi:10.15485/1866836) and groundwater mean ages published at (https://data.ess-dive.lbl.gov/datasets/doi:10.15485/1960042. The model results are used to evaluate hillslope water mass-balance transience and mixing dynamics between groundwater flow paths with young (<10 year) and old (>10 year) ages.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1991

Solar powered multipurpose remotely powered aircraft

Environmental problems such as the depletion of the ozone layer and air pollution demand a change in traditional means of propulsion that is sensitive to the ecology. Solar-powered propulsion is a favorable alternative that is both ecologically harmless as well as cost effective. Integration of solar energy into designs ranging from futuristic vehicles to heating is, therefore, beneficial to society. The design and construction of a Multipurpose Remotely Piloted Vehicle (MPRPV) seeks to verify the feasibility of using solar propulsion as a primary fuel source. This task has been a year-long effort by a group of eight students, divided into four teams, each dealing with different aspects of the design. The aircraft was designed to take off, climb to the design altitude, fly in a sustained figure-eight flight path, and cruise for approximately one hour. This mission requires flight at Reynolds numbers between 150,000 and 200,000 and demands special considerations in the aerodynamic design to achieve flight in this regime. Optimal performance requires a lightweight configuration with both structural integrity and maximum power availability. The structural design and choice of solar cells for the propulsion were governed by weight, efficiency, and cost considerations. The final design is an MPRPV weighing 35 N that cruises at 7 m/s at the design altitude of 50 m. The configuration includes a wing composed of balsa and foam NACA 6409 airfoil sections and carbon fiber spars, a tail of similar construction, and a truss structure fuselage. The propulsion system consists of 98 12.5 percent-efficient solar cells donated by Mobil Solar, a NiCad battery for energy storage, and a folding propeller regulated by a lightweight and efficient control system. The airfoils and propeller chosen for the design were researched and tested during the design process.

Source record↗
NASA NTRS1975

An infrared heterodyne radiometer for high-resolution measurements of solar radiation and atmospheric transmission

A tunable, Dicke-switched, infrared heterodyne radiometer (IHR) has been designed, fabricated, tested, and used to observe solar radiation and determine the atmospheric transmissivity in the 9-11-micron spectral band. The IHR provides a spectral resolution of 0.0067 reciprocal cm, a minimum detectable power level of 2.9 times ten to the minus twenty-third power W/Hz, and a temperature resolution of less than 1 K for a source temperature of 1000 K, an IF predetection bandwidth of 100 MHz, and an integration time of 30 s. Detailed design equations and measured IHR performance are presented. The IHR was used to make solar and atmospheric transmission measurements, and a vertical-path atmospheric attenuation of 2.3 dB has been established under favorable weather conditions. The attenuation of solar radiation due to cloud cover and haze has also been investigated.

Peyton, B. J.↗
NASA NTRS1980

A laser rangefinder path selection system for Martian rover using logarithmic scanning scheme

This paper deals with a laser rangefinder path selection scheme for an autonomous Martian roving vehicle. The overall scheme consists of the following interrelated sub-systems; logarithmic scanning sub-system, obstacle detection scheme (Sonalkar and Shen (1975); Kim and Shen (1978)), terrain modeling and estimation (Shen and Stare (1977); Pawlowski (1978)), and path selection algorithm (Netch and Shen (1977)). Independent and separate studies for the last three sub-systems were performed previously. With the introduction of the logarithmic scanning, an integrated study is completed in this paper. This study serves as a possible alternate choice other than TV cameras for navigating the Martian surface. Moreover, if hybrid TV and laser systems are used, a laser-only standby system can be put to work in case the TV part of the hybrid system fails to operate.

Shen, C. N.↗