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NASA NTRS1993

K-band mobile propagation measurements using ACTS

An overview of two planned propagation campaigns employing land-mobile scenarios with ACTS is presented. The campaigns will be undertaken through a joint effort involving the Johns Hopkins University, Applied Physics Laboratory (APL), The University of Texas at Austin, Electrical Engineering Research Laboratory (EERL), and the NASA Lewis Research Center (NASA LeRC). Propagation campaigns are planned in Central Maryland in November 1993 (elevation angle approx. equals 40 deg.) and in Fairbanks, Alaska in June 1994 (elevation angle approx. equals 8 deg.) employing a computer controlled antenna tracking system located atop a van containing a receiver/data acquisition system. The antenna will track (in azimuth) downlink transmissions at 19.914 GHz from ACTS during the mobile propagation measurements. The major objectives of the campaigns are to measure the fade and multipath effects of trees and terrain at 20 GHz for rural and suburban scenarios and to extend existing models which were previously validated at UHF to S-Band.

Goldhirsh, Julius↗

NASA NTRS1993

Low cost coherent demodulation for mobile satellite terminals

This paper describes some low cost approaches to coherent BPSK demodulation for mobile satellite receivers. The specific application is an Inmarsat-C Land Mobile Earth Station (LMES), but the techniques are applicable to any PSK demodulator. The techniques discussed include combined sampling and quadrature downconversion with a single A/D and novel DSP algorithms for carrier acquisition offering both superior performance and economy of DSP resources. The DSP algorithms run at 5.7 MIPS, and the entire DSP subsystem, built with commercially available parts, costs under $60 at quantity-10,000.

Dutta, Santanu↗

NASA NTRS1993

Handover aspects for a Low Earth Orbit (LEO) CDMA Land Mobile Satellite (LMS) system

This paper addresses the problem of handoff in a land mobile satellite (LMS) system between adjacent satellites in a low earth orbit (LEO) constellation. In particular, emphasis is placed on the application of soft handoff in a direct sequence code division multiple access (DS-CDMA) LMS system. Soft handoff is explained in terms of terrestrial macroscopic diversity, in which signals transmitted via several independent fading paths are combined to enhance the link quality. This concept is then reconsidered in the context of a LEO LMS system. A two-state Markov channel model is used to simulate the effects of shadowing on the communications path from the mobile to each satellite during handoff. The results of the channel simulation form a platform for discussion regarding soft handoff, highlighting the potential merits of the scheme when applied in a LEO LMS environment.

Carter, P.↗

NASA NTRS1993

An active K/Ka-band antenna array for the NASA ACTS mobile terminal

An active K/Ka-band antenna array is currently under development for NASA's ACTS Mobile Terminal (AMT). The AMT task will demonstrate voice, data, and video communications to and from the AMT vehicle in Los Angeles, California, and a base station in Cleveland, Ohio, via the ACTS satellite at 30 and 20 GHz. Satellite tracking for the land-mobile vehicular antenna system involves 'mechanical dithering' of the antenna, where the antenna radiates a fixed beam 46 deg. above the horizon. The antenna is to transmit horizontal polarization and receive vertical polarization at 29.634 plus or minus 0.15 GHz and 19.914 plus or minus 0.15 GHz, respectively. The active array will provide a minimum of 22 dBW EIRP transmit power density and a -8 dB/K deg. receive sensitivity.

Tulintseff, A.↗

NASA NTRS1994

Radial microstrip slotline feed network for circular mobile communications array

In mobile and satellite communications there is a need for low cost and low profile antennas which have a toroidal pattern. Antennas that have been developed for mobile communications include a L-Band electronically steered stripline phased array, a Ka-Band mechanically steered elliptical reflector antenna and a Ka-Band printed dipole. In addition, a L-Band mechanically steered microstrip array, a L-Band microstrip phased array tracking antenna for mounting on a car roof and an X-Band radial line slotted waveguide antenna have been demonstrated. In the above electronically scanned printed arrays, the individual element radiates normally to the plane of the array and hence require a phase shifter to scan the beam towards the horizon. Scanning in the azimuth is by mechanical or electronic steering. An alternate approach is to mount microstrip patch radiators on the surface of a cone to achieve the required elevation angle. The array then scans in the azimuth by beam switching.

Simons, Rainee N.↗

NASA NTRS1994

Autonomous mobile robot teams

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

Agah, Arvin↗

NASA NTRS1994

Design, characterization and control of the Unique Mobility Corporation robot

Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.

Velasco, Virgilio B., Jr.↗

NASA NTRS1994

A volatile organic analyzer for Space Station: Description and evaluation of a gas chromatography/ ion mobility

A Volatile Organic Analyzer (VOA) is being developed as an essential component of the Space Station's Environmental Health System (EHS) air quality monitoring strategy to provide warning to the crew and ground personnel if volatile organic compounds exceed established exposure limits. The short duration of most Shuttle flights and the relative simplicity of the contaminant removal mechanism have lessened the concern about crew exposure to air contaminants on the Shuttle. However, the longer missions associated with the Space Station, the complex air revitalization system and the proposed number of experiments have led to a desire for real-time monitoring of the contaminants in the Space Station atmosphere. Achieving the performance requirements established for the VOA within the Space Station resource (e.g., power, weight) allocations led to a novel approach that joined a gas chromatograph (GC) to an ion mobility spectrometer (IMS). The authors of this paper will discuss the rational for selecting the GC/IMS technology as opposed to the more established gas chromatography/mass spectrometry (GC/MS) for the foundation of the VOA. The data presented from preliminary evaluations will demonstrate the versatile capability of the GC/IMS to analyze the major contaminants expected in the Space Station atmosphere. The favorable GC/IMS characteristics illustrated in this paper included excellent sensitivity, dual-mode operation for selective detection, and mobility drift times to distinguish co-eluting GC peaks. Preliminary studies have shown that the GC/IMS technology can meet surpass the performance requirements of the Space Station VOA.

Limero, Thomas F.↗

NASA NTRS1994

Channel characterisation for future Ka-band Mobile Satellite Systems and preliminary results

Mobile satellite systems (MSS) are presently designed or planned to operate, with the exception of OMNITRACKS, in the lower part of the frequency spectrum (UHF to S-bands). The decisions taken at the last World Administrative Radio Conference in 1992 to increase the allocated L- and S-bands for MSS services will only partly alleviate the problem of system capacity. In addition the use of L-and S-band frequencies generally requires large antenna apertures on board the satellite terminal side. The idea of exploiting the large spectrum resources available at higher frequencies (20-30 GHz) and the perspective of reducing user terminal size (and possibly price too) have spurred the interest of systems designers and planners. On the other hand, Ka-band frequencies suffer from increased slant path losses due to atmospheric attenuation phenomena. The European Space Agency (ESA) has recently embarked on a number of activities aimed at studying the effect of the typical mobile propagation impairments at Ka-band. This paper briefly summarizes ESA efforts in this field of research and presents preliminary experimental results.

Sforza, Mario↗

NASA NTRS1993

Adaptive beamforming in a CDMA mobile satellite communications system

Code-Division Multiple-Access (CDMA) stands out as a strong contender for the choice of multiple access scheme in these future mobile communication systems. This is due to a variety of reasons such as the excellent performance in multipath environments, high scope for frequency reuse and graceful degradation near saturation. However, the capacity of CDMA is limited by the self-interference between the transmissions of the different users in the network. Moreover, the disparity between the received power levels gives rise to the near-far problem, this is, weak signals are severely degraded by the transmissions from other users. In this paper, the use of time-reference adaptive digital beamforming on board the satellite is proposed as a means to overcome the problems associated with CDMA. This technique enables a high number of independently steered beams to be generated from a single phased array antenna, which automatically track the desired user signal and null the unwanted interference sources. Since CDMA is interference limited, the interference protection provided by the antenna converts directly and linearly into an increase in capacity. Furthermore, the proposed concept allows the near-far effect to be mitigated without requiring a tight coordination of the users in terms of power control. A payload architecture will be presented that illustrates the practical implementation of this concept. This digital payload architecture shows that with the advent of high performance CMOS digital processing, the on-board implementation of complex DSP techniques -in particular digital beamforming- has become possible, being most attractive for Mobile Satellite Communications.

Munoz-Garcia, Samuel G.↗

NASA NTRS1993

The possibilities for mobile and fixed services up to the 20/30 GHz frequency bands

Satellite Communications and broadcasting is presently in a period of considerable change. In the fixed service there is strong competition from terrestrial fiber optic systems which have virtually arrested the growth of the traditional satellite market for long distance high capacity communications. The satellite has however made considerable progress in areas where it has unique advantages; for example, in point to multipoint (broadcasting), multipoint to point (data collection) and generally in small terminal system applications where flexibility of deployment coupled with ease of installation are of importance. In the mobile service, in addition to the already established geostationary systems, there are numerous proposals for HEO, MEO and LEO systems. There are also several new frequency allocations as a result of the WARC 92 to be taken into account. At one extreme there are researchers working on Ka band 20/30 GHz mobile systems and there are other groups who foresee no future above the L-band frequency allocations. Amongst all these inputs it is difficult to see the direction in which development activities both for satellites and for earth segment should be focused. However, as an aid to understanding, this paper seeks to find some underlying relationships and to clarify some of the variables.

Hughes, Clifford D.↗

NASA NTRS1993

Low Earth Orbit satellite/terrestrial mobile service compatibility

Currently the geostationary type of satellite is the only one used to provide commercial mobile-satellite communication services. Low earth orbit (LEO) satellite systems are now being proposed as a future alternative. By the implementation of LEO satellite systems, predicted at between 5 and 8 years time, mobile space/terrestrial technology will have progressed to the third generation stage of development. This paper considers the system issues that will need to be addressed when developing a dual mode terminal, enabling access to both terrestrial and LEO satellite systems.

Sheriff, Ray E.↗

NASA NTRS1995

Third International Workshop on Ion Mobility Spectrometry

Basic research in ion mobility spectrometry has given rise to rapid advancement in hardware development and applications. The Third International Workshop on Ion Mobility Spectrometry (IMS) was held October 16-19, 1994, at Johnson Space Center to provide a forum for investigators to present the most recent results of both basic and applied IMS research. Presenters included manufacturers and various users, including military research organizations and drug enforcement agencies. Thirty papers were given in the following five sessions: Fundamental IMS Studies, Instrument Development, Hyphenated IMS Techniques, Applications, and Data Reduction and Signal Processing. Advances in hardware development, software development, and user applications are described.

Cross, John H.↗

NASA NTRS1995

Fundamental studies of gas phase ionic reactions by ion mobility spectrometry

Ion mobility spectrometry (IMS) provides a promising approach to the study of gas phase ionic reactions in buffer gases at unusually high pressures. This point is illustrated here by studies of the Sn2 nucleophilic displacement reaction, Cl(-) + CH3Br yields Br + CH3Br, using IMS at atmospheric pressure. The equilibrium clustering reaction, Cl(-)(CHCI3)(n - 1) + CHCI3 yields Cl(-)(CHCI3)(n), where n = 1 and 2, and the effect of clustering on the Sn2 reaction with CH3Br have also been characterized by this IMS-based kinetic method. Present problems and anticipated improvements in the application of ion mobility spectrometry to studies of other gas phase ionic processes are discussed.

Giles, K.↗

NASA NTRS1995

Environment applications for ion mobility spectrometry

The detection of environmentally important polychlorinated aromatics by ion mobility spectrometry (IMS) was investigated. Single polychlorinated biphenyl (PCB) isomers (congeners) having five or more chlorine atoms were reliably detected in isooctane solution at levels of 35 ng with a Barringer IONSCAN ion mobility spectrometer operating in negative mode; limits of detection (LOD) were extrapolated to be in the low ng region. Mixtures of up to four PCB congeners, showing characteristic multiple peaks, and complex commercial mixtures of PCBs (Aroclors) were also detected. Detection of Aroclors in transformer oil was suppressed by the presence of the antioxidant BHT (2,6-di-t-butyl4-methylphenol) in the oil. The wood preservative pentachlorophenol (PCP) was easily detected in recycled wood shavings at levels of 52 ppm with the IONSCAN; the LOD was extrapolated to be in the low ppm region.

Ritchie, Robert K.↗

NASA NTRS1995

A novel approach to increasing cocaine detection confidence utilizing ion mobility spectrometry

When a positive detection of a narcotic occurs during the search of a vessel, a decision has to be made whether further intensive search is warranted. In terms of unwarranted delays of vessels and possible property damage, the accuracy of the analytical determination is very important. Analytical accuracy becomes critical when the data may be used in court actions as evidence. For this purpose, the U.S. Coast Guard has been investigating several confirmatory ion mobility spectrometry (IMS) field methods for the detection and identification of cocaine. This paper presents the findings of our investigations on the use of catalytic pyrolysis and base hydrolysis as confirmatory methods. The catalytic effects of various metals on the pyrolysis reaction are reported. In addition, the effects of several different ion mobility spectrometer sample transfer mediums and varying laboratory conditions on the base hydrolysis of the cocaine molecule are also be reported.

Jadamec, J. Richard↗

NASA NTRS1995

FTP-Server for exchange, interpretation, and database-search of ion mobility spectra, literature, preprints and software

To assist current discussion in the field of ion mobility spectrometry, at the Institut fur Spectrochemie und angewandte Spektroskopie, Dortmund, start with 4th of December, 1994 work of an FTP-Server, available for all research groups at univerisities, institutes and research worker in industry. We support the exchange, interpretation, and database-search of ion mobility spectra through data format JCAMP-DS (Joint Committee on Atomic and Molecular Physical Data) as well as literature retrieval, pre-print, notice, and discussion board. We describe in general lines the entrance conditions, local addresses, and main code words. For further details, a monthly news report will be prepared for all common users. Internet email address for subscribing is included in document.

Baumbach, J. I.↗

NASA NTRS1994

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Sarkar, Nilanjan↗