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At least 145 records · Page 8

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NASA NTRS1996

Sensor-Based Collision Avoidance: Theory and Experiments

A new on-line control strategy for sensor-based collision avoidance of manipulators and supporting experimental results are presented in this article. This control strategy is based on nullification of virtual forces applied to the end-effector by a hypothetical spring-plus-damper attached to the object's surface. In the proposed approach, the real-time arm control software continuously monitors the object distance measured by the arm-mounted proximity sensors. When this distance is less than a preset threshold, the collision avoidance control action is initiated to inhibit motion toward the object and thus prevent collision. This is accomplished by employing an outer feedback loop to perturb the end-effector nominal motion trajectory in real-time based on the sensory data. The perturbation is generated by a proportional-plus-integral (PI) collision avoidance controller acting on the difference between the sensed distance and the preset threshold. This approach is computationally very fast, requires minimal modification to the existing manipulator positioning system, and provides the manipulator with an on-line collision avoidance capability to react autonomously and intelligently. A dexterous RRC robotic arm is instrumented with infrared proximity sensors and is operated under the proposed collision avoidance strategy. Experimental results are presented to demonstrate end-effector collision avoidance both with an approaching object and while reaching inside a constricted opening.

Seraji, Homayoun↗

NASA NTRS1991

Ultrasonic linear measurement system

An ultrasonic linear measurement system uses the travel time of surface waves along the perimeter of a three-dimensional curvilinear body to determine the perimeter of the curvilinear body. The system can also be used piece-wise to measure distances along plane surfaces. The system can be used to measure perimeters where use of laser light, optical means or steel tape would be extremely difficult, time consuming or impossible. It can also be used to determine discontinuities in surfaces of known perimeter or dimension.

Marshall, Scot H.↗

NASA NTRS2010

Selected KSC Applied Physics Lab Responses to Shuttle Processing Measurement Requests

The KSC Applied Physics Lab has been supporting Shuttle Ground Processing for over 20 years by solving problems brought to us by Shuttle personnel. Roughly half of the requests to our lab have been to find ways to make measurements, or to improve on an existing measurement process. This talk will briefly cover: 1) Centering the aft end of the External Tank between the Solid Rocket Boosters; 2) Positioning the GOX Vent Hood over the External Tank; 3) Remote Measurements of External Tank Damage; 4) Strain Measurement in the Orbiter Sling; and 5) Over-center Distance Measurement in an Over-center Mechanism.

Youngquist, Robert C.↗

NASA NTRS2008

Meridional Circulation in the Sun

Measuring the depth variation of the meridional flows is important for understanding the solar cycle, at least according to a number of dynamo models. While attempting to extend the early observations of Giles (1999; Ph. D. thesis, Stanford Univ.) of time-distance measurements of flow, we have stumbled upon some systematic errors that can affect these measurements: 1) the additional distance traveled by radiation coming from points away from disk center causes an apparent 'shrinking' Sun, that is an apparent flow towards the disk center, 2) in measurements away from the central longitude, the rotation signal can leak into meridional flow signals, and 3) in measurements of the north-south mean travel times along the equator, a spurious error of 6 sec travel time is seen. That the signal is spurious is confirmed by observing half the time with the image rotated 180 degrees. Although this is an effect with mean travel times and not differences, it still seems useful to understand it. Attempts to understand and overcome these systematic problems will be presented. Forward modeling has been done using ray theory to test the sensitivity of travel times to various models.

Duvall, T. L., Jr.↗

NASA NTRS1989

Technique for temperature compensation of eddy-current proximity probes

Eddy-current proximity probes are used in turbomachinery evaluation testing and operation to measure distances, primarily vibration, deflection, or displacment of shafts, bearings and seals. Measurements of steady-state conditions made with standard eddy-current proximity probes are susceptible to error caused by temperature variations during normal operation of the component under investigation. Errors resulting from temperature effects for the specific probes used in this study were approximately 1.016 x 10 to the -3 mm/deg C over the temperature range of -252 to 100 C. This report examines temperature caused changes on the eddy-current proximity probe measurement system, establishes their origin, and discusses what may be done to minimize their effect on the output signal. In addition, recommendations are made for the installation and operation of the electronic components associated with an eddy-current proximity probe. Several techniques are described that provide active on-line error compensation for over 95 percent of the temperature effects.

Masters, Robert M.↗

NASA NTRS1990

An analysis of the effects of secondary reflections on dual-frequency reflectometers

The error-producing mechanism involving secondary reflections in a dual-frequency, distance measuring reflectometer is examined analytically. Equations defining the phase, and hence distance, error are derived. The error-reducing potential of frequency-sweeping is demonstrated. It is shown that a single spurious return can be completely nullified by optimizing the sweep width.

Hearn, C. P.↗

NASA NTRS1992

Acoustical evaluation of the NASA Lewis 9 by 15 foot low speed wind tunnel

The test section of the NASA Lewis 9- by 15-Foot Low Speed Wind Tunnel was acoustically treated to allow the measurement of acoustic sources located within the tunnel test section under simulated free field conditions. The treatment was designed for high sound absorption at frequencies above 250 Hz and to withstand tunnel airflow velocities up to 0.2 Mach. Evaluation tests with no tunnel airflow were conducted in the test section to assess the performance of the installed treatment. This performance would not be significantly affected by low speed airflow. Time delay spectrometry tests showed that interference ripples in the incident signal resulting from reflections occurring within the test section average from 1.7 dB to 3.2 dB wide over a 500 to 5150 Hz frequency range. Late reflections, from upstream and downstream of the test section, were found to be insignificant at the microphone measuring points. For acoustic sources with low directivity characteristics, decay with distance measurements in the test section showed that incident free field behavior can be measured on average with an accuracy of +/- 1.5 dB or better at source frequencies from 400 Hz to 10 kHz. The free field variations are typically much smaller with an omnidirectional source.

Dahl, Milo D.↗

NASA NTRS1978

A wind-tunnel study of the applicability of far-field sonic-boom theory to the space shuttle orbiter

Sonic boom characteristics of a 0.0004-scale model of the space shuttle orbiter were studied. Pressure signatures were measured at Mach numbers of 2.8 and 4.14 and at angles of attack of 0.3 deg, 19.0 deg, and 41.0 deg. To allow for observation of signature development and to provide data for extrapolation to larger distances, measurements were made at distances of from 8 to 32 body lengths. Relatively simple purely theoretical prediction methods provided reasonably accurate estimates of bow-shock overpressure and signature impulse.

Carlson, H. W.↗

NASA NTRS1995

Measurement of Transcranial Distance During Head-Down Tilt Using Ultrasound

Exposure to microgravity probably elevates blood pressure and flow in the head which may increase intracranial volume (ICV) and pressure (ICP). Due to the slightly compliant nature of the cranium, any increase of ICP will increase ICV and transcranial distance. We used a noninvasive ultrasound technique to measure transcranial distance (frontal to occipital) during head-down tilt. Seven subjects (ages 26-53) underwent the following tilt angles: 90 deg. upright, 30 deg., 0 deg., -6 deg., -10 deg., -6 deg., 0 deg., 30 deg., and 90 deg. Each angle was maintained for 1 min. Ultrasound wave frequency was collected continuously and transcranial distance was calculated (Delta(x) = x(Delta)f/f, where x is path length and f is frequency of the wave) for each tilt angle. Frequency decreased from 503.687 kHz (90 deg. upright) to 502.619 kHz (-10 deg.). These frequencies translated to an increased transcranial distance of 0.403 mm. Although our data suggest a significant increase in transcranial distance during head-down tilt, this apparent increase may result, in part, from head-down tilt-induced subcutaneous edema or cutaneous blood volume elevation. In three subjects, when the above protocol was repeated with an ace bandage wrapped around the head to minimize such edema, the increased transcranial distance from 90 deg. to -10 deg. was reduced by 0.174 mm. Further development of the technique to quantify bone-to-bone expansion unconfounded by cutaneous fluid is necessary. Therefore, this ultrasound technique may provide measurements of changes in cranial dimensions during microgravity.

Torikoshi, Shigeyo↗

NASA NTRS2011

Multi-Segment Radius Measurement Using an Absolute Distance Meter Through a Null Assembly

This system was one of the test methods considered for measuring the radius of curvature of one or more of the 18 segmented mirrors that form the 6.5 m diameter primary mirror (PM) of the James Webb Space Telescope (JWST). The assembled telescope will be tested at cryogenic temperatures in a 17-m diameter by 27-m high vacuum chamber at the Johnson Space Center. This system uses a Leica Absolute Distance Meter (ADM), at a wavelength of 780 nm, combined with beam-steering and beam-shaping optics to make a differential distance measurement between a ring mirror on the reflective null assembly and individual PM segments. The ADM is located inside the same Pressure-Tight Enclosure (PTE) that houses the test interferometer. The PTE maintains the ADM and interferometer at ambient temperature and pressure so that they are not directly exposed to the telescope s harsh cryogenic and vacuum environment. This system takes advantage of the existing achromatic objective and reflective null assembly used by the test interferometer to direct four ADM beamlets to four PM segments through an optical path that is coincident with the interferometer beam. A mask, positioned on a linear slide, contains an array of 1.25 mm diameter circular subapertures that map to each of the 18 PM segments as well as six positions around the ring mirror. A down-collimated 4 mm ADM beam simultaneously covers 4 adjacent PM segment beamlets and one ring mirror beamlet. The radius, or spacing, of all 18 segments can be measured with the addition of two orthogonally-oriented scanning pentaprisms used to steer the ADM beam to any one of six different sub-aperture configurations at the plane of the ring mirror. The interferometer beam, at a wavelength of 687 nm, and the ADM beamlets, at a wavelength of 780 nm, pass through the objective and null so that the rays are normally incident on the parabolic PM surface. After reflecting off the PM, both the ADM and interferometer beams return to their respective instruments on nearly the same path. A fifth beamlet, acting as a differential reference, reflects off a ring mirror attached to the objective and null and returns to the ADM. The spacings between the ring mirror, objective, and null are known through manufacturing tolerances as well as through an in situ null wavefront alignment of the interferometer test beam with a reflective hologram located near the caustic of the null. Since total path length between the ring mirror and PM segments is highly deterministic, any ADM-measured departures from the predicted path length can be attributed to either spacing error or radius error in the PM. It is estimated that the path length measurement between the ring mirror and a PM segment is accurate to better than 100 m. The unique features of this invention include the differential distance measuring capability and its integration into an existing cryogenic and vacuum compatible interferometric optical test.

Merle, Cormic↗

NASA NTRS1987

Ultrasonic Ranging System With Increased Resolution

Master-oscillator frequency increased. Ultrasonic range-measuring system with 0.1-in. resolution provides continuous digital display of four distance readings, each updated four times per second. Four rangefinder modules in system are modified versions of rangefinder used for automatic focusing in commercial series of cameras. Ultrasonic pulses emitted by system innocuous to both people and equipment. Provides economical solutions to such distance-measurement problems as posed by boats approaching docks, truck backing toward loading platform, runway-clearance readout for tail of airplane with high angle attack, or burglar alarm.

Meyer, William E.↗

NASA NTRS2009

Mitigation of Laser Frequency Noise for LISA

The Laser Interferometer Space Antenna (LISA) is a proposed detector of gravitational waves in the 0.1 mHz - 0.1 Hz band. LISA will measure gravitational wave strain at the 10(exp -21) level by monitoring the distance between freely-falling test masses s(exp -11) m. These distance measurements will be made using heterodyne interferometry with multiple light sources on moving platforms with changing baselines, all of which cause frequency noise to couple into the displacement measurement. I will describe how LISA interferometry mitigates the effects of laser frequency noise through active suppression and common mode rejection. Recent laboratory developments will also be discussed.

Thorpe, Ira J.↗

NASA NTRS1987

Testing Instrument for Flight-Simulator Displays

Displays for flight-training simulators rapidly aligned with aid of integrated optical instrument. Calibrations and tests such as aligning boresight of display with respect to user's eyes, checking and adjusting display horizon, checking image sharpness, measuring illuminance of displayed scenes, and measuring distance of optical focus of scene performed with single unit. New instrument combines all measurement devices in single, compact, integrated unit. Requires just one initial setup. Employs laser and produces narrow, collimated beam for greater measurement accuracy. Uses only one moving part, double right prism, to position laser beam.

Haines, Richard F.↗

NASA NTRS2013

Data Mining for Anomaly Detection

The Vehicle Integrated Prognostics Reasoner (VIPR) program describes methods for enhanced diagnostics as well as a prognostic extension to current state of art Aircraft Diagnostic and Maintenance System (ADMS). VIPR introduced a new anomaly detection function for discovering previously undetected and undocumented situations, where there are clear deviations from nominal behavior. Once a baseline (nominal model of operations) is established, the detection and analysis is split between on-aircraft outlier generation and off-aircraft expert analysis to characterize and classify events that may not have been anticipated by individual system providers. Offline expert analysis is supported by data curation and data mining algorithms that can be applied in the contexts of supervised learning methods and unsupervised learning. In this report, we discuss efficient methods to implement the Kolmogorov complexity measure using compression algorithms, and run a systematic empirical analysis to determine the best compression measure. Our experiments established that the combination of the DZIP compression algorithm and CiDM distance measure provides the best results for capturing relevant properties of time series data encountered in aircraft operations. This combination was used as the basis for developing an unsupervised learning algorithm to define "nominal" flight segments using historical flight segments.

Biswas, Gautam↗

NASA NTRS2019

Microarcsecond VLBI Pulsar Astrometry with PSRπ II. Parallax Distances for 57 Pulsars

We present the results of PSRπ, a large astrometric project targeting radio pulsars using the Very Long Baseline Array (VLBA). From our astrometric database of 60 pulsars, we have obtained parallax-based distance measurements for all but 3, with a parallax precision that is typically ∼45 μas and approaches 10 μas in the best cases. Our full sample doubles the number of radio pulsars with a reliable (≳5σ) model-independent distance constraint. Importantly, many of the newly measured pulsars are well outside the solar neighborhood, and so PSRπ brings a near-tenfold increase in the number of pulsars with a reliable model-independent distance at d > 2 kpc. Our results show that both widely used Galactic electron density distribution models contain significant shortcomings, particularly at high Galactic latitudes. When comparing our results to pulsar timing, two of the four millisecond pulsars in our sample exhibit significant discrepancies in their proper motion estimates. With additional VLBI observations that extend our sample and improve the absolute positional accuracy of our reference sources, we will be able to additionally compare pulsar absolute reference positions between VLBI and timing, which will provide a much more sensitive test of the correctness of the solar system ephemerides used for pulsar timing. Finally, we use our large sample to estimate the typical accuracy attainable for differential VLBA astrometry of pulsars, showing that for sufficiently bright targets observed eight times over 18 months, a parallax uncertainty of 4 μas per arcminute of separation between the pulsar and calibrator can be expected.

A. T. Deller↗

DOE OSTI2026

The DESI DR1 Peculiar Velocity Survey: Global Zero-point and H 0 Constraints

The Dark Energy Spectroscopic Instrument (DESI) in its first Data Release (DR1) already provides more than 100,000 galaxies with relative distance measurements. The primary purpose of this paper is to perform the calibration of the zero-point for the DESI Fundamental Plane and Tully–Fisher relations, which allows us to measure the Hubble constant, H 0 . This sample has a lower statistical uncertainty than any previously used to measure H 0 , and we investigate the systematic uncertainties in absolute calibration that could limit the accuracy of that measurement. We improve upon the DESI Early Data Release Fundamental Plane H 0 measurement by (a) using a group catalog to increase the number of calibrator galaxies and (b) investigating alternative calibrators in the nearby Universe. Our baseline measurement calibrates to the SH0ES/Pantheon+ type Ia supernovae, and finds H 0 = 73.7 ± 0.06 (stat.) ± 1.1 (syst.) km s −1 Mpc −1 . Calibrating to surface brightness fluctuation distances yields a similar H 0 . We explore measurements using other calibrators, but these are currently less precise since the overlap with DESI peculiar velocity tracers is much smaller. In future data releases with an even larger peculiar velocity sample, we plan to calibrate directly to Cepheids and the tip of the red giant branch, which will enable the uncertainty to decrease towards a percent-level measurement of H 0 . This will provide an alternative to supernovae as the Hubble flow sample for H 0 measurements.

Carr, Anthony [Korea Astronomy and Space Science I↗

NASA NTRS1979

Calibration of the Space Shuttle Microwave Scanning Beam Landing System using a laser tracker

Verification tests of the Space Shuttle Microwave Scanning Beam Landing System (MSBLS) performed with respect to the Precision Laser Tracking System are reported. MSBLS ground station measurements of the azimuth, elevation and range of a NASA Jetstar aircraft equipped with a laser retroreflector, a MSBLS antenna and commissioning instruments including a MSBLS navigation set of the type installed in the Orbiter, during the performance of radial, orbital and glideslope runs with respect to the ground station were compared with laser ground station measurements of aircraft position. Data obtained from flight testing at Shuttle landing sites reveal MSBLS distance measuring equipment performance to be very good, with elevation errors found at very low elevation angles and azimuth errors as a function of aircraft attitude. The Precision Laser Tracking System has thus proven to be a satisfactory instrument for determining MSBLS performance, and an ideal instrument for its calibration.

Ford, K.↗

NASA NTRS1982

Surface measurement system development

The development of an optical system designed to satisfy the requirements of early deployable concepts such as the LMSC offset wrap rib antenna is reported. The system is relatively lightweight, will measure distance to several targets, and provide data in engineering units in real time. Accuracy of measurements is such that use of the system will permit evaluation of surface quality of large parabolic antenna dishes. Operation of the system was conceptually proven.

Berdahl, M.↗