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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Hopping with an Adaptive Hop Probability Distribution

Monotonic Basin Hopping (MBH) is a stochastic global search technique that may be used to design complex interplanetary trajectories. Previous research on MBH empirically demonstrated that a bi-polar Pareto distribution is an effective way to generate search “hops.” However, no analytical foundation exists to explain this performance. In this work we provide the beginning of that analytical foundation and also introduce a new variant of MBH that uses an adaptive probability distribution to generate the hops. The technique is demonstrated on historical interplanetary trajectory design problems.

A C Englander↗
NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗
NASA NTRS2015

High-Speed On-Board Data Processing for Science Instruments: HOPS

The project called High-Speed On-Board Data Processing for Science Instruments (HOPS) has been funded by NASA Earth Science Technology Office (ESTO) Advanced Information Systems Technology (AIST) program during April, 2012 â€" April, 2015. HOPS is an enabler for science missions with extremely high data processing rates. In this three-year effort of HOPS, Active Sensing of CO2 Emissions over Nights, Days, and Seasons (ASCENDS) and 3-D Winds were of interest in particular. As for ASCENDS, HOPS replaces time domain data processing with frequency domain processing while making the real-time on-board data processing possible. As for 3-D Winds, HOPS offers real-time high-resolution wind profiling with 4,096-point fast Fourier transform (FFT). HOPS is adaptable with quick turn-around time. Since HOPS offers reusable user-friendly computational elements, its FPGA IP Core can be modified for a shorter development period if the algorithm changes. The FPGA and memory bandwidth of HOPS is 20 GB/sec while the typical maximum processor-to-SDRAM bandwidth of the commercial radiation tolerant high-end processors is about 130-150 MB/sec. The inter-board communication bandwidth of HOPS is 4 GB/sec while the effective processor-to-cPCI bandwidth of commercial radiation tolerant high-end boards is about 50-75 MB/sec. Also, HOPS offers VHDL cores for the easy and efficient implementation of ASCENDS and 3-D Winds, and other similar algorithms. A general overview of the 3-year development of HOPS is the goal of this presentation.

Beyon, Jeffrey↗
NASA NTRS2003

Hopping Robot with Wheels

A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

Barlow, Edward↗
NASA NTRS1980

Performance considerations of frequency-hopping multiple access

The basic system parameters of a frequency-hopping multiple-access system are investigated. Noncoherent binary FSK and M-ary FSK signal formats are studied in a random-access asynchronous environment. Both slow and fast frequency hopping are considered. Under relatively ideal conditions, the degradation in performance with respect to the number of users is determined. The dependence on performance due to hopping rate and bandwidth constraint is developed. It is shown, for example, that, for fast hopping, the optimum hopping rate is that which spreads the users' power over the entire available bandwidth during each baud time. This agrees with the basic spread spectrum philosophy of making the signal appear white over as wide a bandwidth as possible. The computational results describe the trade-off between the number of tones in M-ary FSK and the number of hops per symbol. Given a specified number of tones in the frequency-hopping system, the results describe the manner in which the system degrades as the number of users is increased.

Weber, C. L.↗
NASA NTRS2015

Real-Time On-Board Airborne Demonstration of High-Speed On-Board Data Processing for Science Instruments (HOPS)

The project called High-Speed On-Board Data Processing for Science Instruments (HOPS) has been funded by NASA Earth Science Technology Office (ESTO) Advanced Information Systems Technology (AIST) program since April, 2012. The HOPS team recently completed two flight campaigns during the summer of 2014 on two different aircrafts with two different science instruments. The first flight campaign was in July, 2014 based at NASA Langley Research Center (LaRC) in Hampton, VA on the NASA's HU-25 aircraft. The science instrument that flew with HOPS was Active Sensing of CO2 Emissions over Nights, Days, and Seasons (ASCENDS) CarbonHawk Experiment Simulator (ACES) funded by NASA's Instrument Incubator Program (IIP). The second campaign was in August, 2014 based at NASA Armstrong Flight Research Center (AFRC) in Palmdale, CA on the NASA's DC-8 aircraft. HOPS flew with the Multifunctional Fiber Laser Lidar (MFLL) instrument developed by Excelis Inc. The goal of the campaigns was to perform an end-to-end demonstration of the capabilities of the HOPS prototype system (HOPS COTS) while running the most computationally intensive part of the ASCENDS algorithm real-time on-board. The comparison of the two flight campaigns and the results of the functionality tests of the HOPS COTS are presented in this paper.

Beyon, Jeffrey Y.↗
NASA NTRS2020

Evidence for Magnetic Activity at Starbirth: a Powerful X-ray Flare From the Class 0 Protostar HOPS 383

Context. Class 0 protostars represent the earliest evolutionary stage of solar-type stars, during which the majority of the system mass resides in an infalling envelope of gas and dust and not yet in the central, nascent star. Although X-rays are a key signature of magnetic activity in more evolved protostars and young stars, whether such magnetic activity is present at the Class 0 stage is still debated. Aims. We aim to detect a bona fide Class 0 protostar in X-rays. Methods. We observed HOPS 383 in 2017 December in X-rays with the Chandra X-ray Observatory (~84 ks) and in near-infrared imaging with the Southern Astrophysical Research Telescope (SOAR). Results. HOPS 383 was detected in X-rays during a powerful flare. This hard (E > 2 keV) X-ray counterpart was spatially coincident with the northwest 4-cm component of HOPS 383, which would be the base of the radio thermal jet launched by HOPS 383. The flare duration was ~3.3 h; at the peak, the X-ray luminosity reached ~4 x 10(exp 31) erg/s in the 2–8 keV energy band, a level at least an order of magnitude larger than that of the undetected quiescent emission from HOPS 383. The X-ray flare spectrum is highly absorbed (N(H) ~ 7 x 10(exp 23) per sq.cm), and displays a 6.4 keV emission line with an equivalent width of ~1:1 keV, arising from neutral or low-ionization iron. Conclusions. The detection of a powerful X-ray flare from HOPS 383 constitutes direct proof that magnetic activity can be present at the earliest formative stages of solar-type stars.

Nicolas Grosso↗
NASA NTRS1981

Time synchronization of a frequency-hopped MFSK communication system

In a frequency-hopped (FH) multiple-frequency-shift-keyed (MFSK) communication system, frequency hopping causes the necessary frequency transitions for time synchronization estimation rather than the data sequence as in the conventional (nonfrequency-hopped) system. Making use of this observation, this paper presents a fine synchronization (i.e., time errors of less than a hop duration) technique for estimation of FH timing. The performance degradation due to imperfect FH time synchronization is found in terms of the effect on bit error probability as a function of full-band or partial-band noise jamming levels and of the number of hops used in the FH timing estimate.

Simon, M. K.↗
NASA NTRS1992

Optimum Detection of Frequency-Hopped Signals

This paper derives and analyzes optimum and near-optimum structures for detecting frequency-hopped (FH) signals with arbitrary modulation in additive white Gaussian noise. The principalmodulation formats considered are M-ary frequency-shift-keying (MFSK) with fast frequency hopping(FFH) wherein a single tone is transmitted per hop, and slow frequency hopping (SFH) with multipleMFSK tones (data symbols) per hop. The SFH detection category has not previously been addressedin the open literature and its analysis is generally more complex than FFH.

Cheng, Unjeng↗
NASA NTRS1971

The lunar hopping transporter

Research on several aspects of lunar transport using the hopping mode is reported. Hopping exploits the weak lunar gravity, permits fuel economy because of partial recompression of propellant gas on landing, and does not require a continuous smooth surface for operation. Three questions critical to the design of a lunar hopping vehicle are addressed directly in this report: (1) the tolerance of a human pilot for repeated accelerations; (2) means for controlling vehicle attitude during ballistic flight; and (3) means of propulsion. In addition, a small scale terrestrial demonstrator built to confirm feasibility of the proposed operational mode is described, along with results of preliminary study of unmanned hoppers for moon exploration.

Degner, R.↗
NASA NTRS2022

Gravity Poppers: Hopping Probes for the Internal Mapping of Small Solar System Bodies

This paper presents the results of NIAC Phase I study into the feasibility of a novel mission architecture for highresolution gravity science on small Solar System bodies. The “Gravity Poppers” mission concept (see Fig. 1) consists of a swarm of small, minimalistic probes that are deployed from a mother spacecraft to the surface of a small body and which periodically and randomly hop around the surface. By tracking the ballistic sub-orbital trajectories of this hopping swarm, a very high resolution gravity field can be measured, which can then be used to answer a number of scientific questions of interest regarding the interior mass distribution of the body. This paper describes the three core focus areas of our study to demonstrate concept feasibility: (1) the design of hopping probes to be small, simple, robust, and “visible” to a distant spacecraft, (2) the tracking strategy for detecting and estimating the trajectories of a large number of ballistic probes, and (3) the algorithmic framework by which such measurements can be used to estimate the body’s gravity field. Our results suggest the ability to estimate the gravity field of a 500m asteroid beyond degree-and-order 40 through days to weeks of optical tracking of several LED-strobing probes, with a mass of only 200 g each. Collectively, this study demonstrates that the high-resolution gravity mapping of small body interiors is technically possible, economically feasible, and would enable a compelling set of science objectives aligned with NASA’s goals in planetary science, planetary defense, and future interests in resource prospecting.

McMahon, Jay↗
NASA NTRS2001

Hopper on wheels: evolving the hopping robot concept

This paper describes the evolution of our concept of hopping robot for planetary exploration, that combines coarse long range mobility achieved by hopping, with short range wheeled mobility for precision target acquisition.

planetary exploration planetary robots nanorover h↗
NASA NTRS2000

The Merits of Multi-Hop Communication in Deep Space

The physics of communication give an advantage to multi-hop systems, because the ratio of power received to power transmitted on a telecommunications link over a fixed distance S increases by a factor of n(sup 2) if the link is divided in to n equal hops of length S/n.

interstellar interplanetary↗
NASA NTRS1988

Orbital magnetoconductance in the variable-range-hopping regime

The orbital magnetoconductance (MC) in the variable-range-hopping (VRH) regime is evaluated by use of a model which approximately takes into account the interference among random paths in the hopping process. Instead of logarithmic averaging the MC is obtained by the critical percolating resistor method. The small-field MC is quadratic in H; it is positive deep in the VRH regime and changes sign when the zero-field conductivity is high enough. This behavior (except for the sign change) and the relevant magnetic field scale are in agreement with recent experiments. The calculated MC is always positive for strong fields and is predicted to saturate at sufficiently large fields.

Sivan, U.↗
NASA NTRS1994

Optimum Detection Of Slow-Frequency-Hopping Signals

Two papers present theoretical analyses of various schemes for coherent and noncoherent detection of M-ary-frequency-shift-keyed (MFSK) signals with slow frequency hopping. Special attention focused on continuous-phase-modulation (CPM) subset of SFH/MFSK signals, for which frequency modulation such carrier phase remains continuous (albeit unknown) during each hop.

Levitt, Barry K.↗
NASA NTRS2010

Widely Tunable Mode-Hop-Free External-Cavity Quantum Cascade Laser

The external-cavity quantum cascade laser (EC-QCL) system is based on an optical configuration of the Littrow type. It is a room-temperature, continuous wave, widely tunable, mode-hop-free, mid-infrared, EC-QCL spectroscopic source. It has a single-mode tuning range of 155 cm(exp -1) (approximately equal to 8% of the center wavelength) with a maximum power of 11.1 mW and 182 cm(exp -1) (approximately equal to 15% of the center wavelength), and a maximum power of 50 mW as demonstrated for 5.3 micron and 8.4 micron EC-QCLs, respectively. This technology is particularly suitable for high-resolution spectroscopic applications, multi-species tracegas detection, and spectroscopic measurements of broadband absorbers. Wavelength tuning of EC-QCL spectroscopic source can be implemented by varying three independent parameters of the laser: (1) the optical length of the gain medium (which, in this case, is equivalent to QCL injection current modulation), (2) the length of the EC (which can be independently varied in the Rice EC-QCL setup), and (3) the angle of beam incidence at the diffraction grating (frequency tuning related directly to angular dispersion of the grating). All three mechanisms of frequency tuning have been demonstrated and are required to obtain a true mode-hop-free laser frequency tuning. The precise frequency tuning characteristics of the EC-QCL output have been characterized using a variety of diagnostic tools available at Rice University (e.g., a monochromator, FTIR spectrometer, and a Fabry-Perot spectrometer). Spectroscopic results were compared with available databases (such as HITRAN, PNNL, EPA, and NIST). These enable precision verification of complete spectral parameters of the EC-QCL, such as wavelength, tuning range, tuning characteristics, and line width. The output power of the EC-QCL is determined by the performance of the QC laser chip, its operating conditions, and parameters of the QC laser cavity such as mirror reflectivity or intracavity losses. In order to maximize the output power, an analysis and optimization of the EC laser parameters has been performed. The parameters of the beam emitted from the gain medium, such as divergence angle, beam profile, and astigmatism, have been investigated. The gain medium has been fully characterized before and after each stage of modification. The main modification steps are coating one facet of the gain chip with a high reflectivity mirror and the other facet with an anti-reflection layer. Then the chip is mounted in the EC-QCL. The optomechanical design has been reviewed and improved to provide for precise collimation of the strongly divergent beam of the QCL and the tuning diffraction grating.

Wysocki, Gerard↗
NASA NTRS2010

Piezo activated mode tracking system for widely tunable mode-hop-free external cavity mid-IR semiconductor lasers

A widely tunable, mode-hop-free semiconductor laser operating in the mid-IR comprises a QCL laser chip having an effective QCL cavity length, a diffraction grating defining a grating angle and an external cavity length with respect to said chip, and means for controlling the QCL cavity length, the external cavity length, and the grating angle. The laser of claim 1 wherein said chip may be tuned over a range of frequencies even in the absence of an anti-reflective coating. The diffraction grating is controllably pivotable and translatable relative to said chip and the effective QCL cavity length can be adjusted by varying the injection current to the chip. The laser can be used for high resolution spectroscopic applications and multi species trace-gas detection. Mode-hopping is avoided by controlling the effective QCL cavity length, the external cavity length, and the grating angle so as to replicate a virtual pivot point.

Wysocki, Gerard↗