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At least 1,765 records · Page 98
All sourcesNASA NTRSDOE OSTI
NASA NTRS1996

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

Quraishi, Naveed↗
NASA NTRS1997

A Scalable Distributed Approach to Mobile Robot Vision

This paper documents our progress during the first year of work on our original proposal entitled 'A Scalable Distributed Approach to Mobile Robot Vision'. We are pursuing a strategy for real-time visual identification and tracking of complex objects which does not rely on specialized image-processing hardware. In this system perceptual schemas represent objects as a graph of primitive features. Distributed software agents identify and track these features, using variable-geometry image subwindows of limited size. Active control of imaging parameters and selective processing makes simultaneous real-time tracking of many primitive features tractable. Perceptual schemas operate independently from the tracking of primitive features, so that real-time tracking of a set of image features is not hurt by latency in recognition of the object that those features make up. The architecture allows semantically significant features to be tracked with limited expenditure of computational resources, and allows the visual computation to be distributed across a network of processors. Early experiments are described which demonstrate the usefulness of this formulation, followed by a brief overview of our more recent progress (after the first year).

Kuipers, Benjamin↗
NASA NTRS1997

A Metric to Evaluate Mobile Satellite Systems

The concept of a "cost per billable minute" methodology to analyze mobile satellite systems is reviewed. Certain assumptions, notably those about the marketplace and regulatory policies, may need to be revisited. Fading and power control assumptions need to be tested. Overall, the metric would seem to have value in the design phase of a system and for comparisons between and among alternative systems.

Young, Elizabeth L.↗
NASA NTRS1997

Mobile range control center/range safety command destruct and real-time instantaneous impact prediction system

The mobile range control center/range safety command destruct and real time instantaneous impact prediction system (MRCCS), designed for launching sounding rockets and expendable launch vehicles, is described. The MRCCS provides mission control and range safety support for remote launch sites and is equipped with telemetry and radar data acquisition systems, real time data computation systems, range safety display systems, and command destruct transmitters.

Hudson, Sandra Merritt↗
NASA NTRS1998

Satellite Telemetry and Command using Big LEO Mobile Telecommunications Systems

Various issues associated with satellite telemetry and command using Big LEO mobile telecommunications systems are presented in viewgraph form. Specific topics include: 1) Commercial Satellite system overviews: Globalstar, ICO, and Iridium; 2) System capabilities and cost reduction; 3) Satellite constellations and contact limitations; 4) Capabilities of Globalstar, ICO and Iridium with emphasis on Globalstar; and 5) Flight transceiver issues and security.

Huegel, Fred↗
NASA NTRS1998

Controlling the Mobility of the Fluid Interface of Moving Gas Bubbles or Liquid Drops by Using Micellar Solutions of Surfactants

Microgravity processes must rely on mechanisms other than buoyancy to move bubbles or droplets from one region to another in a continuous liquid phase. One suggested method is thermocapillary migration in which a temperature gradient is applied to the continuous phase. A significant and as yet unresolved impediment to the use of thermocapillary migration to direct bubble or drop motion is that these migrations can be significantly retarded by the adsorption onto the fluid particle surface of surface active impurities unavoidably present in the continuous or (if the particle is a liquid) droplet phases. The focus of our research was to develop a theory for remobilizing fluid particle interfaces retarded by a surfactant impurity in an effort to make more viable the use of thermocapillary migrations for the management of bubbles and drops in microgravity. We postulated that a surfactant at high bulk concentration which kinetically exchanges rapidly with the surface can restore interface mobility. The scaling arguments along with a discussion of the previous literature is reviewed in the context of the scaling framework. The specific objectives of the research were twofold. The first was to prove the remobilization theory by studying a model problem. As the mechanism for remobilization is independent of the force which drives the particle, the fluid particle shape and the presence of fluid inertia, we chose the simplest model consisting of a spherical bubble rising steadily by buoyancy in creeping flow. We solved the hydrodynamic and surfactant transport equations for rapid kinetic exchange to demonstrate that as the concentration increases, the Marangoni retardation at first increases (the low k behavior) and then decreases (the high k behavior). The second objective was to develop a method to determine the kinetic rate constants of a surfactant molecule, since this information is necessary to select surfactants which will exchange rapidly enough relative to the convective rate in the thermocapillary process of interest. To measure the kinetic rate, we measure the dynamic tension change accompanying adsorption onto an initially clean interface, or the re-equilibration in tension when an equilibrium interface is compressed. The dynamic tension measurements are made by a pendant bubble method, in which surfactant adsorbs onto a pendant bubble, and the tension is measured by analyzing the shape change in the bubble. We conclude this report by detailing the publications, presentations and doctoral thesis completed under the auspices of this grant.

Maldarelli, Charles↗
NASA NTRS2000

Mars Mobile Lander Systems for 2005 and 2007 Launch Opportunities

A series of Mars missions are proposed for the August 2005 launch opportunity on a medium class Evolved Expendable Launch Vehicle (EELV) with a injected mass capability of 2600 to 2750 kg. Known as the Ranger class, the primary objective of these Mars mission concepts are: (1) Deliver a mobile platform to Mars surface with large payload capability of 150 to 450 kg (depending on launch opportunity of 2005 or 2007); (2) Develop a robust, safe, and reliable workhorse entry, descent, and landing (EDL) capability for landed mass exceeding 750 kg; (3) Provide feed forward capability for the 2007 opportunity and beyond; and (4) Provide an option for a long life telecom relay orbiter. A number of future Mars mission concepts desire landers with large payload capability. Among these concepts are Mars sample return (MSR) which requires 300 to 450 kg landed payload capability to accommodate sampling, sample transfer equipment and a Mars ascent vehicle (MAV). In addition to MSR, large in situ payloads of 150 kg provide a significant step up from the Mars Pathfinder (MPF) and Mars Polar Lander (MPL) class payloads of 20 to 30 kg. This capability enables numerous and physically large science instruments as well as human exploration development payloads. The payload may consist of drills, scoops, rock corers, imagers, spectrometers, and in situ propellant production experiment, and dust and environmental monitoring.

Sabahi, D.↗
NASA NTRS2000

Intelligent Mobile Technologies

Testing involves commercial radio equipment approved for export and use in Canada. Testing was conducted in the Canadian High Arctic, where hilly terrain provided the worst-case testing. SFU and Canadian governmental agencies made significant technical contributions. The only technical data related to radio testing was exchanged with SFU. Test protocols are standard radio tests performed by communication technicians worldwide. The Joint Fields Operations objectives included the following: (1) to provide Internet communications services for field science work and mobile exploration systems; (2) to evaluate the range and throughput of three different medium-range radio link technologies for providing coverage of the crater area; and (3) to demonstrate collaborative software such as NetMeeting with multi-point video for exchange of scientific information between remote node and base-base camp and science centers as part of communications testing.

Alena, Rick↗
NASA NTRS2001

Satellite-Tracking Millimeter-Wave Reflector Antenna System For Mobile Satellite-Tracking

A miniature dual-band two-way mobile satellite-tracking antenna system mounted on a movable vehicle includes a miniature parabolic reflector dish having an elliptical aperture with major and minor elliptical axes aligned horizontally and vertically, respectively, to maximize azimuthal directionality and minimize elevational directionality to an extent corresponding to expected pitch excursions of the movable ground vehicle. A feed-horn has a back end and an open front end facing the reflector dish and has vertical side walls opening out from the back end to the front end at a lesser horn angle and horizontal top and bottom walls opening out from the back end to the front end at a greater horn angle. An RF circuit couples two different signal bands between the feed-horn and the user. An antenna attitude controller maintains an antenna azimuth direction relative to the satellite by rotating it in azimuth in response to sensed yaw motions of the movable ground vehicle so as to compensate for the yaw motions to within a pointing error angle. The controller sinusoidally dithers the antenna through a small azimuth dither angle greater than the pointing error angle while sensing a signal from the satellite received at the reflector dish, and deduces the pointing angle error from dither-induced fluctuations in the received signal.

Densmore, Arthur C.↗
NASA NTRS1996

Development of Ion Mobility Spectrometry for Exobiology Flight Experiments

Ion Mobility Spectrometry (IMS) can provide gas chromatography with sample identification independent of sample retention time, with minimal interface. Initial commercial methods of IMS however, did not possess sufficient analytical capabilities and presented operational parameters which were unsuitable for exobiology missions. Subsequent development of IMS technology, with the focus on exobiology analytical requirements and mission imposed operational limitations, has produced an IMS interfaced with a GC capable of fulfilling the analytical requirements of several exobiology missions. Future exobiology missions will require further development of the IMS, particularly in the areas of overall instrument miniaturization and complex sample identification. The evolution of the exobiology focused IMS will be presented up to the current prototype design, which is a component of several proposed exobiology instruments. Areas of future development will also be discussed.

Kojiro, Daniel R.↗
NASA NTRS2002

Minimum Arc Threshold Voltage Experiments on Extravehicular Mobility Unit Samples

The International Space Station (ISS) is now under construction in Low Earth Orbit (LEO). The process of building the ISS requires that astronauts carry out many Extravehicular Activities. To protect the astronauts form the hazardous space environment, they are required to wear a suit known as the Extravehicular Mobility Unit (EMU). For most Extra-Vehicular Activities (EVAs) the EMU is tethered to ISS via a steel safety tether. During the course of an EVA it is common for the safety tether to contact exposed metal on both the ISS and the EMU. In this case, the single point ground of the EMU would be at the same potential as the ISS with respect to the LEO Plasma. In the event that the metal structure of the ISS begins to charge negative of the plasma potential as a result of electron collection by the ISS photovoltaic arrays, then the EMU would also be driven to a negative potential. Anodized aluminum components on the EMU would then begin to develop a charge across their amortization layer as ions from the plasma are collected. In the case where large negative potentials are applied to the EMU, dielectric breakdown may occur as a large voltage difference is developed across the thin amortization layer (oxide). The resulting arc plasma may in turn couple to the charge accumulated on the nearby ISS anodized debris shields and thereby generate a large current flow through the metal EMU structure. Current flow through the EMU could result in an electrocution hazard for the Crew Member inside the EMU - and therefore represents an important safety concern. To address this concern, a series of experiments have been undertaken. In each experiment specially prepared anodized aluminum samples were placed in a LEO representative plasma and charged until dielectric breakdown occurred in the form of an arc. This process was repeated a number of times for three sets of samples. During each test the arc voltage and current were monitored. A statistical treatment of the arc voltage threshold will be presented. In addition, safe operating voltages for the EMU are suggested.

Schneider, Todd↗
NASA NTRS2003

Basic Equations for the Modeling of Gallium Nitride (gan) High Electron Mobility Transistors (hemts)

Gallium nitride (GaN) is a most promising wide band-gap semiconductor for use in high-power microwave devices. It has functioned at 320 C, and higher values are well within theoretical limits. By combining four devices, 20 W has been developed at X-band. GaN High Electron Mobility Transistors (HEMTs) are unique in that the two-dimensional electron gas (2DEG) is supported not by intentional doping, but instead by polarization charge developed at the interface between the bulk GaN region and the AlGaN epitaxial layer. The polarization charge is composed of two parts: spontaneous and piezoelectric. This behavior is unlike other semiconductors, and for that reason, no commercially available modeling software exists. The theme of this document is to develop a self-consistent approach to developing the pertinent equations to be solved. A Space Act Agreement, "Effects in AlGaN/GaN HEMT Semiconductors" with Silvaco Data Systems to implement this approach into their existing software for III-V semiconductors, is in place (summer of 2002).

Freeman, Jon C.↗
NASA NTRS2001

Predicting Fatigue for Isolated Joints While Wearing an Extra-Vehicular Mobility Unit (EMU)

To work outside a space craft, humans must wear a protective suit. The required suit pressurization creates additional resistance for the wearer while performing work. How much does the suit effect work and fatigue? To answer these questions, dynamic torque was collected for the shoulder, elbow and wrist for six subjects in an Extra-vehicular Mobility Unit (EMU). In order to quantify fatigue, the subjects were to exert maximum voluntary torque for five minutes or until their maximum fell below 50% of their initial maximum for three consecutive repetitions. Using the collected torque and time data, logarithmic based functions were derived to estimate torque decay to within an absolute error of 20%. These results will be used in the development of a generalized tool for prediction of maximum available torque over time for humans using the current EMU.

Maida, James C.↗
NASA NTRS2002

Impact-Mobilized Dust in the Martian Atmosphere

We consider dust production and entrainment into the atmosphere of Mars by impacts. Numerical simulations based on the multidimensional multimaterial hydrocode were conducted for impactors 1 to 100 m in size and velocities 11 and 20 kilometers per second. The size distribution of particles was based on experimentrr wing TNT explosions. Dust can be mobilized even when the impactor does not reach the ground through the release of energy in the atmosphere, We found that the blast produced winds entrained dust by a mechanism similar to boundary layer winds as determined from the wind-tunnel tests. For a l-m radius stony asteroid releasing its energy in the atmosphere the lifted mass of dust is larger than that in a typical dust devil and could trigger local dust storms, For a 100-m-radius meteoroid the amount of injected dust is comparable with the tota! mass of a global dust storm.

Nemtchinov, I. V.↗
NASA NTRS2003

Initial Design and Construction of a Mobil Regenerative Fuel Cell System

The design and initial construction of a mobile regenerative power system is described. The main components of the power system consists of a photovoltaic array, regenerative fuel cell and electrolyzer. The system is mounted on a modified landscape trailer and is completely self contained. An operational analysis is also presented that shows predicted performance for the system at various times of the year. The operational analysis consists of performing an energy balance on the system based on array output and total desired operational time.

Colozza, Anthony J.↗
NASA NTRS2003

Electrospray Ionization/Ion Mobility Spectrometer/Cylindrical Ion Trap Mass Spectrometer System for In-Situ Detection of Organic Compounds

The potential of an Electrospray Ionization/Ion Mobility Spectrometer/Cylindrical Ion Trap Mass Spectrometer (ESI/IMS/CIT-MS) as an analytical instrument for analyzing material extracted from rock and soil samples as part of a suite of instruments on the proposed 2009 Mars Science Lander (MSL) will be demonstrated. This instrument will be able to identify volatile compounds as well as resident organic molecules on the parts-per-billion (ppb) level. Also, it will be able to obtain an inventory of chemical species on the surface of Mars which will result in a better understanding of ongoing surface chemistry. Finally, questions relevant to biological processes will be answered with the complete inventory of surface and near surface organic molecules that the ESI/IMS/CIT is capable of performing.

Kanik, I.↗